@starktma/minecraft-utils 1.5.16 → 1.5.17
This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.
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@@ -111,6 +111,19 @@ export declare class BFSScanner {
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* @returns A Generator resolving to the updated ScanResult.
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*/
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scan(dimension: Dimension, config: ScanConfig, existingResult?: ScanResult): Generator<void, ScanResult, void>;
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+
/**
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* Finds an obstacle-free path from `start` to `goal` using A* over the
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* in-memory `ScanResult`. Only cells already confirmed as open water by
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* the BFS scan are used — no block reads are performed.
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*
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* @param start World position of the ship.
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* @param goal Desired destination (should come from `ScanResult.getRandomPosition`).
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* @param result The scanned surface data to navigate over.
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* @param maxNodes Maximum A* nodes to expand before giving up. Defaults to 1500.
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* @returns An ordered `Vector3[]` of waypoints (turn-points + goal, start excluded),
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* or `undefined` if no path exists within `maxNodes`.
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*/
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findPath(start: Vector3, goal: Vector3, result: ScanResult, maxNodes?: number): Vector3[] | undefined;
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private isWithinShape;
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}
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//# sourceMappingURL=BFSScanner.d.ts.map
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@@ -1 +1 @@
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1
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-
{"version":3,"file":"BFSScanner.d.ts","sourceRoot":"","sources":["../../src/math/BFSScanner.ts"],"names":[],"mappings":"AAAA,OAAO,EAAE,KAAK,EAAE,SAAS,EAAE,OAAO,EAAU,MAAM,mBAAmB,CAAC;AAEtE;;GAEG;AACH,MAAM,MAAM,SAAS,GAAG,MAAM,GAAG,QAAQ,GAAG,UAAU,CAAC;AAEvD;;GAEG;AACH,MAAM,WAAW,UAAU;IAC1B,sCAAsC;IACtC,MAAM,EAAE,OAAO,CAAC;IAChB,iDAAiD;IACjD,KAAK,EAAE,SAAS,CAAC;IACjB;;;;;OAKG;IACH,kBAAkB,EAAE,OAAO,CAAC;IAC5B;;;OAGG;IACH,WAAW,EAAE,CAAC,KAAK,EAAE,KAAK,KAAK,OAAO,CAAC;IACvC;;;OAGG;IACH,aAAa,CAAC,EAAE,MAAM,CAAC;IACvB;;;;OAIG;IACH,WAAW,CAAC,EAAE,OAAO,CAAC;IACtB;;;OAGG;IACH,aAAa,CAAC,EAAE,MAAM,CAAC;CACvB;AAED;;;GAGG;AACH,qBAAa,UAAU;IAEtB,OAAO,CAAC,MAAM,CAAC,QAAQ,CAAC,UAAU,CAAM;IACxC,OAAO,CAAC,MAAM,CAAC,QAAQ,CAAC,UAAU,CAAO;IACzC,OAAO,CAAC,MAAM,CAAC,QAAQ,CAAC,WAAW,CAAK;IACxC,OAAO,CAAC,MAAM,CAAC,QAAQ,CAAC,QAAQ,CAAe;IAG/C,gBAAuB,SAAS,KAAK;IACrC,OAAO,CAAC,MAAM,CAAC,QAAQ,CAAC,UAAU,CAAK;IAGvC,OAAO,CAAC,QAAQ,CAAC,MAAM,CAAsC;;IAI7D;;;;;OAKG;IACI,YAAY,CAAC,CAAC,EAAE,MAAM,EAAE,CAAC,EAAE,MAAM,EAAE,CAAC,EAAE,MAAM,GAAG,IAAI;IA0B1D;;;;;OAKG;IACI,SAAS,CAAC,CAAC,EAAE,MAAM,EAAE,CAAC,EAAE,MAAM,GAAG,MAAM,GAAG,SAAS;IAmB1D;;OAEG;IACI,SAAS,CAAC,CAAC,EAAE,MAAM,EAAE,CAAC,EAAE,MAAM,GAAG,OAAO;IAI/C;;OAEG;IACI,KAAK,IAAI,IAAI;IAIpB;;;;;;;OAOG;IACI,iBAAiB,CACvB,MAAM,CAAC,EAAE,OAAO,EAChB,SAAS,CAAC,EAAE,MAAM,EAClB,SAAS,CAAC,EAAE,MAAM,EAClB,MAAM,CAAC,EAAE,CAAC,GAAG,EAAE,OAAO,KAAK,OAAO,GAChC,OAAO,GAAG,SAAS;CAuJtB;AAED;;GAEG;AACH,qBAAa,UAAU;IACtB,OAAO,CAAC,MAAM,CAAC,QAAQ,CAAa;IAGpC,OAAO,CAAC,OAAO,CAAiC;IAGhD,OAAO,CAAC,QAAQ,CAAC,UAAU,CAKzB;IAGF,OAAO,CAAC,iBAAiB,CAAsC;IAE/D,OAAO;IAEP;;OAEG;WACW,WAAW,IAAI,UAAU;IAOvC;;;OAGG;IACI,aAAa,CAAC,WAAW,EAAE,MAAM,GAAG,UAAU;IAOrD;;;;;;OAMG;IACK,IAAI,CACX,SAAS,EAAE,SAAS,EACpB,MAAM,EAAE,UAAU,EAClB,cAAc,CAAC,EAAE,UAAU,GACzB,SAAS,CAAC,IAAI,EAAE,UAAU,EAAE,IAAI,CAAC;IAoLpC,OAAO,CAAC,aAAa;CA6BrB"}
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{"version":3,"file":"BFSScanner.d.ts","sourceRoot":"","sources":["../../src/math/BFSScanner.ts"],"names":[],"mappings":"AAAA,OAAO,EAAE,KAAK,EAAE,SAAS,EAAE,OAAO,EAAU,MAAM,mBAAmB,CAAC;AAEtE;;GAEG;AACH,MAAM,MAAM,SAAS,GAAG,MAAM,GAAG,QAAQ,GAAG,UAAU,CAAC;AAEvD;;GAEG;AACH,MAAM,WAAW,UAAU;IAC1B,sCAAsC;IACtC,MAAM,EAAE,OAAO,CAAC;IAChB,iDAAiD;IACjD,KAAK,EAAE,SAAS,CAAC;IACjB;;;;;OAKG;IACH,kBAAkB,EAAE,OAAO,CAAC;IAC5B;;;OAGG;IACH,WAAW,EAAE,CAAC,KAAK,EAAE,KAAK,KAAK,OAAO,CAAC;IACvC;;;OAGG;IACH,aAAa,CAAC,EAAE,MAAM,CAAC;IACvB;;;;OAIG;IACH,WAAW,CAAC,EAAE,OAAO,CAAC;IACtB;;;OAGG;IACH,aAAa,CAAC,EAAE,MAAM,CAAC;CACvB;AAED;;;GAGG;AACH,qBAAa,UAAU;IAEtB,OAAO,CAAC,MAAM,CAAC,QAAQ,CAAC,UAAU,CAAM;IACxC,OAAO,CAAC,MAAM,CAAC,QAAQ,CAAC,UAAU,CAAO;IACzC,OAAO,CAAC,MAAM,CAAC,QAAQ,CAAC,WAAW,CAAK;IACxC,OAAO,CAAC,MAAM,CAAC,QAAQ,CAAC,QAAQ,CAAe;IAG/C,gBAAuB,SAAS,KAAK;IACrC,OAAO,CAAC,MAAM,CAAC,QAAQ,CAAC,UAAU,CAAK;IAGvC,OAAO,CAAC,QAAQ,CAAC,MAAM,CAAsC;;IAI7D;;;;;OAKG;IACI,YAAY,CAAC,CAAC,EAAE,MAAM,EAAE,CAAC,EAAE,MAAM,EAAE,CAAC,EAAE,MAAM,GAAG,IAAI;IA0B1D;;;;;OAKG;IACI,SAAS,CAAC,CAAC,EAAE,MAAM,EAAE,CAAC,EAAE,MAAM,GAAG,MAAM,GAAG,SAAS;IAmB1D;;OAEG;IACI,SAAS,CAAC,CAAC,EAAE,MAAM,EAAE,CAAC,EAAE,MAAM,GAAG,OAAO;IAI/C;;OAEG;IACI,KAAK,IAAI,IAAI;IAIpB;;;;;;;OAOG;IACI,iBAAiB,CACvB,MAAM,CAAC,EAAE,OAAO,EAChB,SAAS,CAAC,EAAE,MAAM,EAClB,SAAS,CAAC,EAAE,MAAM,EAClB,MAAM,CAAC,EAAE,CAAC,GAAG,EAAE,OAAO,KAAK,OAAO,GAChC,OAAO,GAAG,SAAS;CAuJtB;AAED;;GAEG;AACH,qBAAa,UAAU;IACtB,OAAO,CAAC,MAAM,CAAC,QAAQ,CAAa;IAGpC,OAAO,CAAC,OAAO,CAAiC;IAGhD,OAAO,CAAC,QAAQ,CAAC,UAAU,CAKzB;IAGF,OAAO,CAAC,iBAAiB,CAAsC;IAE/D,OAAO;IAEP;;OAEG;WACW,WAAW,IAAI,UAAU;IAOvC;;;OAGG;IACI,aAAa,CAAC,WAAW,EAAE,MAAM,GAAG,UAAU;IAOrD;;;;;;OAMG;IACK,IAAI,CACX,SAAS,EAAE,SAAS,EACpB,MAAM,EAAE,UAAU,EAClB,cAAc,CAAC,EAAE,UAAU,GACzB,SAAS,CAAC,IAAI,EAAE,UAAU,EAAE,IAAI,CAAC;IAoLpC;;;;;;;;;;;OAWG;IACI,QAAQ,CACd,KAAK,EAAE,OAAO,EACd,IAAI,EAAE,OAAO,EACb,MAAM,EAAE,UAAU,EAClB,QAAQ,GAAE,MAAa,GACrB,OAAO,EAAE,GAAG,SAAS;IA8GxB,OAAO,CAAC,aAAa;CA6BrB"}
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package/dist/math/BFSScanner.js
CHANGED
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@@ -378,6 +378,111 @@ export class BFSScanner {
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// console.warn(`Scan finished. Iterations: ${iterations}, Queue: ${qTail/3}, Result Chunks: ${result['chunks'].size}`);
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return result;
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}
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/**
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* Finds an obstacle-free path from `start` to `goal` using A* over the
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* in-memory `ScanResult`. Only cells already confirmed as open water by
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* the BFS scan are used — no block reads are performed.
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*
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* @param start World position of the ship.
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* @param goal Desired destination (should come from `ScanResult.getRandomPosition`).
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* @param result The scanned surface data to navigate over.
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* @param maxNodes Maximum A* nodes to expand before giving up. Defaults to 1500.
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* @returns An ordered `Vector3[]` of waypoints (turn-points + goal, start excluded),
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* or `undefined` if no path exists within `maxNodes`.
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*/
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findPath(start, goal, result, maxNodes = 1500) {
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const cs = ScanResult.CELL_SIZE;
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// Align both positions to the 8-block cell grid.
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const startX = Math.floor(start.x / cs) * cs;
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const startZ = Math.floor(start.z / cs) * cs;
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const goalX = Math.floor(goal.x / cs) * cs;
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const goalZ = Math.floor(goal.z / cs) * cs;
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// Goal must be a confirmed water cell in the scan result.
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if (!result.hasHeight(goalX, goalZ))
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return undefined;
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// Already on the goal cell.
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if (startX === goalX && startZ === goalZ) {
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const y = result.getHeight(goalX, goalZ) ?? goal.y;
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return [{ x: goalX, y, z: goalZ }];
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}
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const toKey = (x, z) => `${x},${z}`;
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const startKey = toKey(startX, startZ);
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const goalKey = toKey(goalX, goalZ);
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// Manhattan heuristic (admissible for 4-directional uniform-cost grid).
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const heuristic = (x, z) => (Math.abs(x - goalX) + Math.abs(z - goalZ)) / cs;
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const openSet = [];
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const gScore = new Map();
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const cameFrom = new Map();
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const closed = new Set();
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gScore.set(startKey, 0);
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openSet.push({ x: startX, z: startZ, g: 0, f: heuristic(startX, startZ) });
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let nodesExpanded = 0;
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while (openSet.length > 0) {
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if (nodesExpanded++ > maxNodes)
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return undefined;
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// Select the open node with the lowest f score (linear scan is
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// acceptable for grids ≤ 1500 nodes).
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let bestIdx = 0;
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for (let i = 1; i < openSet.length; i++) {
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if (openSet[i].f < openSet[bestIdx].f)
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bestIdx = i;
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}
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const current = openSet.splice(bestIdx, 1)[0];
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const ck = toKey(current.x, current.z);
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if (closed.has(ck))
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continue;
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closed.add(ck);
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if (ck === goalKey) {
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// Reconstruct path: walk cameFrom backwards (excludes start, includes goal).
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const path = [];
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let node = goalKey;
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while (cameFrom.has(node)) {
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const [px, pz] = node.split(",").map(Number);
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const y = result.getHeight(px, pz) ?? goal.y;
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path.push({ x: px, y, z: pz });
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node = cameFrom.get(node);
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}
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path.reverse();
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if (path.length <= 2)
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return path;
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// Simplify: keep only waypoints where the direction changes (turn points).
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const simplified = [path[0]];
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for (let i = 1; i < path.length - 1; i++) {
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const prev = simplified[simplified.length - 1];
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const curr = path[i];
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const next = path[i + 1];
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if (Math.sign(curr.x - prev.x) !== Math.sign(next.x - curr.x) ||
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Math.sign(curr.z - prev.z) !== Math.sign(next.z - curr.z)) {
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simplified.push(curr);
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}
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}
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simplified.push(path[path.length - 1]);
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return simplified;
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}
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// Expand 4-directional neighbours at CELL_SIZE (8-block) intervals.
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for (const dir of this.directions) {
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const nx = current.x + dir.x;
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const nz = current.z + dir.z;
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const nk = toKey(nx, nz);
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if (closed.has(nk))
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continue;
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// Neighbour must be a confirmed water cell.
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// (The start node is exempt — the ship is physically there even if the
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// BFS did not capture that exact cell.)
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if (!result.hasHeight(nx, nz))
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continue;
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const ng = current.g + 1;
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const existing = gScore.get(nk);
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if (existing !== undefined && existing <= ng)
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continue;
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gScore.set(nk, ng);
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cameFrom.set(nk, ck);
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openSet.push({ x: nx, z: nz, g: ng, f: ng + heuristic(nx, nz) });
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}
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}
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// No path found within the node budget.
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return undefined;
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}
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isWithinShape(x, y, z, center, shape, dims, rSq) {
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const dx = x - center.x;
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const dy = y - center.y;
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@@ -1 +1 @@
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-
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1
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