@flare-engine/pathfinding 0.2.1 → 0.3.0

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Files changed (12) hide show
  1. package/LICENSE +201 -21
  2. package/NOTICE +2 -0
  3. package/README.md +4 -5
  4. package/dist/index.d.mts +56 -72
  5. package/dist/index.d.mts.map +1 -0
  6. package/dist/index.d.ts +56 -72
  7. package/dist/index.d.ts.map +1 -0
  8. package/dist/index.js +655 -640
  9. package/dist/index.js.map +1 -1
  10. package/dist/index.mjs +640 -599
  11. package/dist/index.mjs.map +1 -1
  12. package/package.json +17 -9
package/dist/index.js.map CHANGED
@@ -1 +1 @@
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- {"version":3,"sources":["../src/index.ts","../src/grid.ts","../src/astar.ts","../src/jps.ts","../src/navmesh.ts"],"sourcesContent":["export {\n type Grid,\n type GridConfig,\n createGrid,\n inBounds,\n isWalkable,\n getCost,\n setWalkable,\n setCost,\n} from './grid.js';\n\nexport {\n type PathResult,\n type PathOptions,\n findPath,\n manhattanDistance,\n octileDistance,\n chebyshevDistance,\n euclideanDistance,\n} from './astar.js';\n\nexport { type JpsOptions, findPathJPS } from './jps.js';\n\nexport {\n type NavMeshPolygon,\n type Portal,\n type NavMesh,\n type NavMeshPathResult,\n createNavMesh,\n findPolygonAt,\n findNavMeshPath,\n} from './navmesh.js';\n","/**\n * Grid data structure for tile-based pathfinding.\n * Uses a flat Uint8Array: 0 = blocked, 1+ = walkable (value = movement cost).\n */\n\nexport interface Grid {\n readonly width: number;\n readonly height: number;\n readonly data: Uint8Array;\n}\n\nexport interface GridConfig {\n width: number;\n height: number;\n /** Pre-filled grid data. Length must equal width * height. */\n data?: Uint8Array;\n /** Default cost for all cells when `data` is not provided. 0 = blocked, 1+ = walkable cost. Default 1. */\n defaultCost?: number;\n}\n\nexport function createGrid(config: GridConfig): Grid {\n const { width, height, defaultCost = 1 } = config;\n if (width <= 0 || height <= 0) {\n throw new RangeError('Grid dimensions must be positive');\n }\n const w = width | 0;\n const h = height | 0;\n let data: Uint8Array;\n if (config.data) {\n if (config.data.length !== w * h) {\n throw new RangeError(`Grid data length ${config.data.length} does not match ${w}x${h}`);\n }\n data = config.data;\n } else {\n data = new Uint8Array(w * h);\n if (defaultCost > 0) {\n data.fill(defaultCost);\n }\n }\n return { width: w, height: h, data };\n}\n\nexport function inBounds(grid: Grid, x: number, y: number): boolean {\n return x >= 0 && y >= 0 && x < grid.width && y < grid.height;\n}\n\nexport function isWalkable(grid: Grid, x: number, y: number): boolean {\n if (x < 0 || y < 0 || x >= grid.width || y >= grid.height) return false;\n return grid.data[(y | 0) * grid.width + (x | 0)]! > 0;\n}\n\nexport function getCost(grid: Grid, x: number, y: number): number {\n if (x < 0 || y < 0 || x >= grid.width || y >= grid.height) return 0;\n return grid.data[(y | 0) * grid.width + (x | 0)]!;\n}\n\nexport function setWalkable(grid: Grid, x: number, y: number, walkable: boolean): void {\n if (x < 0 || y < 0 || x >= grid.width || y >= grid.height) return;\n grid.data[(y | 0) * grid.width + (x | 0)] = walkable ? 1 : 0;\n}\n\nexport function setCost(grid: Grid, x: number, y: number, cost: number): void {\n if (x < 0 || y < 0 || x >= grid.width || y >= grid.height) return;\n grid.data[(y | 0) * grid.width + (x | 0)] = cost > 255 ? 255 : cost < 0 ? 0 : cost | 0;\n}\n","/**\n * A* pathfinding on a Grid. Supports 4-directional and 8-directional movement\n * with weighted costs. Uses a binary min-heap for the open set.\n */\n\nimport type { Grid } from './grid.js';\nimport { isWalkable } from './grid.js';\n\nexport interface PathResult {\n /** Grid coordinates from start to end, inclusive. */\n path: { x: number; y: number }[];\n /** Total movement cost. */\n cost: number;\n /** Number of nodes explored. */\n explored: number;\n}\n\nexport interface PathOptions {\n /** Allow diagonal movement. Default: true. */\n diagonal?: boolean;\n /** Custom heuristic. Default: octile distance (diagonal) or Manhattan (4-dir). */\n heuristic?: (ax: number, ay: number, bx: number, by: number) => number;\n /** Max nodes to explore before giving up. Default: width * height. */\n maxIterations?: number;\n}\n\n// ─── Heuristics ──────────────────────────────────────────────────\n\nconst SQRT2 = Math.SQRT2;\n\nexport function manhattanDistance(ax: number, ay: number, bx: number, by: number): number {\n return Math.abs(ax - bx) + Math.abs(ay - by);\n}\n\nexport function octileDistance(ax: number, ay: number, bx: number, by: number): number {\n const dx = Math.abs(ax - bx);\n const dy = Math.abs(ay - by);\n return dx > dy ? dx + (SQRT2 - 1) * dy : dy + (SQRT2 - 1) * dx;\n}\n\nexport function chebyshevDistance(ax: number, ay: number, bx: number, by: number): number {\n return Math.max(Math.abs(ax - bx), Math.abs(ay - by));\n}\n\nexport function euclideanDistance(ax: number, ay: number, bx: number, by: number): number {\n const dx = ax - bx;\n const dy = ay - by;\n return Math.sqrt(dx * dx + dy * dy);\n}\n\n// ─── Binary min-heap ─────────────────────────────────────────────\n\n// Indices into the heap are stored as flat integers; each entry is (f, node-index).\n// We use two parallel Float64Arrays to avoid object allocation.\ninterface Heap {\n f: Float64Array;\n idx: Int32Array;\n size: number;\n}\n\nfunction heapCreate(capacity: number): Heap {\n return {\n f: new Float64Array(capacity),\n idx: new Int32Array(capacity),\n size: 0,\n };\n}\n\nfunction heapPush(h: Heap, f: number, nodeIdx: number): void {\n let i = h.size++;\n h.f[i] = f;\n h.idx[i] = nodeIdx;\n // Bubble up\n while (i > 0) {\n const parent = (i - 1) >> 1;\n if (h.f[parent]! <= h.f[i]!) break;\n // Swap\n const tf = h.f[parent]!;\n const ti = h.idx[parent]!;\n h.f[parent] = h.f[i]!;\n h.idx[parent] = h.idx[i]!;\n h.f[i] = tf;\n h.idx[i] = ti;\n i = parent;\n }\n}\n\nfunction heapPop(h: Heap): number {\n const result = h.idx[0]!;\n h.size--;\n if (h.size > 0) {\n h.f[0] = h.f[h.size]!;\n h.idx[0] = h.idx[h.size]!;\n // Sift down\n let i = 0;\n for (;;) {\n let smallest = i;\n const left = 2 * i + 1;\n const right = 2 * i + 2;\n if (left < h.size && h.f[left]! < h.f[smallest]!) smallest = left;\n if (right < h.size && h.f[right]! < h.f[smallest]!) smallest = right;\n if (smallest === i) break;\n const tf = h.f[i]!;\n const ti = h.idx[i]!;\n h.f[i] = h.f[smallest]!;\n h.idx[i] = h.idx[smallest]!;\n h.f[smallest] = tf;\n h.idx[smallest] = ti;\n i = smallest;\n }\n }\n return result;\n}\n\n// ─── Neighbors (pre-computed offsets) ────────────────────────────\n\n// 4-directional: N, E, S, W\nconst DIR4_X = [0, 1, 0, -1];\nconst DIR4_Y = [-1, 0, 1, 0];\n\n// 8-directional: N, NE, E, SE, S, SW, W, NW\nconst DIR8_X = [0, 1, 1, 1, 0, -1, -1, -1];\nconst DIR8_Y = [-1, -1, 0, 1, 1, 1, 0, -1];\nconst DIR8_COST = [1, SQRT2, 1, SQRT2, 1, SQRT2, 1, SQRT2];\n\n// ─── A* ──────────────────────────────────────────────────────────\n\nexport function findPath(\n grid: Grid,\n startX: number,\n startY: number,\n endX: number,\n endY: number,\n options?: PathOptions,\n): PathResult | null {\n const sx = startX | 0;\n const sy = startY | 0;\n const ex = endX | 0;\n const ey = endY | 0;\n\n // Quick rejects\n if (!isWalkable(grid, sx, sy) || !isWalkable(grid, ex, ey)) return null;\n if (sx === ex && sy === ey) return { path: [{ x: sx, y: sy }], cost: 0, explored: 0 };\n\n const diagonal = options?.diagonal !== false;\n const maxIter = options?.maxIterations ?? grid.width * grid.height;\n const heuristic = options?.heuristic ?? (diagonal ? octileDistance : manhattanDistance);\n\n const w = grid.width;\n const total = w * grid.height;\n\n // gScore and closed set\n const g = new Float64Array(total);\n g.fill(Number.POSITIVE_INFINITY);\n const closed = new Uint8Array(total);\n const cameFrom = new Int32Array(total);\n cameFrom.fill(-1);\n\n const startIdx = sy * w + sx;\n const endIdx = ey * w + ex;\n g[startIdx] = 0;\n\n const heap = heapCreate(Math.min(total, 4096));\n heapPush(heap, heuristic(sx, sy, ex, ey), startIdx);\n\n const dirX = diagonal ? DIR8_X : DIR4_X;\n const dirY = diagonal ? DIR8_Y : DIR4_Y;\n const dirCost = diagonal ? DIR8_COST : null;\n const dirCount = dirX.length;\n\n let explored = 0;\n\n while (heap.size > 0 && explored < maxIter) {\n const currentIdx = heapPop(heap);\n if (currentIdx === endIdx) {\n return reconstructPath(cameFrom, w, currentIdx, g[currentIdx]!, explored);\n }\n if (closed[currentIdx]) continue;\n closed[currentIdx] = 1;\n explored++;\n\n const cx = currentIdx % w;\n const cy = (currentIdx / w) | 0;\n const currentG = g[currentIdx]!;\n\n for (let d = 0; d < dirCount; d++) {\n const nx = cx + dirX[d]!;\n const ny = cy + dirY[d]!;\n if (nx < 0 || ny < 0 || nx >= w || ny >= grid.height) continue;\n\n const nIdx = ny * w + nx;\n if (closed[nIdx]) continue;\n\n const tileCost = grid.data[nIdx]!;\n if (tileCost === 0) continue;\n\n // For diagonal movement, check that both cardinal neighbors are walkable (corner-cutting)\n if (diagonal && d & 1) {\n const dx = dirX[d]!;\n const dy = dirY[d]!;\n if (!isWalkable(grid, cx + dx, cy) || !isWalkable(grid, cx, cy + dy)) continue;\n }\n\n const moveCost = dirCost ? dirCost[d]! * tileCost : tileCost;\n const tentativeG = currentG + moveCost;\n\n if (tentativeG < g[nIdx]!) {\n g[nIdx] = tentativeG;\n cameFrom[nIdx] = currentIdx;\n const f = tentativeG + heuristic(nx, ny, ex, ey);\n heapPush(heap, f, nIdx);\n }\n }\n }\n\n return null;\n}\n\nfunction reconstructPath(\n cameFrom: Int32Array,\n w: number,\n endIdx: number,\n cost: number,\n explored: number,\n): PathResult {\n const path: { x: number; y: number }[] = [];\n let idx = endIdx;\n while (idx !== -1) {\n path.push({ x: idx % w, y: (idx / w) | 0 });\n idx = cameFrom[idx]!;\n }\n path.reverse();\n return { path, cost, explored };\n}\n","/**\n * Jump Point Search — an optimization over A* for uniform-cost grids.\n * Only works when all walkable tiles have cost 1. Falls back to A* behavior\n * if weighted costs are detected.\n *\n * JPS prunes symmetric paths by \"jumping\" along directions until hitting\n * a wall, the goal, or a forced neighbor.\n */\n\nimport type { PathResult } from './astar.js';\nimport { octileDistance } from './astar.js';\nimport type { Grid } from './grid.js';\nimport { isWalkable } from './grid.js';\n\n// ─── Binary min-heap (duplicated from astar for tree-shakeability) ─\n\ninterface Heap {\n f: Float64Array;\n idx: Int32Array;\n size: number;\n}\n\nfunction heapCreate(capacity: number): Heap {\n return {\n f: new Float64Array(capacity),\n idx: new Int32Array(capacity),\n size: 0,\n };\n}\n\nfunction heapPush(h: Heap, f: number, nodeIdx: number): void {\n let i = h.size++;\n h.f[i] = f;\n h.idx[i] = nodeIdx;\n while (i > 0) {\n const parent = (i - 1) >> 1;\n if (h.f[parent]! <= h.f[i]!) break;\n const tf = h.f[parent]!;\n const ti = h.idx[parent]!;\n h.f[parent] = h.f[i]!;\n h.idx[parent] = h.idx[i]!;\n h.f[i] = tf;\n h.idx[i] = ti;\n i = parent;\n }\n}\n\nfunction heapPop(h: Heap): number {\n const result = h.idx[0]!;\n h.size--;\n if (h.size > 0) {\n h.f[0] = h.f[h.size]!;\n h.idx[0] = h.idx[h.size]!;\n let i = 0;\n for (;;) {\n let smallest = i;\n const left = 2 * i + 1;\n const right = 2 * i + 2;\n if (left < h.size && h.f[left]! < h.f[smallest]!) smallest = left;\n if (right < h.size && h.f[right]! < h.f[smallest]!) smallest = right;\n if (smallest === i) break;\n const tf = h.f[i]!;\n const ti = h.idx[i]!;\n h.f[i] = h.f[smallest]!;\n h.idx[i] = h.idx[smallest]!;\n h.f[smallest] = tf;\n h.idx[smallest] = ti;\n i = smallest;\n }\n }\n return result;\n}\n\n// ─── JPS ─────────────────────────────────────────────────────────\n\nconst SQRT2 = Math.SQRT2;\n\nexport interface JpsOptions {\n /** Max nodes to explore before giving up. Default: width * height. */\n maxIterations?: number;\n /** Custom heuristic. Default: octile distance. */\n heuristic?: (ax: number, ay: number, bx: number, by: number) => number;\n}\n\nexport function findPathJPS(\n grid: Grid,\n startX: number,\n startY: number,\n endX: number,\n endY: number,\n options?: JpsOptions,\n): PathResult | null {\n const sx = startX | 0;\n const sy = startY | 0;\n const ex = endX | 0;\n const ey = endY | 0;\n\n if (!isWalkable(grid, sx, sy) || !isWalkable(grid, ex, ey)) return null;\n if (sx === ex && sy === ey) return { path: [{ x: sx, y: sy }], cost: 0, explored: 0 };\n\n const w = grid.width;\n const h = grid.height;\n const total = w * h;\n const maxIter = options?.maxIterations ?? total;\n const heuristic = options?.heuristic ?? octileDistance;\n\n const g = new Float64Array(total);\n g.fill(Number.POSITIVE_INFINITY);\n const closed = new Uint8Array(total);\n const cameFrom = new Int32Array(total);\n cameFrom.fill(-1);\n\n const startIdx = sy * w + sx;\n const endIdx = ey * w + ex;\n g[startIdx] = 0;\n\n const heap = heapCreate(Math.min(total, 4096));\n heapPush(heap, heuristic(sx, sy, ex, ey), startIdx);\n\n let explored = 0;\n\n while (heap.size > 0 && explored < maxIter) {\n const currentIdx = heapPop(heap);\n if (currentIdx === endIdx) {\n return buildPath(cameFrom, w, currentIdx, g[currentIdx]!, explored);\n }\n if (closed[currentIdx]) continue;\n closed[currentIdx] = 1;\n explored++;\n\n const cx = currentIdx % w;\n const cy = (currentIdx / w) | 0;\n\n const neighbors = identifySuccessors(grid, cx, cy, cameFrom, w, h, ex, ey);\n for (let i = 0; i < neighbors.length; i += 2) {\n const nx = neighbors[i]!;\n const ny = neighbors[i + 1]!;\n const nIdx = ny * w + nx;\n if (closed[nIdx]) continue;\n\n const dx = Math.abs(nx - cx);\n const dy = Math.abs(ny - cy);\n const diag = Math.min(dx, dy);\n const straight = Math.abs(dx - dy);\n const dist = diag * SQRT2 + straight;\n const tentativeG = g[currentIdx]! + dist;\n if (tentativeG < g[nIdx]!) {\n g[nIdx] = tentativeG;\n cameFrom[nIdx] = currentIdx;\n heapPush(heap, tentativeG + heuristic(nx, ny, ex, ey), nIdx);\n }\n }\n }\n\n return null;\n}\n\nfunction identifySuccessors(\n grid: Grid,\n cx: number,\n cy: number,\n cameFrom: Int32Array,\n w: number,\n h: number,\n ex: number,\n ey: number,\n): number[] {\n const results: number[] = [];\n const parentIdx = cameFrom[cy * w + cx]!;\n\n if (parentIdx === -1) {\n // Start node: explore all 8 directions\n for (let dx = -1; dx <= 1; dx++) {\n for (let dy = -1; dy <= 1; dy++) {\n if (dx === 0 && dy === 0) continue;\n const jp = jump(grid, cx, cy, dx, dy, w, h, ex, ey);\n if (jp !== -1) {\n results.push(jp % w, (jp / w) | 0);\n }\n }\n }\n } else {\n const px = parentIdx % w;\n const py = (parentIdx / w) | 0;\n const dx = clampDir(cx - px);\n const dy = clampDir(cy - py);\n\n if (dx !== 0 && dy !== 0) {\n // Diagonal move: check straight and diagonal successors\n if (isWalkable(grid, cx, cy + dy)) {\n const jp = jump(grid, cx, cy, 0, dy, w, h, ex, ey);\n if (jp !== -1) results.push(jp % w, (jp / w) | 0);\n }\n if (isWalkable(grid, cx + dx, cy)) {\n const jp = jump(grid, cx, cy, dx, 0, w, h, ex, ey);\n if (jp !== -1) results.push(jp % w, (jp / w) | 0);\n }\n if (isWalkable(grid, cx + dx, cy + dy)) {\n const jp = jump(grid, cx, cy, dx, dy, w, h, ex, ey);\n if (jp !== -1) results.push(jp % w, (jp / w) | 0);\n }\n // Forced neighbors\n if (!isWalkable(grid, cx - dx, cy) && isWalkable(grid, cx - dx, cy + dy)) {\n const jp = jump(grid, cx, cy, -dx, dy, w, h, ex, ey);\n if (jp !== -1) results.push(jp % w, (jp / w) | 0);\n }\n if (!isWalkable(grid, cx, cy - dy) && isWalkable(grid, cx + dx, cy - dy)) {\n const jp = jump(grid, cx, cy, dx, -dy, w, h, ex, ey);\n if (jp !== -1) results.push(jp % w, (jp / w) | 0);\n }\n } else if (dx !== 0) {\n // Horizontal move\n if (isWalkable(grid, cx + dx, cy)) {\n const jp = jump(grid, cx, cy, dx, 0, w, h, ex, ey);\n if (jp !== -1) results.push(jp % w, (jp / w) | 0);\n }\n if (!isWalkable(grid, cx, cy + 1) && isWalkable(grid, cx + dx, cy + 1)) {\n const jp = jump(grid, cx, cy, dx, 1, w, h, ex, ey);\n if (jp !== -1) results.push(jp % w, (jp / w) | 0);\n }\n if (!isWalkable(grid, cx, cy - 1) && isWalkable(grid, cx + dx, cy - 1)) {\n const jp = jump(grid, cx, cy, dx, -1, w, h, ex, ey);\n if (jp !== -1) results.push(jp % w, (jp / w) | 0);\n }\n } else {\n // Vertical move\n if (isWalkable(grid, cx, cy + dy)) {\n const jp = jump(grid, cx, cy, 0, dy, w, h, ex, ey);\n if (jp !== -1) results.push(jp % w, (jp / w) | 0);\n }\n if (!isWalkable(grid, cx + 1, cy) && isWalkable(grid, cx + 1, cy + dy)) {\n const jp = jump(grid, cx, cy, 1, dy, w, h, ex, ey);\n if (jp !== -1) results.push(jp % w, (jp / w) | 0);\n }\n if (!isWalkable(grid, cx - 1, cy) && isWalkable(grid, cx - 1, cy + dy)) {\n const jp = jump(grid, cx, cy, -1, dy, w, h, ex, ey);\n if (jp !== -1) results.push(jp % w, (jp / w) | 0);\n }\n }\n }\n\n return results;\n}\n\nfunction jump(\n grid: Grid,\n cx: number,\n cy: number,\n dx: number,\n dy: number,\n w: number,\n h: number,\n ex: number,\n ey: number,\n): number {\n const nx = cx + dx;\n const ny = cy + dy;\n\n if (!isWalkable(grid, nx, ny)) return -1;\n if (nx === ex && ny === ey) return ny * w + nx;\n\n // Forced neighbor check\n if (dx !== 0 && dy !== 0) {\n // Diagonal\n if (\n (!isWalkable(grid, nx - dx, ny) && isWalkable(grid, nx - dx, ny + dy)) ||\n (!isWalkable(grid, nx, ny - dy) && isWalkable(grid, nx + dx, ny - dy))\n ) {\n return ny * w + nx;\n }\n // Recurse in cardinal directions\n if (jump(grid, nx, ny, dx, 0, w, h, ex, ey) !== -1) return ny * w + nx;\n if (jump(grid, nx, ny, 0, dy, w, h, ex, ey) !== -1) return ny * w + nx;\n } else if (dx !== 0) {\n // Horizontal\n if (\n (!isWalkable(grid, nx, ny + 1) && isWalkable(grid, nx + dx, ny + 1)) ||\n (!isWalkable(grid, nx, ny - 1) && isWalkable(grid, nx + dx, ny - 1))\n ) {\n return ny * w + nx;\n }\n } else {\n // Vertical\n if (\n (!isWalkable(grid, nx + 1, ny) && isWalkable(grid, nx + 1, ny + dy)) ||\n (!isWalkable(grid, nx - 1, ny) && isWalkable(grid, nx - 1, ny + dy))\n ) {\n return ny * w + nx;\n }\n }\n\n // Keep jumping (iterative for cardinal, recursive for diagonal via identifySuccessors)\n return jump(grid, nx, ny, dx, dy, w, h, ex, ey);\n}\n\nfunction clampDir(v: number): number {\n return v > 0 ? 1 : v < 0 ? -1 : 0;\n}\n\nfunction buildPath(\n cameFrom: Int32Array,\n w: number,\n endIdx: number,\n cost: number,\n explored: number,\n): PathResult {\n // JPS produces jump points — we interpolate the full path\n const jumpPoints: number[] = [];\n let idx = endIdx;\n while (idx !== -1) {\n jumpPoints.push(idx);\n idx = cameFrom[idx]!;\n }\n jumpPoints.reverse();\n\n const path: { x: number; y: number }[] = [];\n for (let i = 0; i < jumpPoints.length; i++) {\n const jpIdx = jumpPoints[i]!;\n const jx = jpIdx % w;\n const jy = (jpIdx / w) | 0;\n if (i === 0) {\n path.push({ x: jx, y: jy });\n } else {\n const prev = path[path.length - 1]!;\n // Interpolate from prev to current jump point\n let cx = prev.x;\n let cy = prev.y;\n while (cx !== jx || cy !== jy) {\n if (cx < jx) cx++;\n else if (cx > jx) cx--;\n if (cy < jy) cy++;\n else if (cy > jy) cy--;\n path.push({ x: cx, y: cy });\n }\n }\n }\n\n return { path, cost, explored };\n}\n","/**\n * Lightweight navmesh pathfinding for polygon-based environments.\n * Supports convex polygon navigation with A* over the polygon graph\n * and the Simple Stupid Funnel Algorithm for path smoothing.\n */\n\nimport type { Vec2 } from '@flare-engine/math';\n\n// ─── Types ───────────────────────────────────────────────────────\n\nexport interface NavMeshPolygon {\n readonly id: number;\n /** Convex polygon vertices in winding order. */\n readonly vertices: readonly Vec2[];\n /** Ids of neighboring polygons (sharing an edge). */\n readonly neighbors: readonly number[];\n /** Shared edge per neighbor: [neighborId] → { a, b } portal endpoints. */\n readonly portals: readonly Portal[];\n}\n\nexport interface Portal {\n /** Neighbor polygon id. */\n neighborId: number;\n /** Left endpoint of the shared edge (from the perspective of travel). */\n a: Vec2;\n /** Right endpoint of the shared edge. */\n b: Vec2;\n}\n\nexport interface NavMesh {\n readonly polygons: readonly NavMeshPolygon[];\n}\n\nexport interface NavMeshPathResult {\n /** Smoothed world-space waypoints. */\n path: Vec2[];\n /** Polygon ids traversed. */\n corridor: number[];\n}\n\n// ─── Construction ────────────────────────────────────────────────\n\nexport function createNavMesh(polygons: NavMeshPolygon[]): NavMesh {\n return { polygons };\n}\n\n// ─── Point-in-polygon ────────────────────────────────────────────\n\nfunction pointInConvexPolygon(verts: readonly Vec2[], px: number, py: number): boolean {\n const n = verts.length;\n if (n < 3) return false;\n let sign = 0;\n for (let i = 0; i < n; i++) {\n const a = verts[i]!;\n const b = verts[(i + 1) % n]!;\n const cross = (b.x - a.x) * (py - a.y) - (b.y - a.y) * (px - a.x);\n if (cross !== 0) {\n const s = cross > 0 ? 1 : -1;\n if (sign === 0) sign = s;\n else if (sign !== s) return false;\n }\n }\n return true;\n}\n\nexport function findPolygonAt(mesh: NavMesh, x: number, y: number): number {\n for (let i = 0; i < mesh.polygons.length; i++) {\n if (pointInConvexPolygon(mesh.polygons[i]!.vertices, x, y)) {\n return mesh.polygons[i]!.id;\n }\n }\n return -1;\n}\n\n// ─── Polygon centroid ────────────────────────────────────────────\n\nfunction centroid(verts: readonly Vec2[]): Vec2 {\n let cx = 0;\n let cy = 0;\n for (let i = 0; i < verts.length; i++) {\n cx += verts[i]!.x;\n cy += verts[i]!.y;\n }\n const n = verts.length;\n return { x: cx / n, y: cy / n };\n}\n\n// ─── A* over polygon graph ───────────────────────────────────────\n\nfunction distSq(ax: number, ay: number, bx: number, by: number): number {\n const dx = ax - bx;\n const dy = ay - by;\n return dx * dx + dy * dy;\n}\n\nfunction dist(ax: number, ay: number, bx: number, by: number): number {\n return Math.sqrt(distSq(ax, ay, bx, by));\n}\n\nexport function findNavMeshPath(mesh: NavMesh, start: Vec2, end: Vec2): NavMeshPathResult | null {\n const startPolyId = findPolygonAt(mesh, start.x, start.y);\n const endPolyId = findPolygonAt(mesh, end.x, end.y);\n if (startPolyId === -1 || endPolyId === -1) return null;\n if (startPolyId === endPolyId) {\n return {\n path: [\n { x: start.x, y: start.y },\n { x: end.x, y: end.y },\n ],\n corridor: [startPolyId],\n };\n }\n\n // Build index: id → polygon\n const byId = new Map<number, NavMeshPolygon>();\n for (let i = 0; i < mesh.polygons.length; i++) {\n const p = mesh.polygons[i]!;\n byId.set(p.id, p);\n }\n\n // A* on polygon graph\n const gScore = new Map<number, number>();\n const fScore = new Map<number, number>();\n const cameFrom = new Map<number, number>();\n\n gScore.set(startPolyId, 0);\n\n const endPoly = byId.get(endPolyId)!;\n const endCenter = centroid(endPoly.vertices);\n const startPoly = byId.get(startPolyId)!;\n const startCenter = centroid(startPoly.vertices);\n\n fScore.set(startPolyId, dist(startCenter.x, startCenter.y, endCenter.x, endCenter.y));\n\n // Simple array-based open set (fine for typical navmeshes with <1000 polygons)\n const open: number[] = [startPolyId];\n const inOpen = new Set<number>([startPolyId]);\n const closed = new Set<number>();\n\n while (open.length > 0) {\n // Find lowest f-score\n let bestI = 0;\n let bestF = fScore.get(open[0]!) ?? Number.POSITIVE_INFINITY;\n for (let i = 1; i < open.length; i++) {\n const f = fScore.get(open[i]!) ?? Number.POSITIVE_INFINITY;\n if (f < bestF) {\n bestF = f;\n bestI = i;\n }\n }\n const currentId = open[bestI]!;\n\n if (currentId === endPolyId) {\n // Reconstruct corridor\n const corridor: number[] = [];\n let id: number | undefined = endPolyId;\n while (id !== undefined) {\n corridor.push(id);\n id = cameFrom.get(id);\n }\n corridor.reverse();\n const path = funnelSmooth(mesh, byId, corridor, start, end);\n return { path, corridor };\n }\n\n // Remove from open\n open[bestI] = open[open.length - 1]!;\n open.length--;\n inOpen.delete(currentId);\n closed.add(currentId);\n\n const current = byId.get(currentId)!;\n const currentCenter = centroid(current.vertices);\n const currentG = gScore.get(currentId)!;\n\n for (let i = 0; i < current.portals.length; i++) {\n const portal = current.portals[i]!;\n const neighborId = portal.neighborId;\n if (closed.has(neighborId)) continue;\n\n const neighbor = byId.get(neighborId);\n if (!neighbor) continue;\n\n const portalMidX = (portal.a.x + portal.b.x) * 0.5;\n const portalMidY = (portal.a.y + portal.b.y) * 0.5;\n const tentativeG = currentG + dist(currentCenter.x, currentCenter.y, portalMidX, portalMidY);\n\n const prevG = gScore.get(neighborId);\n if (prevG !== undefined && tentativeG >= prevG) continue;\n\n gScore.set(neighborId, tentativeG);\n cameFrom.set(neighborId, currentId);\n\n const neighborCenter = centroid(neighbor.vertices);\n fScore.set(\n neighborId,\n tentativeG + dist(neighborCenter.x, neighborCenter.y, endCenter.x, endCenter.y),\n );\n\n if (!inOpen.has(neighborId)) {\n open.push(neighborId);\n inOpen.add(neighborId);\n }\n }\n }\n\n return null;\n}\n\n// ─── Simple Stupid Funnel Algorithm ──────────────────────────────\n\nfunction funnelSmooth(\n _mesh: NavMesh,\n byId: Map<number, NavMeshPolygon>,\n corridor: number[],\n start: Vec2,\n end: Vec2,\n): Vec2[] {\n if (corridor.length <= 1) {\n return [\n { x: start.x, y: start.y },\n { x: end.x, y: end.y },\n ];\n }\n\n // Build portal list from corridor\n const portalsLeft: Vec2[] = [];\n const portalsRight: Vec2[] = [];\n\n portalsLeft.push({ x: start.x, y: start.y });\n portalsRight.push({ x: start.x, y: start.y });\n\n for (let i = 0; i < corridor.length - 1; i++) {\n const poly = byId.get(corridor[i]!)!;\n const nextId = corridor[i + 1]!;\n // Find the portal to the next polygon\n let found = false;\n for (let j = 0; j < poly.portals.length; j++) {\n if (poly.portals[j]!.neighborId === nextId) {\n portalsLeft.push(poly.portals[j]!.a);\n portalsRight.push(poly.portals[j]!.b);\n found = true;\n break;\n }\n }\n if (!found) {\n // Fallback: straight line through centroids\n const c = centroid(poly.vertices);\n portalsLeft.push(c);\n portalsRight.push(c);\n }\n }\n\n portalsLeft.push({ x: end.x, y: end.y });\n portalsRight.push({ x: end.x, y: end.y });\n\n // Simple Stupid Funnel Algorithm (Mononen)\n // Walk the portal list and maintain a funnel (apex, left, right).\n const path: Vec2[] = [];\n\n let apexPt = portalsLeft[0]!; // start point\n let leftPt = portalsLeft[0]!;\n let rightPt = portalsRight[0]!;\n let apexIdx = 0;\n let leftIdx = 0;\n let rightIdx = 0;\n\n path.push({ x: apexPt.x, y: apexPt.y });\n\n const n = portalsLeft.length;\n\n for (let i = 1; i < n; i++) {\n const pL = portalsLeft[i]!;\n const pR = portalsRight[i]!;\n\n // Try to tighten the right side\n if (triArea2(apexPt, rightPt, pR) <= 0) {\n if (vEqual(apexPt, rightPt) || triArea2(apexPt, leftPt, pR) > 0) {\n // Tighten\n rightPt = pR;\n rightIdx = i;\n } else {\n // Right crossed over left → left becomes new apex\n addUnique(path, leftPt);\n apexPt = leftPt;\n apexIdx = leftIdx;\n // Reset funnel\n leftPt = apexPt;\n rightPt = apexPt;\n leftIdx = apexIdx;\n rightIdx = apexIdx;\n // Restart scan from the portal after the new apex\n i = apexIdx;\n continue;\n }\n }\n\n // Try to tighten the left side\n if (triArea2(apexPt, leftPt, pL) >= 0) {\n if (vEqual(apexPt, leftPt) || triArea2(apexPt, rightPt, pL) < 0) {\n // Tighten\n leftPt = pL;\n leftIdx = i;\n } else {\n // Left crossed over right → right becomes new apex\n addUnique(path, rightPt);\n apexPt = rightPt;\n apexIdx = rightIdx;\n // Reset funnel\n leftPt = apexPt;\n rightPt = apexPt;\n leftIdx = apexIdx;\n rightIdx = apexIdx;\n // Restart scan from the portal after the new apex\n i = apexIdx;\n }\n }\n }\n\n addUnique(path, end);\n\n return path;\n}\n\nfunction addUnique(path: Vec2[], p: Vec2): void {\n const last = path[path.length - 1];\n if (!last || last.x !== p.x || last.y !== p.y) {\n path.push({ x: p.x, y: p.y });\n }\n}\n\n/** Twice the signed area of the triangle (a, b, c). 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Default 1. */\n defaultCost?: number;\n}\n\nexport function createGrid(config: GridConfig): Grid {\n const { width, height, defaultCost = 1 } = config;\n if (width <= 0 || height <= 0) {\n throw new RangeError('Grid dimensions must be positive');\n }\n const w = width | 0;\n const h = height | 0;\n let data: Uint8Array;\n if (config.data) {\n if (config.data.length !== w * h) {\n throw new RangeError(`Grid data length ${config.data.length} does not match ${w}x${h}`);\n }\n data = config.data;\n } else {\n data = new Uint8Array(w * h);\n if (defaultCost > 0) {\n data.fill(defaultCost);\n }\n }\n return { width: w, height: h, data };\n}\n\nexport function inBounds(grid: Grid, x: number, y: number): boolean {\n return x >= 0 && y >= 0 && x < grid.width && y < grid.height;\n}\n\nexport function isWalkable(grid: Grid, x: number, y: number): boolean {\n if (x < 0 || y < 0 || x >= grid.width || y >= grid.height) return false;\n return grid.data[(y | 0) * grid.width + (x | 0)]! > 0;\n}\n\nexport function getCost(grid: Grid, x: number, y: number): number {\n if (x < 0 || y < 0 || x >= grid.width || y >= grid.height) return 0;\n return grid.data[(y | 0) * grid.width + (x | 0)]!;\n}\n\nexport function setWalkable(grid: Grid, x: number, y: number, walkable: boolean): void {\n if (x < 0 || y < 0 || x >= grid.width || y >= grid.height) return;\n grid.data[(y | 0) * grid.width + (x | 0)] = walkable ? 1 : 0;\n}\n\nexport function setCost(grid: Grid, x: number, y: number, cost: number): void {\n if (x < 0 || y < 0 || x >= grid.width || y >= grid.height) return;\n grid.data[(y | 0) * grid.width + (x | 0)] = cost > 255 ? 255 : cost < 0 ? 0 : cost | 0;\n}\n","/**\n * A* pathfinding on a Grid. Supports 4-directional and 8-directional movement\n * with weighted costs. Uses a binary min-heap for the open set.\n */\n\nimport type { Grid } from './grid.js';\nimport { isWalkable } from './grid.js';\n\nexport interface PathResult {\n /** Grid coordinates from start to end, inclusive. */\n path: { x: number; y: number }[];\n /** Total movement cost. */\n cost: number;\n /** Number of nodes explored. */\n explored: number;\n}\n\nexport interface PathOptions {\n /** Allow diagonal movement. Default: true. */\n diagonal?: boolean;\n /** Custom heuristic. Default: octile distance (diagonal) or Manhattan (4-dir). */\n heuristic?: (ax: number, ay: number, bx: number, by: number) => number;\n /** Max nodes to explore before giving up. Default: width * height. */\n maxIterations?: number;\n}\n\n// ─── Heuristics ──────────────────────────────────────────────────\n\nconst SQRT2 = Math.SQRT2;\n\nexport function manhattanDistance(ax: number, ay: number, bx: number, by: number): number {\n return Math.abs(ax - bx) + Math.abs(ay - by);\n}\n\nexport function octileDistance(ax: number, ay: number, bx: number, by: number): number {\n const dx = Math.abs(ax - bx);\n const dy = Math.abs(ay - by);\n return dx > dy ? dx + (SQRT2 - 1) * dy : dy + (SQRT2 - 1) * dx;\n}\n\nexport function chebyshevDistance(ax: number, ay: number, bx: number, by: number): number {\n return Math.max(Math.abs(ax - bx), Math.abs(ay - by));\n}\n\nexport function euclideanDistance(ax: number, ay: number, bx: number, by: number): number {\n const dx = ax - bx;\n const dy = ay - by;\n return Math.sqrt(dx * dx + dy * dy);\n}\n\n// ─── Binary min-heap ─────────────────────────────────────────────\n\n// Indices into the heap are stored as flat integers; each entry is (f, node-index).\n// We use two parallel Float64Arrays to avoid object allocation.\ninterface Heap {\n f: Float64Array;\n idx: Int32Array;\n size: number;\n}\n\nfunction heapCreate(capacity: number): Heap {\n return {\n f: new Float64Array(capacity),\n idx: new Int32Array(capacity),\n size: 0,\n };\n}\n\nfunction heapPush(h: Heap, f: number, nodeIdx: number): void {\n let i = h.size++;\n h.f[i] = f;\n h.idx[i] = nodeIdx;\n // Bubble up\n while (i > 0) {\n const parent = (i - 1) >> 1;\n if (h.f[parent]! <= h.f[i]!) break;\n // Swap\n const tf = h.f[parent]!;\n const ti = h.idx[parent]!;\n h.f[parent] = h.f[i]!;\n h.idx[parent] = h.idx[i]!;\n h.f[i] = tf;\n h.idx[i] = ti;\n i = parent;\n }\n}\n\nfunction heapPop(h: Heap): number {\n const result = h.idx[0]!;\n h.size--;\n if (h.size > 0) {\n h.f[0] = h.f[h.size]!;\n h.idx[0] = h.idx[h.size]!;\n // Sift down\n let i = 0;\n for (;;) {\n let smallest = i;\n const left = 2 * i + 1;\n const right = 2 * i + 2;\n if (left < h.size && h.f[left]! < h.f[smallest]!) smallest = left;\n if (right < h.size && h.f[right]! < h.f[smallest]!) smallest = right;\n if (smallest === i) break;\n const tf = h.f[i]!;\n const ti = h.idx[i]!;\n h.f[i] = h.f[smallest]!;\n h.idx[i] = h.idx[smallest]!;\n h.f[smallest] = tf;\n h.idx[smallest] = ti;\n i = smallest;\n }\n }\n return result;\n}\n\n// ─── Neighbors (pre-computed offsets) ────────────────────────────\n\n// 4-directional: N, E, S, W\nconst DIR4_X = [0, 1, 0, -1];\nconst DIR4_Y = [-1, 0, 1, 0];\n\n// 8-directional: N, NE, E, SE, S, SW, W, NW\nconst DIR8_X = [0, 1, 1, 1, 0, -1, -1, -1];\nconst DIR8_Y = [-1, -1, 0, 1, 1, 1, 0, -1];\nconst DIR8_COST = [1, SQRT2, 1, SQRT2, 1, SQRT2, 1, SQRT2];\n\n// ─── A* ──────────────────────────────────────────────────────────\n\nexport function findPath(\n grid: Grid,\n startX: number,\n startY: number,\n endX: number,\n endY: number,\n options?: PathOptions,\n): PathResult | null {\n const sx = startX | 0;\n const sy = startY | 0;\n const ex = endX | 0;\n const ey = endY | 0;\n\n // Quick rejects\n if (!isWalkable(grid, sx, sy) || !isWalkable(grid, ex, ey)) return null;\n if (sx === ex && sy === ey) return { path: [{ x: sx, y: sy }], cost: 0, explored: 0 };\n\n const diagonal = options?.diagonal !== false;\n const maxIter = options?.maxIterations ?? grid.width * grid.height;\n const heuristic = options?.heuristic ?? (diagonal ? octileDistance : manhattanDistance);\n\n const w = grid.width;\n const total = w * grid.height;\n\n // gScore and closed set\n const g = new Float64Array(total);\n g.fill(Number.POSITIVE_INFINITY);\n const closed = new Uint8Array(total);\n const cameFrom = new Int32Array(total);\n cameFrom.fill(-1);\n\n const startIdx = sy * w + sx;\n const endIdx = ey * w + ex;\n g[startIdx] = 0;\n\n const heap = heapCreate(Math.min(total, 4096));\n heapPush(heap, heuristic(sx, sy, ex, ey), startIdx);\n\n const dirX = diagonal ? DIR8_X : DIR4_X;\n const dirY = diagonal ? DIR8_Y : DIR4_Y;\n const dirCost = diagonal ? DIR8_COST : null;\n const dirCount = dirX.length;\n\n let explored = 0;\n\n while (heap.size > 0 && explored < maxIter) {\n const currentIdx = heapPop(heap);\n if (currentIdx === endIdx) {\n return reconstructPath(cameFrom, w, currentIdx, g[currentIdx]!, explored);\n }\n if (closed[currentIdx]) continue;\n closed[currentIdx] = 1;\n explored++;\n\n const cx = currentIdx % w;\n const cy = (currentIdx / w) | 0;\n const currentG = g[currentIdx]!;\n\n for (let d = 0; d < dirCount; d++) {\n const nx = cx + dirX[d]!;\n const ny = cy + dirY[d]!;\n if (nx < 0 || ny < 0 || nx >= w || ny >= grid.height) continue;\n\n const nIdx = ny * w + nx;\n if (closed[nIdx]) continue;\n\n const tileCost = grid.data[nIdx]!;\n if (tileCost === 0) continue;\n\n // For diagonal movement, check that both cardinal neighbors are walkable (corner-cutting)\n if (diagonal && d & 1) {\n const dx = dirX[d]!;\n const dy = dirY[d]!;\n if (!isWalkable(grid, cx + dx, cy) || !isWalkable(grid, cx, cy + dy)) continue;\n }\n\n const moveCost = dirCost ? dirCost[d]! * tileCost : tileCost;\n const tentativeG = currentG + moveCost;\n\n if (tentativeG < g[nIdx]!) {\n g[nIdx] = tentativeG;\n cameFrom[nIdx] = currentIdx;\n const f = tentativeG + heuristic(nx, ny, ex, ey);\n heapPush(heap, f, nIdx);\n }\n }\n }\n\n return null;\n}\n\nfunction reconstructPath(\n cameFrom: Int32Array,\n w: number,\n endIdx: number,\n cost: number,\n explored: number,\n): PathResult {\n const path: { x: number; y: number }[] = [];\n let idx = endIdx;\n while (idx !== -1) {\n path.push({ x: idx % w, y: (idx / w) | 0 });\n idx = cameFrom[idx]!;\n }\n path.reverse();\n return { path, cost, explored };\n}\n","/**\n * Jump Point Search — an optimization over A* for uniform-cost grids.\n * Only works when all walkable tiles have cost 1. Falls back to A* behavior\n * if weighted costs are detected.\n *\n * JPS prunes symmetric paths by \"jumping\" along directions until hitting\n * a wall, the goal, or a forced neighbor.\n */\n\nimport type { PathResult } from './astar.js';\nimport { octileDistance } from './astar.js';\nimport type { Grid } from './grid.js';\nimport { isWalkable } from './grid.js';\n\n// ─── Binary min-heap (duplicated from astar for tree-shakeability) ─\n\ninterface Heap {\n f: Float64Array;\n idx: Int32Array;\n size: number;\n}\n\nfunction heapCreate(capacity: number): Heap {\n return {\n f: new Float64Array(capacity),\n idx: new Int32Array(capacity),\n size: 0,\n };\n}\n\nfunction heapPush(h: Heap, f: number, nodeIdx: number): void {\n let i = h.size++;\n h.f[i] = f;\n h.idx[i] = nodeIdx;\n while (i > 0) {\n const parent = (i - 1) >> 1;\n if (h.f[parent]! <= h.f[i]!) break;\n const tf = h.f[parent]!;\n const ti = h.idx[parent]!;\n h.f[parent] = h.f[i]!;\n h.idx[parent] = h.idx[i]!;\n h.f[i] = tf;\n h.idx[i] = ti;\n i = parent;\n }\n}\n\nfunction heapPop(h: Heap): number {\n const result = h.idx[0]!;\n h.size--;\n if (h.size > 0) {\n h.f[0] = h.f[h.size]!;\n h.idx[0] = h.idx[h.size]!;\n let i = 0;\n for (;;) {\n let smallest = i;\n const left = 2 * i + 1;\n const right = 2 * i + 2;\n if (left < h.size && h.f[left]! < h.f[smallest]!) smallest = left;\n if (right < h.size && h.f[right]! < h.f[smallest]!) smallest = right;\n if (smallest === i) break;\n const tf = h.f[i]!;\n const ti = h.idx[i]!;\n h.f[i] = h.f[smallest]!;\n h.idx[i] = h.idx[smallest]!;\n h.f[smallest] = tf;\n h.idx[smallest] = ti;\n i = smallest;\n }\n }\n return result;\n}\n\n// ─── JPS ─────────────────────────────────────────────────────────\n\nconst SQRT2 = Math.SQRT2;\n\nexport interface JpsOptions {\n /** Max nodes to explore before giving up. Default: width * height. */\n maxIterations?: number;\n /** Custom heuristic. Default: octile distance. */\n heuristic?: (ax: number, ay: number, bx: number, by: number) => number;\n}\n\nexport function findPathJPS(\n grid: Grid,\n startX: number,\n startY: number,\n endX: number,\n endY: number,\n options?: JpsOptions,\n): PathResult | null {\n const sx = startX | 0;\n const sy = startY | 0;\n const ex = endX | 0;\n const ey = endY | 0;\n\n if (!isWalkable(grid, sx, sy) || !isWalkable(grid, ex, ey)) return null;\n if (sx === ex && sy === ey) return { path: [{ x: sx, y: sy }], cost: 0, explored: 0 };\n\n const w = grid.width;\n const h = grid.height;\n const total = w * h;\n const maxIter = options?.maxIterations ?? total;\n const heuristic = options?.heuristic ?? octileDistance;\n\n const g = new Float64Array(total);\n g.fill(Number.POSITIVE_INFINITY);\n const closed = new Uint8Array(total);\n const cameFrom = new Int32Array(total);\n cameFrom.fill(-1);\n\n const startIdx = sy * w + sx;\n const endIdx = ey * w + ex;\n g[startIdx] = 0;\n\n const heap = heapCreate(Math.min(total, 4096));\n heapPush(heap, heuristic(sx, sy, ex, ey), startIdx);\n\n let explored = 0;\n\n while (heap.size > 0 && explored < maxIter) {\n const currentIdx = heapPop(heap);\n if (currentIdx === endIdx) {\n return buildPath(cameFrom, w, currentIdx, g[currentIdx]!, explored);\n }\n if (closed[currentIdx]) continue;\n closed[currentIdx] = 1;\n explored++;\n\n const cx = currentIdx % w;\n const cy = (currentIdx / w) | 0;\n\n const neighbors = identifySuccessors(grid, cx, cy, cameFrom, w, h, ex, ey);\n for (let i = 0; i < neighbors.length; i += 2) {\n const nx = neighbors[i]!;\n const ny = neighbors[i + 1]!;\n const nIdx = ny * w + nx;\n if (closed[nIdx]) continue;\n\n const dx = Math.abs(nx - cx);\n const dy = Math.abs(ny - cy);\n const diag = Math.min(dx, dy);\n const straight = Math.abs(dx - dy);\n const dist = diag * SQRT2 + straight;\n const tentativeG = g[currentIdx]! + dist;\n if (tentativeG < g[nIdx]!) {\n g[nIdx] = tentativeG;\n cameFrom[nIdx] = currentIdx;\n heapPush(heap, tentativeG + heuristic(nx, ny, ex, ey), nIdx);\n }\n }\n }\n\n return null;\n}\n\nfunction identifySuccessors(\n grid: Grid,\n cx: number,\n cy: number,\n cameFrom: Int32Array,\n w: number,\n h: number,\n ex: number,\n ey: number,\n): number[] {\n const results: number[] = [];\n const parentIdx = cameFrom[cy * w + cx]!;\n\n if (parentIdx === -1) {\n // Start node: explore all 8 directions\n for (let dx = -1; dx <= 1; dx++) {\n for (let dy = -1; dy <= 1; dy++) {\n if (dx === 0 && dy === 0) continue;\n const jp = jump(grid, cx, cy, dx, dy, w, h, ex, ey);\n if (jp !== -1) {\n results.push(jp % w, (jp / w) | 0);\n }\n }\n }\n } else {\n const px = parentIdx % w;\n const py = (parentIdx / w) | 0;\n const dx = clampDir(cx - px);\n const dy = clampDir(cy - py);\n\n if (dx !== 0 && dy !== 0) {\n // Diagonal move: check straight and diagonal successors\n if (isWalkable(grid, cx, cy + dy)) {\n const jp = jump(grid, cx, cy, 0, dy, w, h, ex, ey);\n if (jp !== -1) results.push(jp % w, (jp / w) | 0);\n }\n if (isWalkable(grid, cx + dx, cy)) {\n const jp = jump(grid, cx, cy, dx, 0, w, h, ex, ey);\n if (jp !== -1) results.push(jp % w, (jp / w) | 0);\n }\n if (isWalkable(grid, cx + dx, cy + dy)) {\n const jp = jump(grid, cx, cy, dx, dy, w, h, ex, ey);\n if (jp !== -1) results.push(jp % w, (jp / w) | 0);\n }\n // Forced neighbors\n if (!isWalkable(grid, cx - dx, cy) && isWalkable(grid, cx - dx, cy + dy)) {\n const jp = jump(grid, cx, cy, -dx, dy, w, h, ex, ey);\n if (jp !== -1) results.push(jp % w, (jp / w) | 0);\n }\n if (!isWalkable(grid, cx, cy - dy) && isWalkable(grid, cx + dx, cy - dy)) {\n const jp = jump(grid, cx, cy, dx, -dy, w, h, ex, ey);\n if (jp !== -1) results.push(jp % w, (jp / w) | 0);\n }\n } else if (dx !== 0) {\n // Horizontal move\n if (isWalkable(grid, cx + dx, cy)) {\n const jp = jump(grid, cx, cy, dx, 0, w, h, ex, ey);\n if (jp !== -1) results.push(jp % w, (jp / w) | 0);\n }\n if (!isWalkable(grid, cx, cy + 1) && isWalkable(grid, cx + dx, cy + 1)) {\n const jp = jump(grid, cx, cy, dx, 1, w, h, ex, ey);\n if (jp !== -1) results.push(jp % w, (jp / w) | 0);\n }\n if (!isWalkable(grid, cx, cy - 1) && isWalkable(grid, cx + dx, cy - 1)) {\n const jp = jump(grid, cx, cy, dx, -1, w, h, ex, ey);\n if (jp !== -1) results.push(jp % w, (jp / w) | 0);\n }\n } else {\n // Vertical move\n if (isWalkable(grid, cx, cy + dy)) {\n const jp = jump(grid, cx, cy, 0, dy, w, h, ex, ey);\n if (jp !== -1) results.push(jp % w, (jp / w) | 0);\n }\n if (!isWalkable(grid, cx + 1, cy) && isWalkable(grid, cx + 1, cy + dy)) {\n const jp = jump(grid, cx, cy, 1, dy, w, h, ex, ey);\n if (jp !== -1) results.push(jp % w, (jp / w) | 0);\n }\n if (!isWalkable(grid, cx - 1, cy) && isWalkable(grid, cx - 1, cy + dy)) {\n const jp = jump(grid, cx, cy, -1, dy, w, h, ex, ey);\n if (jp !== -1) results.push(jp % w, (jp / w) | 0);\n }\n }\n }\n\n return results;\n}\n\nfunction jump(\n grid: Grid,\n cx: number,\n cy: number,\n dx: number,\n dy: number,\n w: number,\n h: number,\n ex: number,\n ey: number,\n): number {\n const nx = cx + dx;\n const ny = cy + dy;\n\n if (!isWalkable(grid, nx, ny)) return -1;\n if (nx === ex && ny === ey) return ny * w + nx;\n\n // Forced neighbor check\n if (dx !== 0 && dy !== 0) {\n // Diagonal\n if (\n (!isWalkable(grid, nx - dx, ny) && isWalkable(grid, nx - dx, ny + dy)) ||\n (!isWalkable(grid, nx, ny - dy) && isWalkable(grid, nx + dx, ny - dy))\n ) {\n return ny * w + nx;\n }\n // Recurse in cardinal directions\n if (jump(grid, nx, ny, dx, 0, w, h, ex, ey) !== -1) return ny * w + nx;\n if (jump(grid, nx, ny, 0, dy, w, h, ex, ey) !== -1) return ny * w + nx;\n } else if (dx !== 0) {\n // Horizontal\n if (\n (!isWalkable(grid, nx, ny + 1) && isWalkable(grid, nx + dx, ny + 1)) ||\n (!isWalkable(grid, nx, ny - 1) && isWalkable(grid, nx + dx, ny - 1))\n ) {\n return ny * w + nx;\n }\n } else {\n // Vertical\n if (\n (!isWalkable(grid, nx + 1, ny) && isWalkable(grid, nx + 1, ny + dy)) ||\n (!isWalkable(grid, nx - 1, ny) && isWalkable(grid, nx - 1, ny + dy))\n ) {\n return ny * w + nx;\n }\n }\n\n // Keep jumping (iterative for cardinal, recursive for diagonal via identifySuccessors)\n return jump(grid, nx, ny, dx, dy, w, h, ex, ey);\n}\n\nfunction clampDir(v: number): number {\n return v > 0 ? 1 : v < 0 ? -1 : 0;\n}\n\nfunction buildPath(\n cameFrom: Int32Array,\n w: number,\n endIdx: number,\n cost: number,\n explored: number,\n): PathResult {\n // JPS produces jump points — we interpolate the full path\n const jumpPoints: number[] = [];\n let idx = endIdx;\n while (idx !== -1) {\n jumpPoints.push(idx);\n idx = cameFrom[idx]!;\n }\n jumpPoints.reverse();\n\n const path: { x: number; y: number }[] = [];\n for (let i = 0; i < jumpPoints.length; i++) {\n const jpIdx = jumpPoints[i]!;\n const jx = jpIdx % w;\n const jy = (jpIdx / w) | 0;\n if (i === 0) {\n path.push({ x: jx, y: jy });\n } else {\n const prev = path[path.length - 1]!;\n // Interpolate from prev to current jump point\n let cx = prev.x;\n let cy = prev.y;\n while (cx !== jx || cy !== jy) {\n if (cx < jx) cx++;\n else if (cx > jx) cx--;\n if (cy < jy) cy++;\n else if (cy > jy) cy--;\n path.push({ x: cx, y: cy });\n }\n }\n }\n\n return { path, cost, explored };\n}\n","/**\n * Lightweight navmesh pathfinding for polygon-based environments.\n * Supports convex polygon navigation with A* over the polygon graph\n * and the Simple Stupid Funnel Algorithm for path smoothing.\n */\n\nimport type { Vec2 } from '@flare-engine/math';\n\n// ─── Types ───────────────────────────────────────────────────────\n\nexport interface NavMeshPolygon {\n readonly id: number;\n /** Convex polygon vertices in winding order. */\n readonly vertices: readonly Vec2[];\n /** Ids of neighboring polygons (sharing an edge). */\n readonly neighbors: readonly number[];\n /** Shared edge per neighbor: [neighborId] → { a, b } portal endpoints. */\n readonly portals: readonly Portal[];\n}\n\nexport interface Portal {\n /** Neighbor polygon id. */\n neighborId: number;\n /** Left endpoint of the shared edge (from the perspective of travel). */\n a: Vec2;\n /** Right endpoint of the shared edge. */\n b: Vec2;\n}\n\nexport interface NavMesh {\n readonly polygons: readonly NavMeshPolygon[];\n}\n\nexport interface NavMeshPathResult {\n /** Smoothed world-space waypoints. */\n path: Vec2[];\n /** Polygon ids traversed. */\n corridor: number[];\n}\n\n// ─── Construction ────────────────────────────────────────────────\n\nexport function createNavMesh(polygons: NavMeshPolygon[]): NavMesh {\n return { polygons };\n}\n\n// ─── Point-in-polygon ────────────────────────────────────────────\n\nfunction pointInConvexPolygon(verts: readonly Vec2[], px: number, py: number): boolean {\n const n = verts.length;\n if (n < 3) return false;\n let sign = 0;\n for (let i = 0; i < n; i++) {\n const a = verts[i]!;\n const b = verts[(i + 1) % n]!;\n const cross = (b.x - a.x) * (py - a.y) - (b.y - a.y) * (px - a.x);\n if (cross !== 0) {\n const s = cross > 0 ? 1 : -1;\n if (sign === 0) sign = s;\n else if (sign !== s) return false;\n }\n }\n return true;\n}\n\nexport function findPolygonAt(mesh: NavMesh, x: number, y: number): number {\n for (let i = 0; i < mesh.polygons.length; i++) {\n if (pointInConvexPolygon(mesh.polygons[i]!.vertices, x, y)) {\n return mesh.polygons[i]!.id;\n }\n }\n return -1;\n}\n\n// ─── Polygon centroid ────────────────────────────────────────────\n\nfunction centroid(verts: readonly Vec2[]): Vec2 {\n let cx = 0;\n let cy = 0;\n for (let i = 0; i < verts.length; i++) {\n cx += verts[i]!.x;\n cy += verts[i]!.y;\n }\n const n = verts.length;\n return { x: cx / n, y: cy / n };\n}\n\n// ─── A* over polygon graph ───────────────────────────────────────\n\nfunction distSq(ax: number, ay: number, bx: number, by: number): number {\n const dx = ax - bx;\n const dy = ay - by;\n return dx * dx + dy * dy;\n}\n\nfunction dist(ax: number, ay: number, bx: number, by: number): number {\n return Math.sqrt(distSq(ax, ay, bx, by));\n}\n\nexport function findNavMeshPath(mesh: NavMesh, start: Vec2, end: Vec2): NavMeshPathResult | null {\n const startPolyId = findPolygonAt(mesh, start.x, start.y);\n const endPolyId = findPolygonAt(mesh, end.x, end.y);\n if (startPolyId === -1 || endPolyId === -1) return null;\n if (startPolyId === endPolyId) {\n return {\n path: [\n { x: start.x, y: start.y },\n { x: end.x, y: end.y },\n ],\n corridor: [startPolyId],\n };\n }\n\n // Build index: id → polygon\n const byId = new Map<number, NavMeshPolygon>();\n for (let i = 0; i < mesh.polygons.length; i++) {\n const p = mesh.polygons[i]!;\n byId.set(p.id, p);\n }\n\n // A* on polygon graph\n const gScore = new Map<number, number>();\n const fScore = new Map<number, number>();\n const cameFrom = new Map<number, number>();\n\n gScore.set(startPolyId, 0);\n\n const endPoly = byId.get(endPolyId)!;\n const endCenter = centroid(endPoly.vertices);\n const startPoly = byId.get(startPolyId)!;\n const startCenter = centroid(startPoly.vertices);\n\n fScore.set(startPolyId, dist(startCenter.x, startCenter.y, endCenter.x, endCenter.y));\n\n // Simple array-based open set (fine for typical navmeshes with <1000 polygons)\n const open: number[] = [startPolyId];\n const inOpen = new Set<number>([startPolyId]);\n const closed = new Set<number>();\n\n while (open.length > 0) {\n // Find lowest f-score\n let bestI = 0;\n let bestF = fScore.get(open[0]!) ?? Number.POSITIVE_INFINITY;\n for (let i = 1; i < open.length; i++) {\n const f = fScore.get(open[i]!) ?? 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