@grafloria/element 0.3.18 → 0.3.19

package/src/libs/engine/src/routing/RoutingEngine.js

@@ -0,0 +1,546 @@
+"use strict";
+// RoutingEngine - Main routing coordinator
+Object.defineProperty(exports, "__esModule", { value: true });
+exports.RoutingEngine = void 0;
+const tslib_1 = require("tslib");
+const ObstacleMap_1 = require("./ObstacleMap");
+const ObstacleIndex_1 = require("./ObstacleIndex"); // Wave 8 Card 6
+const PathSimplifier_1 = require("./PathSimplifier"); // Phase 2.2
+const StraightRouter_1 = require("./algorithms/StraightRouter");
+const OrthogonalRouter_1 = require("./algorithms/OrthogonalRouter");
+const ManhattanRouter_1 = require("./algorithms/ManhattanRouter");
+const ElkRouter_1 = require("./algorithms/ElkRouter");
+const AStarRouter_1 = require("./algorithms/AStarRouter");
+const DijkstraRouter_1 = require("./algorithms/DijkstraRouter");
+const VisibilityGraphRouter_1 = require("./algorithms/VisibilityGraphRouter");
+const LRUCache_1 = require("../performance/LRUCache"); // Phase 5.3
+/**
+ * Point the map a graph-router queries AT THE REQUEST'S obstacles.
+ *
+ * THE BUG THIS FIXES: `AStarRouter`/`DijkstraRouter`/`VisibilityGraphRouter` all read the
+ * ObstacleMap they were handed at CONSTRUCTION. The adapters below used to pass the engine's
+ * shared global map and then route `(start, end)` — so `request.obstacles`, the set
+ * `RoutingEngine.route()` painstakingly resolves as globals ∪ request and hands over in
+ * `enhancedRequest`, was IGNORED. A link routed `avoid` drew straight THROUGH any obstacle
+ * that arrived via the request, because the router never saw it. (Orthogonal/manhattan honour
+ * request.obstacles; these three did not — a silent inconsistency across the router set.)
+ *
+ * Each adapter now owns a PRIVATE map (never the shared global one, which resolveObstacles
+ * still reads) and syncs it to the request's fully-resolved obstacle set per route. Costlier
+ * than a stale reference, but these are the opt-in `avoid`-family routers, guarded by the
+ * route cache above, and correctness is not optional.
+ */
+function syncObstacles(map, request) {
+    var _a;
+    map.clear();
+    for (const o of (_a = request.obstacles) !== null && _a !== void 0 ? _a : [])
+        map.add(o);
+}
+/**
+ * Adapter for A* Router to match IRouter interface
+ */
+class AStarRouterAdapter {
+    constructor() {
+        this.obstacles = new ObstacleMap_1.ObstacleMap();
+        this.router = new AStarRouter_1.AStarRouter(this.obstacles);
+    }
+    getName() {
+        return 'a-star';
+    }
+    route(request) {
+        syncObstacles(this.obstacles, request);
+        const points = this.router.route(request.start, request.end);
+        if (points.length === 0)
+            return null;
+        // Calculate total length and bend count
+        let totalLength = 0;
+        let bendCount = 0;
+        for (let i = 0; i < points.length - 1; i++) {
+            const dx = points[i + 1].x - points[i].x;
+            const dy = points[i + 1].y - points[i].y;
+            totalLength += Math.sqrt(dx * dx + dy * dy);
+            // Count bends (direction changes)
+            if (i > 0) {
+                const prevDx = points[i].x - points[i - 1].x;
+                const prevDy = points[i].y - points[i - 1].y;
+                if (Math.abs(dx - prevDx) > 0.01 || Math.abs(dy - prevDy) > 0.01) {
+                    bendCount++;
+                }
+            }
+        }
+        return {
+            points,
+            totalLength,
+            bendCount,
+            cost: totalLength,
+        };
+    }
+}
+/**
+ * Adapter for Dijkstra Router to match IRouter interface
+ */
+class DijkstraRouterAdapter {
+    constructor() {
+        this.obstacles = new ObstacleMap_1.ObstacleMap();
+        this.router = new DijkstraRouter_1.DijkstraRouter(this.obstacles);
+    }
+    getName() {
+        return 'dijkstra';
+    }
+    route(request) {
+        syncObstacles(this.obstacles, request);
+        const points = this.router.route(request.start, request.end);
+        if (points.length === 0)
+            return null;
+        let totalLength = 0;
+        let bendCount = 0;
+        for (let i = 0; i < points.length - 1; i++) {
+            const dx = points[i + 1].x - points[i].x;
+            const dy = points[i + 1].y - points[i].y;
+            totalLength += Math.sqrt(dx * dx + dy * dy);
+            if (i > 0) {
+                const prevDx = points[i].x - points[i - 1].x;
+                const prevDy = points[i].y - points[i - 1].y;
+                if (Math.abs(dx - prevDx) > 0.01 || Math.abs(dy - prevDy) > 0.01) {
+                    bendCount++;
+                }
+            }
+        }
+        return {
+            points,
+            totalLength,
+            bendCount,
+            cost: totalLength,
+        };
+    }
+}
+/**
+ * Adapter for Visibility Graph Router to match IRouter interface
+ */
+class VisibilityGraphRouterAdapter {
+    constructor() {
+        this.obstacles = new ObstacleMap_1.ObstacleMap();
+        this.router = new VisibilityGraphRouter_1.VisibilityGraphRouter(this.obstacles);
+    }
+    getName() {
+        return 'visibility-graph';
+    }
+    route(request) {
+        syncObstacles(this.obstacles, request);
+        const points = this.router.route(request.start, request.end);
+        if (points.length === 0)
+            return null;
+        let totalLength = 0;
+        let bendCount = 0;
+        for (let i = 0; i < points.length - 1; i++) {
+            const dx = points[i + 1].x - points[i].x;
+            const dy = points[i + 1].y - points[i].y;
+            totalLength += Math.sqrt(dx * dx + dy * dy);
+            if (i > 0) {
+                const prevDx = points[i].x - points[i - 1].x;
+                const prevDy = points[i].y - points[i - 1].y;
+                if (Math.abs(dx - prevDx) > 0.01 || Math.abs(dy - prevDy) > 0.01) {
+                    bendCount++;
+                }
+            }
+        }
+        return {
+            points,
+            totalLength,
+            bendCount,
+            cost: totalLength,
+        };
+    }
+}
+/**
+ * RoutingEngine coordinates routing operations and manages obstacles
+ */
+class RoutingEngine {
+    constructor() {
+        this.routers = new Map();
+        this.obstacleMap = new ObstacleMap_1.ObstacleMap();
+        this.globalObstacles = []; // Simple array to avoid huge spatial queries
+        this.defaultAlgorithm = 'straight';
+        // ---------------------------------------------------------------------------
+        // Wave 8 (Performance & scale) — Card 6: the obstacle set, resolved once.
+        //
+        // `route()` merged the global obstacles with the request's on EVERY call:
+        //
+        //     const allObstacles = [...this.getAllGlobalObstacles(), ...request.obstacles];
+        //
+        // On a 5,000-node diagram that allocated a 9,998-entry array per link per
+        // frame — and every entry of it was then linearly scanned by the router's
+        // collision test, once per grid cell A* looked at. (It is 9,998 and not 4,998
+        // because the two sets OVERLAP: the engine registers every node globally, and
+        // the renderer passes the same nodes again. Both copies were scanned.)
+        //
+        // Now the merge is deduplicated and MEMOISED — on the global obstacle version
+        // and the identity of the request's array — and it carries a spatial index
+        // built alongside it. A frame that routes 700 links against one obstacle set
+        // builds that set, and its index, exactly once.
+        // ---------------------------------------------------------------------------
+        /** Bumped whenever the global obstacle set changes; invalidates the caches below. */
+        this.obstacleVersion = 0;
+        this.globalResolved = null;
+        this.resolvedCache = new WeakMap();
+        /** Memoised obstacle-id signature for the LRU key (a sort+join of 10k ids is not free). */
+        this.cacheKeySigs = new WeakMap();
+        // Phase 5.3: Initialize LRU cache with capacity of 1000 routes
+        // This prevents unbounded memory growth while maintaining good hit rate
+        this.routeCache = new LRUCache_1.LRUCache(1000);
+        // Phase 2.2: Initialize path simplifier
+        this.pathSimplifier = new PathSimplifier_1.PathSimplifier();
+        // Register built-in routers
+        this.registerRouter('straight', new StraightRouter_1.StraightRouter());
+        this.registerRouter('orthogonal', new OrthogonalRouter_1.OrthogonalRouter());
+        // Wave 5 Card 3: the grid router with JointJS+-parity knobs (step, padding,
+        // turn cost, no U-turns, loop cap, perpendicular ends by construction).
+        this.registerRouter('manhattan', new ManhattanRouter_1.ManhattanRouter());
+        this.registerRouter('elk', new ElkRouter_1.ElkRouter());
+        // Register advanced routers with obstacle avoidance (using adapters)
+        this.registerRouter('a-star', new AStarRouterAdapter());
+        this.registerRouter('dijkstra', new DijkstraRouterAdapter());
+        this.registerRouter('visibility-graph', new VisibilityGraphRouterAdapter());
+    }
+    /**
+     * Register a custom router
+     */
+    registerRouter(name, router) {
+        if (this.routers.has(name)) {
+            throw new Error(`Router '${name}' already registered`);
+        }
+        this.routers.set(name, router);
+    }
+    /**
+     * Unregister a router
+     */
+    unregisterRouter(name) {
+        return this.routers.delete(name);
+    }
+    /**
+     * Get list of available routing algorithms
+     */
+    getAvailableAlgorithms() {
+        return Array.from(this.routers.keys());
+    }
+    /**
+     * Set default routing algorithm
+     */
+    setDefaultAlgorithm(algorithm) {
+        if (!this.routers.has(algorithm)) {
+            throw new Error(`Router '${algorithm}' not found`);
+        }
+        this.defaultAlgorithm = algorithm;
+    }
+    /**
+     * Get default algorithm
+     */
+    getDefaultAlgorithm() {
+        return this.defaultAlgorithm;
+    }
+    /**
+     * Add a global obstacle
+     */
+    addObstacle(obstacle) {
+        this.obstacleMap.add(obstacle);
+        this.globalObstacles.push(obstacle);
+        this.obstacleVersion++;
+        this.clearCache(); // Invalidate cache when obstacles change
+    }
+    /**
+     * Remove a global obstacle
+     */
+    removeObstacle(id) {
+        const removed = this.obstacleMap.remove(id);
+        if (removed) {
+            this.globalObstacles = this.globalObstacles.filter((o) => o.id !== id);
+            this.obstacleVersion++;
+            this.clearCache();
+        }
+        return removed;
+    }
+    /**
+     * Update an existing obstacle's position/size
+     * More efficient than remove + add
+     */
+    updateObstacle(obstacle) {
+        // Remove old version
+        this.obstacleMap.remove(obstacle.id);
+        // Add updated version
+        this.obstacleMap.add(obstacle);
+        // Update in global array
+        const index = this.globalObstacles.findIndex((o) => o.id === obstacle.id);
+        if (index !== -1) {
+            this.globalObstacles[index] = obstacle;
+        }
+        else {
+            this.globalObstacles.push(obstacle);
+        }
+        this.obstacleVersion++;
+        this.clearCache(); // Invalidate cache when obstacles change
+    }
+    /**
+     * Get number of global obstacles
+     */
+    /** All registered obstacles — the map's own array accessor, passed through. */
+    getObstacles() {
+        return this.obstacleMap.getObstacles();
+    }
+    getObstacleCount() {
+        return this.globalObstacles.length;
+    }
+    /**
+     * Clear all global obstacles
+     */
+    clearObstacles() {
+        this.obstacleMap.clear();
+        this.globalObstacles = [];
+        this.obstacleVersion++;
+        this.clearCache();
+    }
+    /**
+     * Wave 8 — Card 6: the effective obstacle set for a request (globals ∪ the
+     * request's own), deduplicated, with a spatial index over exactly it.
+     *
+     * Memoised twice over:
+     *   - the globals-only answer, invalidated by `obstacleVersion`;
+     *   - the merged answer, keyed on the IDENTITY of the request's array — so a
+     *     renderer that hands every link in a frame the same obstacle array pays
+     *     for the merge and the index once, not once per link.
+     *
+     * A caller that builds a fresh array per link still gets a correct answer; it
+     * just pays for it, exactly as it did before this existed.
+     */
+    resolveObstacles(requestObstacles) {
+        if (!this.globalResolved || this.globalResolved.version !== this.obstacleVersion) {
+            const obstacles = this.getAllGlobalObstacles();
+            this.globalResolved = {
+                version: this.obstacleVersion,
+                obstacles,
+                index: new ObstacleIndex_1.ObstacleIndex(obstacles),
+            };
+        }
+        if (!requestObstacles || requestObstacles.length === 0) {
+            return this.globalResolved;
+        }
+        const hit = this.resolvedCache.get(requestObstacles);
+        if (hit && hit.version === this.obstacleVersion)
+            return hit;
+        const obstacles = (0, ObstacleIndex_1.mergeObstacles)(this.globalResolved.obstacles, requestObstacles);
+        const resolved = {
+            version: this.obstacleVersion,
+            obstacles,
+            index: new ObstacleIndex_1.ObstacleIndex(obstacles),
+        };
+        this.resolvedCache.set(requestObstacles, resolved);
+        return resolved;
+    }
+    /**
+     * Clear route cache
+     */
+    clearCache() {
+        this.routeCache.clear();
+    }
+    /**
+     * Route from start to end (synchronous version)
+     * Throws error if algorithm is async (like ELK)
+     * Use routeAsync() for async routers
+     */
+    route(request) {
+        var _a, _b, _c, _d;
+        // Validate coordinates
+        if (!isFinite(request.start.x) ||
+            !isFinite(request.start.y) ||
+            !isFinite(request.end.x) ||
+            !isFinite(request.end.y)) {
+            throw new Error('Invalid coordinates');
+        }
+        // Handle same start and end point
+        if (request.start.x === request.end.x &&
+            request.start.y === request.end.y) {
+            return {
+                points: [{ x: request.start.x, y: request.start.y }],
+                totalLength: 0,
+                bendCount: 0,
+                cost: 0,
+                segments: [],
+            };
+        }
+        // Check cache
+        const cacheKey = this.getCacheKey(request);
+        if (this.routeCache.has(cacheKey)) {
+            return this.routeCache.get(cacheKey);
+        }
+        // Get algorithm
+        const algorithm = (_b = (_a = request.options) === null || _a === void 0 ? void 0 : _a.algorithm) !== null && _b !== void 0 ? _b : this.defaultAlgorithm;
+        // ELK is async-only
+        if (algorithm === 'elk') {
+            throw new Error('ELK router is async. Use routeAsync() instead or pre-calculate paths.');
+        }
+        const router = this.routers.get(algorithm);
+        if (!router) {
+            throw new Error(`Router '${algorithm}' not found`);
+        }
+        // Wave 8 — Card 6: globals ∪ request, deduplicated and indexed, memoised.
+        const resolved = this.resolveObstacles(request.obstacles);
+        // Create enhanced request with all obstacles
+        const enhancedRequest = Object.assign(Object.assign({}, request), { obstacles: resolved.obstacles, obstacleIndex: resolved.index });
+        // Perform routing (must be sync)
+        const result = router.route(enhancedRequest);
+        if (result instanceof Promise) {
+            throw new Error(`Router '${algorithm}' is async. Use routeAsync() instead.`);
+        }
+        let path = result;
+        // Apply path simplification if enabled
+        if (path && ((_c = request.options) === null || _c === void 0 ? void 0 : _c.simplifyPath) && path.points.length > 2) {
+            const epsilon = (_d = request.options.simplificationEpsilon) !== null && _d !== void 0 ? _d : 1.0;
+            const simplifiedPoints = this.pathSimplifier.simplify(path.points, epsilon);
+            // Recalculate path metrics after simplification
+            let totalLength = 0;
+            let bendCount = 0;
+            for (let i = 0; i < simplifiedPoints.length - 1; i++) {
+                const dx = simplifiedPoints[i + 1].x - simplifiedPoints[i].x;
+                const dy = simplifiedPoints[i + 1].y - simplifiedPoints[i].y;
+                totalLength += Math.sqrt(dx * dx + dy * dy);
+                // Count bends (direction changes)
+                if (i > 0) {
+                    const prevDx = simplifiedPoints[i].x - simplifiedPoints[i - 1].x;
+                    const prevDy = simplifiedPoints[i].y - simplifiedPoints[i - 1].y;
+                    if (Math.abs(dx - prevDx) > 0.01 || Math.abs(dy - prevDy) > 0.01) {
+                        bendCount++;
+                    }
+                }
+            }
+            // Create new path with simplified points
+            path = Object.assign(Object.assign({}, path), { points: simplifiedPoints, totalLength,
+                bendCount });
+        }
+        // Cache result
+        this.routeCache.set(cacheKey, path);
+        return path;
+    }
+    /**
+     * Route from start to end (async version)
+     * Supports both sync and async routers like ELK.js
+     */
+    routeAsync(request) {
+        return tslib_1.__awaiter(this, void 0, void 0, function* () {
+            var _a, _b, _c, _d;
+            // Validate coordinates
+            if (!isFinite(request.start.x) ||
+                !isFinite(request.start.y) ||
+                !isFinite(request.end.x) ||
+                !isFinite(request.end.y)) {
+                throw new Error('Invalid coordinates');
+            }
+            // Handle same start and end point
+            if (request.start.x === request.end.x &&
+                request.start.y === request.end.y) {
+                return {
+                    points: [{ x: request.start.x, y: request.start.y }],
+                    totalLength: 0,
+                    bendCount: 0,
+                    cost: 0,
+                    segments: [],
+                };
+            }
+            // Check cache
+            const cacheKey = this.getCacheKey(request);
+            if (this.routeCache.has(cacheKey)) {
+                return this.routeCache.get(cacheKey);
+            }
+            // Get algorithm
+            const algorithm = (_b = (_a = request.options) === null || _a === void 0 ? void 0 : _a.algorithm) !== null && _b !== void 0 ? _b : this.defaultAlgorithm;
+            const router = this.routers.get(algorithm);
+            if (!router) {
+                throw new Error(`Router '${algorithm}' not found`);
+            }
+            // Wave 8 — Card 6: globals ∪ request, deduplicated and indexed, memoised.
+            const resolved = this.resolveObstacles(request.obstacles);
+            // Create enhanced request with all obstacles
+            const enhancedRequest = Object.assign(Object.assign({}, request), { obstacles: resolved.obstacles, obstacleIndex: resolved.index });
+            // Perform routing (await in case router is async like ELK)
+            let path = yield router.route(enhancedRequest);
+            // Phase 2.2: Apply path simplification if enabled
+            if (path && ((_c = request.options) === null || _c === void 0 ? void 0 : _c.simplifyPath) && path.points.length > 2) {
+                const epsilon = (_d = request.options.simplificationEpsilon) !== null && _d !== void 0 ? _d : 1.0;
+                const simplifiedPoints = this.pathSimplifier.simplify(path.points, epsilon);
+                // Recalculate path metrics after simplification
+                let totalLength = 0;
+                let bendCount = 0;
+                for (let i = 0; i < simplifiedPoints.length - 1; i++) {
+                    const dx = simplifiedPoints[i + 1].x - simplifiedPoints[i].x;
+                    const dy = simplifiedPoints[i + 1].y - simplifiedPoints[i].y;
+                    totalLength += Math.sqrt(dx * dx + dy * dy);
+                    // Count bends (direction changes)
+                    if (i > 0) {
+                        const prevDx = simplifiedPoints[i].x - simplifiedPoints[i - 1].x;
+                        const prevDy = simplifiedPoints[i].y - simplifiedPoints[i - 1].y;
+                        if (Math.abs(dx - prevDx) > 0.01 || Math.abs(dy - prevDy) > 0.01) {
+                            bendCount++;
+                        }
+                    }
+                }
+                // Create new path with simplified points
+                path = Object.assign(Object.assign({}, path), { points: simplifiedPoints, totalLength,
+                    bendCount });
+            }
+            // Cache result
+            this.routeCache.set(cacheKey, path);
+            return path;
+        });
+    }
+    /**
+     * Get routing engine statistics
+     */
+    getStats() {
+        return {
+            obstacleCount: this.obstacleMap.size(),
+            routerCount: this.routers.size,
+            cacheSize: this.routeCache.size(), // Phase 5.3: LRUCache uses method instead of property
+        };
+    }
+    /**
+     * Get all global obstacles
+     */
+    getAllGlobalObstacles() {
+        return this.globalObstacles;
+    }
+    /**
+     * Generate cache key for a route request
+     */
+    getCacheKey(request) {
+        var _a, _b, _c, _d, _e, _f;
+        const algo = (_b = (_a = request.options) === null || _a === void 0 ? void 0 : _a.algorithm) !== null && _b !== void 0 ? _b : this.defaultAlgorithm;
+        const simplify = (_d = (_c = request.options) === null || _c === void 0 ? void 0 : _c.simplifyPath) !== null && _d !== void 0 ? _d : false;
+        const epsilon = (_f = (_e = request.options) === null || _e === void 0 ? void 0 : _e.simplificationEpsilon) !== null && _f !== void 0 ? _f : 1.0;
+        const obstacleIds = this.obstacleSignature(request.obstacles);
+        // Phase 2.2: Include simplification options in cache key to prevent incorrect cache hits
+        return `${request.start.x},${request.start.y}|${request.end.x},${request.end.y}|${algo}|${obstacleIds}|${simplify}|${epsilon}`;
+    }
+    /**
+     * Wave 8 — Card 6: the obstacle-id part of the LRU key.
+     *
+     * This used to `.map().sort().join()` the request's obstacle array on EVERY
+     * route call — an O(n log n) sort and an ~80KB string per link on a 10k-node
+     * diagram, purely to look up a cache. Memoised on the array's identity: the
+     * ids of an array cannot change without a new array (the renderer rebuilds
+     * one per frame), and any change to the GLOBAL obstacles already clears the
+     * whole cache, so a stale signature cannot outlive the entry it keys.
+     */
+    obstacleSignature(obstacles) {
+        if (!obstacles || obstacles.length === 0)
+            return '';
+        const hit = this.cacheKeySigs.get(obstacles);
+        if (hit !== undefined)
+            return hit;
+        const sig = obstacles
+            .map((o) => o.id)
+            .sort()
+            .join(',');
+        this.cacheKeySigs.set(obstacles, sig);
+        return sig;
+    }
+}
+exports.RoutingEngine = RoutingEngine;
+//# sourceMappingURL=RoutingEngine.js.map

package/src/libs/engine/src/routing/RoutingEngine.js.map

@@ -0,0 +1 @@
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package/src/libs/engine/src/routing/algorithms/AStarRouter.d.ts

@@ -0,0 +1,90 @@
+import type { Point } from '../../types';
+import type { ObstacleMap } from '../ObstacleMap';
+/**
+ * Heuristic functions for A* algorithm
+ */
+export declare enum AStarHeuristic {
+    /** Manhattan distance (L1 norm) - best for grid-based movement */
+    MANHATTAN = "manhattan",
+    /** Euclidean distance (L2 norm) - best for free movement */
+    EUCLIDEAN = "euclidean",
+    /** Diagonal distance (Chebyshev/L∞ norm) - best for 8-directional movement */
+    DIAGONAL = "diagonal"
+}
+/**
+ * Configuration options for A* router
+ */
+export interface AStarOptions {
+    /** Heuristic function to use (default: MANHATTAN) */
+    heuristic?: AStarHeuristic;
+    /** Allow diagonal movement (default: true) */
+    allowDiagonal?: boolean;
+    /** Grid size for discretization (default: 5) */
+    gridSize?: number;
+    /** Enable path smoothing (default: true) */
+    smoothing?: boolean;
+    /** Margin around obstacles (default: 5) */
+    obstacleMargin?: number;
+    /** Maximum iterations before giving up (default: 10000) */
+    maxIterations?: number;
+}
+/**
+ * A* Pathfinding Router
+ */
+export declare class AStarRouter {
+    private obstacleMap;
+    private options;
+    constructor(obstacleMap: ObstacleMap, options?: AStarOptions);
+    /**
+     * Get algorithm name
+     */
+    getName(): string;
+    /**
+     * Find path from start to end using A* algorithm
+     */
+    route(start: Point, end: Point): Point[];
+    /**
+     * Core A* pathfinding algorithm
+     */
+    private findPath;
+    /**
+     * Reconstruct path from end node
+     */
+    private reconstructPath;
+    /**
+     * Get neighbors of a point
+     */
+    private getNeighbors;
+    /**
+     * Calculate heuristic distance
+     */
+    private heuristic;
+    /**
+     * Calculate actual distance between two points
+     */
+    private distance;
+    /**
+     * Check if point collides with obstacle (including margin)
+     */
+    private collidesWithObstacle;
+    /**
+     * Smooth path by removing unnecessary waypoints
+     */
+    private smoothPath;
+    /**
+     * Check if there's a clear line of sight between two points
+     */
+    private hasLineOfSight;
+    /**
+     * Snap point to grid
+     */
+    private snapToGrid;
+    /**
+     * Create unique key for point
+     */
+    private pointKey;
+    /**
+     * Check if two points are equal
+     */
+    private pointsEqual;
+}