@myclaw163/clawclaw-cli 0.6.70 → 0.6.74

package/src/strategies/pathfind/distance-field.ts

@@ -1,150 +1,150 @@
-import type { WalkableGrid } from './walkable-grid.js';
-
-// Geodesic distance field over the walkable grid, integer octile costs:
-// straight 5, diagonal 7 (~1:1.4). One tile = 4px = 5 units.
-export const COST_STRAIGHT = 5;
-export const COST_DIAG = 7;
-export const UNITS_PER_PX = COST_STRAIGHT / 4;
-export const PX_PER_UNIT = 4 / COST_STRAIGHT;
-
-export interface FieldResult {
-  /** Geodesic cost in units from the source; Infinity if unreached. Valid until the next compute(). */
-  distOf(cell: number): number;
-  /** Per angle bucket, the farthest settled cell with dist <= ringUnits; -1 for empty buckets. */
-  ringCandidates: Int32Array;
-}
-
-export class FieldCalculator {
-  private readonly dist: Int32Array;
-  private readonly stamp: Int32Array;
-  private gen = 0;
-  private source = -1;
-
-  constructor(private readonly grid: WalkableGrid) {
-    this.dist = new Int32Array(grid.width * grid.height);
-    this.stamp = new Int32Array(grid.width * grid.height);
-  }
-
-  /**
-   * Dial's-bucket Dijkstra from sourceCell, settling cells up to maxCostUnits.
-   * Diagonal steps require both orthogonal neighbors walkable (no corner
-   * cutting, matching the server's supercover line checks).
-   */
-  compute(sourceCell: number, maxCostUnits: number, ringUnits: number, bucketCount = 16): FieldResult {
-    const { grid, dist, stamp } = this;
-    const W = grid.width;
-    this.gen++;
-    this.source = sourceCell;
-    const gen = this.gen;
-
-    const ringCandidates = new Int32Array(bucketCount).fill(-1);
-    const ringDist = new Int32Array(bucketCount).fill(-1);
-    const sx = sourceCell % W;
-    const sy = Math.floor(sourceCell / W);
-
-    const buckets: (number[] | undefined)[] = new Array(maxCostUnits + COST_DIAG + 1);
-    dist[sourceCell] = 0;
-    stamp[sourceCell] = gen;
-    buckets[0] = [sourceCell];
-
-    for (let c = 0; c <= maxCostUnits; c++) {
-      const bucket = buckets[c];
-      if (!bucket) continue;
-      for (const cell of bucket) {
-        if (dist[cell] !== c || stamp[cell] !== gen) continue; // stale entry
-        const tx = cell % W;
-        const ty = Math.floor(cell / W);
-        if (c > 0 && c <= ringUnits) {
-          const b = Math.floor(((Math.atan2(ty - sy, tx - sx) + Math.PI) / (2 * Math.PI)) * bucketCount) % bucketCount;
-          if (c > ringDist[b]) {
-            ringDist[b] = c;
-            ringCandidates[b] = cell;
-          }
-        }
-        const e = grid.isWalkable(tx + 1, ty);
-        const w = grid.isWalkable(tx - 1, ty);
-        const s = grid.isWalkable(tx, ty + 1);
-        const n = grid.isWalkable(tx, ty - 1);
-        this.relax(cell + 1, c + COST_STRAIGHT, e, buckets, gen);
-        this.relax(cell - 1, c + COST_STRAIGHT, w, buckets, gen);
-        this.relax(cell + W, c + COST_STRAIGHT, s, buckets, gen);
-        this.relax(cell - W, c + COST_STRAIGHT, n, buckets, gen);
-        this.relax(cell + W + 1, c + COST_DIAG, e && s && grid.isWalkable(tx + 1, ty + 1), buckets, gen);
-        this.relax(cell + W - 1, c + COST_DIAG, w && s && grid.isWalkable(tx - 1, ty + 1), buckets, gen);
-        this.relax(cell - W + 1, c + COST_DIAG, e && n && grid.isWalkable(tx + 1, ty - 1), buckets, gen);
-        this.relax(cell - W - 1, c + COST_DIAG, w && n && grid.isWalkable(tx - 1, ty - 1), buckets, gen);
-      }
-      buckets[c] = undefined;
-    }
-
-    const distOf = (cell: number) => (stamp[cell] === gen ? dist[cell] : Infinity);
-    return { distOf, ringCandidates };
-  }
-
-  private relax(cell: number, cost: number, walkable: boolean, buckets: (number[] | undefined)[], gen: number): void {
-    if (!walkable) return;
-    if (this.stamp[cell] === gen && this.dist[cell] <= cost) return;
-    this.dist[cell] = cost;
-    this.stamp[cell] = gen;
-    (buckets[cost] ??= []).push(cell);
-  }
-
-  /**
-   * Walk from fromCell down the latest field's gradient toward its source,
-   * stopping once >= budgetUnits is spent (the last step may overshoot).
-   * Unreached cells stay frozen in place. Returns visited cells incl. ends.
-   */
-  descend(fromCell: number, budgetUnits: number): { end: number; cells: number[] } {
-    const cells = [fromCell];
-    if (this.distOfCurrent(fromCell) === Infinity) return { end: fromCell, cells };
-    let cur = fromCell;
-    let spent = 0;
-    while (spent < budgetUnits && this.distOfCurrent(cur) > 0) {
-      const next = this.bestNeighbor(cur);
-      if (next < 0) break;
-      spent += this.distOfCurrent(cur) - this.distOfCurrent(next);
-      cur = next;
-      cells.push(cur);
-    }
-    return { end: cur, cells };
-  }
-
-  /** Shrimp step path: cells from the latest field's source to fromCell. */
-  pathToSource(fromCell: number): number[] {
-    return this.descend(fromCell, Number.MAX_SAFE_INTEGER).cells.reverse();
-  }
-
-  private distOfCurrent(cell: number): number {
-    return this.stamp[cell] === this.gen ? this.dist[cell] : Infinity;
-  }
-
-  private bestNeighbor(cell: number): number {
-    const { grid } = this;
-    const W = grid.width;
-    const tx = cell % W;
-    const ty = Math.floor(cell / W);
-    const e = grid.isWalkable(tx + 1, ty);
-    const w = grid.isWalkable(tx - 1, ty);
-    const s = grid.isWalkable(tx, ty + 1);
-    const n = grid.isWalkable(tx, ty - 1);
-    let best = -1;
-    let bestDist = this.distOfCurrent(cell);
-    const consider = (c: number, walkable: boolean) => {
-      if (!walkable) return;
-      const d = this.distOfCurrent(c);
-      if (d < bestDist) {
-        bestDist = d;
-        best = c;
-      }
-    };
-    consider(cell + 1, e);
-    consider(cell - 1, w);
-    consider(cell + W, s);
-    consider(cell - W, n);
-    consider(cell + W + 1, e && s && grid.isWalkable(tx + 1, ty + 1));
-    consider(cell + W - 1, w && s && grid.isWalkable(tx - 1, ty + 1));
-    consider(cell - W + 1, e && n && grid.isWalkable(tx + 1, ty - 1));
-    consider(cell - W - 1, w && n && grid.isWalkable(tx - 1, ty - 1));
-    return best;
-  }
-}
+import type { WalkableGrid } from './walkable-grid.js';
+
+// Geodesic distance field over the walkable grid, integer octile costs:
+// straight 5, diagonal 7 (~1:1.4). One tile = 4px = 5 units.
+export const COST_STRAIGHT = 5;
+export const COST_DIAG = 7;
+export const UNITS_PER_PX = COST_STRAIGHT / 4;
+export const PX_PER_UNIT = 4 / COST_STRAIGHT;
+
+export interface FieldResult {
+  /** Geodesic cost in units from the source; Infinity if unreached. Valid until the next compute(). */
+  distOf(cell: number): number;
+  /** Per angle bucket, the farthest settled cell with dist <= ringUnits; -1 for empty buckets. */
+  ringCandidates: Int32Array;
+}
+
+export class FieldCalculator {
+  private readonly dist: Int32Array;
+  private readonly stamp: Int32Array;
+  private gen = 0;
+  private source = -1;
+
+  constructor(private readonly grid: WalkableGrid) {
+    this.dist = new Int32Array(grid.width * grid.height);
+    this.stamp = new Int32Array(grid.width * grid.height);
+  }
+
+  /**
+   * Dial's-bucket Dijkstra from sourceCell, settling cells up to maxCostUnits.
+   * Diagonal steps require both orthogonal neighbors walkable (no corner
+   * cutting, matching the server's supercover line checks).
+   */
+  compute(sourceCell: number, maxCostUnits: number, ringUnits: number, bucketCount = 16): FieldResult {
+    const { grid, dist, stamp } = this;
+    const W = grid.width;
+    this.gen++;
+    this.source = sourceCell;
+    const gen = this.gen;
+
+    const ringCandidates = new Int32Array(bucketCount).fill(-1);
+    const ringDist = new Int32Array(bucketCount).fill(-1);
+    const sx = sourceCell % W;
+    const sy = Math.floor(sourceCell / W);
+
+    const buckets: (number[] | undefined)[] = new Array(maxCostUnits + COST_DIAG + 1);
+    dist[sourceCell] = 0;
+    stamp[sourceCell] = gen;
+    buckets[0] = [sourceCell];
+
+    for (let c = 0; c <= maxCostUnits; c++) {
+      const bucket = buckets[c];
+      if (!bucket) continue;
+      for (const cell of bucket) {
+        if (dist[cell] !== c || stamp[cell] !== gen) continue; // stale entry
+        const tx = cell % W;
+        const ty = Math.floor(cell / W);
+        if (c > 0 && c <= ringUnits) {
+          const b = Math.floor(((Math.atan2(ty - sy, tx - sx) + Math.PI) / (2 * Math.PI)) * bucketCount) % bucketCount;
+          if (c > ringDist[b]) {
+            ringDist[b] = c;
+            ringCandidates[b] = cell;
+          }
+        }
+        const e = grid.isWalkable(tx + 1, ty);
+        const w = grid.isWalkable(tx - 1, ty);
+        const s = grid.isWalkable(tx, ty + 1);
+        const n = grid.isWalkable(tx, ty - 1);
+        this.relax(cell + 1, c + COST_STRAIGHT, e, buckets, gen);
+        this.relax(cell - 1, c + COST_STRAIGHT, w, buckets, gen);
+        this.relax(cell + W, c + COST_STRAIGHT, s, buckets, gen);
+        this.relax(cell - W, c + COST_STRAIGHT, n, buckets, gen);
+        this.relax(cell + W + 1, c + COST_DIAG, e && s && grid.isWalkable(tx + 1, ty + 1), buckets, gen);
+        this.relax(cell + W - 1, c + COST_DIAG, w && s && grid.isWalkable(tx - 1, ty + 1), buckets, gen);
+        this.relax(cell - W + 1, c + COST_DIAG, e && n && grid.isWalkable(tx + 1, ty - 1), buckets, gen);
+        this.relax(cell - W - 1, c + COST_DIAG, w && n && grid.isWalkable(tx - 1, ty - 1), buckets, gen);
+      }
+      buckets[c] = undefined;
+    }
+
+    const distOf = (cell: number) => (stamp[cell] === gen ? dist[cell] : Infinity);
+    return { distOf, ringCandidates };
+  }
+
+  private relax(cell: number, cost: number, walkable: boolean, buckets: (number[] | undefined)[], gen: number): void {
+    if (!walkable) return;
+    if (this.stamp[cell] === gen && this.dist[cell] <= cost) return;
+    this.dist[cell] = cost;
+    this.stamp[cell] = gen;
+    (buckets[cost] ??= []).push(cell);
+  }
+
+  /**
+   * Walk from fromCell down the latest field's gradient toward its source,
+   * stopping once >= budgetUnits is spent (the last step may overshoot).
+   * Unreached cells stay frozen in place. Returns visited cells incl. ends.
+   */
+  descend(fromCell: number, budgetUnits: number): { end: number; cells: number[] } {
+    const cells = [fromCell];
+    if (this.distOfCurrent(fromCell) === Infinity) return { end: fromCell, cells };
+    let cur = fromCell;
+    let spent = 0;
+    while (spent < budgetUnits && this.distOfCurrent(cur) > 0) {
+      const next = this.bestNeighbor(cur);
+      if (next < 0) break;
+      spent += this.distOfCurrent(cur) - this.distOfCurrent(next);
+      cur = next;
+      cells.push(cur);
+    }
+    return { end: cur, cells };
+  }
+
+  /** Shrimp step path: cells from the latest field's source to fromCell. */
+  pathToSource(fromCell: number): number[] {
+    return this.descend(fromCell, Number.MAX_SAFE_INTEGER).cells.reverse();
+  }
+
+  private distOfCurrent(cell: number): number {
+    return this.stamp[cell] === this.gen ? this.dist[cell] : Infinity;
+  }
+
+  private bestNeighbor(cell: number): number {
+    const { grid } = this;
+    const W = grid.width;
+    const tx = cell % W;
+    const ty = Math.floor(cell / W);
+    const e = grid.isWalkable(tx + 1, ty);
+    const w = grid.isWalkable(tx - 1, ty);
+    const s = grid.isWalkable(tx, ty + 1);
+    const n = grid.isWalkable(tx, ty - 1);
+    let best = -1;
+    let bestDist = this.distOfCurrent(cell);
+    const consider = (c: number, walkable: boolean) => {
+      if (!walkable) return;
+      const d = this.distOfCurrent(c);
+      if (d < bestDist) {
+        bestDist = d;
+        best = c;
+      }
+    };
+    consider(cell + 1, e);
+    consider(cell - 1, w);
+    consider(cell + W, s);
+    consider(cell - W, n);
+    consider(cell + W + 1, e && s && grid.isWalkable(tx + 1, ty + 1));
+    consider(cell + W - 1, w && s && grid.isWalkable(tx - 1, ty + 1));
+    consider(cell - W + 1, e && n && grid.isWalkable(tx + 1, ty - 1));
+    consider(cell - W - 1, w && n && grid.isWalkable(tx - 1, ty - 1));
+    return best;
+  }
+}