three-player-controller 0.3.2 → 0.3.4

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Files changed (10) hide show
  1. package/README.md +57 -1
  2. package/dist/index.d.mts +103 -12
  3. package/dist/index.d.ts +103 -12
  4. package/dist/index.js +6318 -422
  5. package/dist/index.js.map +1 -1
  6. package/dist/index.mjs +1272 -330
  7. package/dist/index.mjs.map +1 -1
  8. package/dist/rapier.es-XQHNYU2P.mjs +4966 -0
  9. package/dist/rapier.es-XQHNYU2P.mjs.map +1 -0
  10. package/package.json +2 -2
package/dist/index.mjs.map CHANGED
@@ -1 +1 @@
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- {"version":3,"sources":["../src/playerController.ts"],"sourcesContent":["import * as THREE from \"three\";\r\nimport { acceleratedRaycast, MeshBVH, MeshBVHHelper } from \"three-mesh-bvh\";\r\nimport type { GLTF } from \"three/examples/jsm/Addons.js\";\r\nimport { OrbitControls } from \"three/examples/jsm/controls/OrbitControls.js\";\r\nimport { RoundedBoxGeometry } from \"three/examples/jsm/geometries/RoundedBoxGeometry.js\";\r\nimport { DRACOLoader } from \"three/examples/jsm/loaders/DRACOLoader.js\";\r\nimport { GLTFLoader } from \"three/examples/jsm/loaders/GLTFLoader.js\";\r\nimport * as BufferGeometryUtils from \"three/examples/jsm/utils/BufferGeometryUtils.js\";\r\nimport flyIconModule from \"../assets/imgs/fly.png\";\r\nimport jumpIconModule from \"../assets/imgs/jump.png\";\r\nimport viewIconModule from \"../assets/imgs/view.png\";\r\n\r\nTHREE.Mesh.prototype.raycast = acceleratedRaycast; // 启用加速 raycast\r\n\r\nlet controllerInstance: PlayerController | null = null;\r\nconst clock = new THREE.Clock();\r\n\r\nexport type PlayerControllerOptions = {\r\n scene: THREE.Scene;\r\n camera: THREE.PerspectiveCamera;\r\n controls: OrbitControls;\r\n playerModel: {\r\n url: string;\r\n idleAnim: string;\r\n walkAnim: string;\r\n runAnim: string;\r\n jumpAnim: string;\r\n leftWalkAnim?: string;\r\n rightWalkAnim?: string;\r\n backwardAnim?: string;\r\n flyAnim?: string;\r\n flyIdleAnim?: string;\r\n scale: number;\r\n gravity?: number;\r\n jumpHeight?: number;\r\n speed?: number;\r\n rotateY?: number;\r\n };\r\n initPos?: THREE.Vector3;\r\n mouseSensity?: number;\r\n minCamDistance?: number;\r\n maxCamDistance?: number;\r\n colliderMeshUrl?: string;\r\n isShowMobileControls?: boolean;\r\n thirdMouseMode?: 0 | 1 | 2 | 3;\r\n};\r\n\r\nclass PlayerController {\r\n // ==================== 基本配置与参数 ====================\r\n loader: GLTFLoader = new GLTFLoader();\r\n scene!: THREE.Scene;\r\n camera!: THREE.PerspectiveCamera;\r\n controls!: OrbitControls;\r\n playerModel!: PlayerControllerOptions[\"playerModel\"];\r\n initPos!: THREE.Vector3;\r\n visualizeDepth!: number;\r\n gravity!: number;\r\n jumpHeight!: number;\r\n playerSpeed!: number;\r\n mouseSensity!: number;\r\n originPlayerSpeed!: number;\r\n colliderMeshUrl!: string;\r\n isShowMobileControls!: boolean;\r\n thirdMouseMode!: 0 | 1 | 2 | 3; // 0: 隐藏鼠标控制朝向及视角，1: 隐藏鼠标仅控制视角，2: 显示鼠标拖拽控制朝向及视角, 3: 显示鼠标拖拽仅控制视角\r\n controllerMode!: 0 | 1 | 2; // 0: 普通 1: 飞行 2: 车辆\r\n\r\n // ==================== 玩家基本属性 ====================\r\n playerRadius: number = 45;\r\n playerHeight: number = 180;\r\n isFirstPerson: boolean = false;\r\n boundingBoxMinY: number = 0;\r\n\r\n // ==================== 测试参数 ====================\r\n displayPlayer: boolean = false;\r\n displayCollider: boolean = false;\r\n displayVisualizer: boolean = false;\r\n\r\n // ==================== 场景对象 ====================\r\n collider: THREE.Mesh | null = null;\r\n visualizer: MeshBVHHelper | null = null;\r\n player!: THREE.Mesh & { capsuleInfo?: any };\r\n person: THREE.Object3D | null = null;\r\n vehicle: THREE.Object3D | null = null;\r\n\r\n // ==================== 状态开关 ====================\r\n playerIsOnGround: boolean = false;\r\n isupdate: boolean = true;\r\n isFlying: boolean = false;\r\n\r\n // ==================== 输入状态 ====================\r\n fwdPressed: boolean = false;\r\n bkdPressed: boolean = false;\r\n lftPressed: boolean = false;\r\n rgtPressed: boolean = false;\r\n spacePressed: boolean = false;\r\n ctPressed: boolean = false;\r\n shiftPressed: boolean = false;\r\n\r\n // ==================== 移动端输入 ====================\r\n prevJoyState = { dirX: 0, dirY: 0, shift: false };\r\n nippleModule: any = null;\r\n joystickManager: any = null;\r\n joystickZoneEl: HTMLDivElement | null = null;\r\n lookAreaEl: HTMLDivElement | null = null;\r\n jumpBtnEl: HTMLButtonElement | null = null;\r\n flyBtnEl: HTMLButtonElement | null = null;\r\n viewBtnEl: HTMLButtonElement | null = null;\r\n lookPointerId: number | null = null;\r\n isLookDown = false;\r\n lastTouchX = 0;\r\n lastTouchY = 0;\r\n\r\n // ==================== 第三人称相机参数 ====================\r\n _camCollisionLerp: number = 0.18; // 平滑系数\r\n _camEpsilon: number = 0.35; // 摄像机与障碍物之间的安全距离\r\n _minCamDistance: number = 1.0; // 摄像机最小距离\r\n _maxCamDistance: number = 4.4; // 摄像机最大距离\r\n orginMaxCamDistance: number = 4.4;\r\n\r\n // ==================== 物理/运动 ====================\r\n playerVelocity = new THREE.Vector3(); // 玩家速度向量\r\n readonly upVector = new THREE.Vector3(0, 1, 0);\r\n\r\n // ==================== 临时复用向量/矩阵 ====================\r\n readonly tempVector = new THREE.Vector3();\r\n readonly tempVector2 = new THREE.Vector3();\r\n readonly tempBox = new THREE.Box3();\r\n readonly tempMat = new THREE.Matrix4();\r\n readonly tempSegment = new THREE.Line3();\r\n\r\n // ==================== 动画相关 ====================\r\n personMixer?: THREE.AnimationMixer;\r\n personActions?: Map<string, THREE.AnimationAction>;\r\n idleAction!: THREE.AnimationAction;\r\n walkAction!: THREE.AnimationAction;\r\n leftWalkAction!: THREE.AnimationAction;\r\n rightWalkAction!: THREE.AnimationAction;\r\n backwardAction!: THREE.AnimationAction;\r\n jumpAction!: THREE.AnimationAction;\r\n runAction!: THREE.AnimationAction;\r\n flyidleAction!: THREE.AnimationAction;\r\n flyAction!: THREE.AnimationAction;\r\n actionState!: THREE.AnimationAction;\r\n recheckAnimTimer: any | null = null;\r\n\r\n vehicleMixer?: THREE.AnimationMixer;\r\n vehicleActions?: Map<string, THREE.AnimationAction>;\r\n\r\n // ==================== 相机朝向/移动复用向量 ====================\r\n readonly camDir = new THREE.Vector3();\r\n readonly moveDir = new THREE.Vector3();\r\n readonly targetQuat = new THREE.Quaternion();\r\n readonly targetMat = new THREE.Matrix4();\r\n readonly rotationSpeed = 10;\r\n readonly DIR_FWD = new THREE.Vector3(0, 0, -1);\r\n readonly DIR_BKD = new THREE.Vector3(0, 0, 1);\r\n readonly DIR_LFT = new THREE.Vector3(-1, 0, 0);\r\n readonly DIR_RGT = new THREE.Vector3(1, 0, 0);\r\n readonly DIR_UP = new THREE.Vector3(0, 1, 0);\r\n\r\n // ==================== 射线检测 ====================\r\n readonly _personToCam = new THREE.Vector3();\r\n readonly _originTmp = new THREE.Vector3();\r\n readonly _raycaster = new THREE.Raycaster(new THREE.Vector3(), new THREE.Vector3(0, -1, 0));\r\n readonly _raycasterPersonToCam = new THREE.Raycaster(new THREE.Vector3(), new THREE.Vector3());\r\n\r\n constructor() {\r\n // 射线检测时只返回第一个碰撞\r\n (this._raycaster as any).firstHitOnly = true;\r\n (this._raycasterPersonToCam as any).firstHitOnly = true;\r\n }\r\n\r\n // ==================== 初始化相关方法 ====================\r\n\r\n /**\r\n * 初始化控制器\r\n */\r\n async init(opts: PlayerControllerOptions, callback?: () => void) {\r\n this.scene = opts.scene;\r\n this.camera = opts.camera;\r\n this.camera.rotation.order = \"YXZ\";\r\n this.controls = opts.controls;\r\n this.playerModel = opts.playerModel;\r\n this.initPos = opts.initPos ?? new THREE.Vector3(0, 0, 0);\r\n this.mouseSensity = opts.mouseSensity ?? 5;\r\n\r\n const s = this.playerModel.scale;\r\n this.visualizeDepth = 0 * s;\r\n this.gravity = (opts.playerModel.gravity ?? -2400) * s;\r\n this.jumpHeight = (opts.playerModel.jumpHeight ?? 800) * s;\r\n this.originPlayerSpeed = (opts.playerModel.speed ?? 400) * s;\r\n this.playerSpeed = this.originPlayerSpeed;\r\n this.playerModel.rotateY = opts.playerModel.rotateY ?? 0;\r\n\r\n this._camCollisionLerp = 0.18;\r\n this._camEpsilon = 35 * s;\r\n this._minCamDistance = (opts.minCamDistance ?? 100) * s;\r\n this._maxCamDistance = (opts.maxCamDistance ?? 440) * s;\r\n this.orginMaxCamDistance = this._maxCamDistance;\r\n this.thirdMouseMode = opts.thirdMouseMode ?? 1;\r\n\r\n // 判断是否移动端\r\n const isMobileDevice = () => (navigator.maxTouchPoints && navigator.maxTouchPoints > 0) || \"ontouchstart\" in window || /Mobi|Android|iPhone|iPad|iPod/i.test(navigator.userAgent);\r\n\r\n this.isShowMobileControls = (opts.isShowMobileControls ?? true) && isMobileDevice();\r\n if (this.isShowMobileControls) {\r\n await this.initMobileControls();\r\n }\r\n\r\n // 创建BVH碰撞体\r\n await this.createBVH(opts.colliderMeshUrl);\r\n\r\n // 创建玩家胶囊体\r\n this.createPlayer();\r\n\r\n // 加载玩家模型\r\n await this.loadPersonGLB();\r\n\r\n // 等待资源加载完毕再设置摄像机\r\n if (this.isFirstPerson && this.person) {\r\n this.person.add(this.camera);\r\n }\r\n\r\n this.onAllEvent();\r\n this.setCameraPos();\r\n this.setControls();\r\n if (callback) callback();\r\n }\r\n\r\n /**\r\n * 初始化加载器\r\n */\r\n async initLoader() {\r\n const dracoLoader = new DRACOLoader();\r\n dracoLoader.setDecoderPath(\"https://unpkg.com/three@0.180.0/examples/jsm/libs/draco/gltf/\");\r\n dracoLoader.setDecoderConfig({ type: \"js\" });\r\n this.loader.setDRACOLoader(dracoLoader);\r\n }\r\n\r\n // ==================== 玩家模型相关方法 ====================\r\n\r\n /**\r\n * 加载玩家模型与动画\r\n */\r\n async loadPersonGLB() {\r\n try {\r\n const gltf: GLTF = await this.loader.loadAsync(this.playerModel.url);\r\n this.person = gltf.scene;\r\n const sc = this.playerModel.scale;\r\n const h = this.playerHeight * sc;\r\n\r\n this.person.scale.set(sc, sc, sc);\r\n this.person.position.set(0, -h * 0.75, 0);\r\n this.person.traverse((child: any) => {\r\n if (child.isMesh) {\r\n child.castShadow = true;\r\n child.receiveShadow = true;\r\n }\r\n });\r\n\r\n this.player.add(this.person);\r\n this.reset();\r\n\r\n // 创建动画混合器\r\n this.personMixer = new THREE.AnimationMixer(this.person);\r\n const animations = gltf.animations ?? [];\r\n this.personActions = new Map<string, THREE.AnimationAction>();\r\n\r\n // 动画映射表\r\n const animationMappings: [string, string][] = [\r\n [this.playerModel.idleAnim, \"idle\"],\r\n [this.playerModel.walkAnim, \"walking\"],\r\n [this.playerModel.leftWalkAnim || this.playerModel.walkAnim, \"left_walking\"],\r\n [this.playerModel.rightWalkAnim || this.playerModel.walkAnim, \"right_walking\"],\r\n [this.playerModel.backwardAnim || this.playerModel.walkAnim, \"walking_backward\"],\r\n [this.playerModel.jumpAnim, \"jumping\"],\r\n [this.playerModel.runAnim, \"running\"],\r\n [this.playerModel.flyIdleAnim || this.playerModel.idleAnim, \"flyidle\"],\r\n [this.playerModel.flyAnim || this.playerModel.idleAnim, \"flying\"],\r\n ];\r\n\r\n // 注册动画动作\r\n const findClip = (name: string) => animations.find((a: any) => a.name === name);\r\n for (const [clipName, actionName] of animationMappings) {\r\n const clip = findClip(clipName);\r\n if (!clip) continue;\r\n\r\n const action = this.personMixer.clipAction(clip);\r\n\r\n if (actionName === \"jumping\") {\r\n action.setLoop(THREE.LoopOnce, 1);\r\n action.clampWhenFinished = true;\r\n action.setEffectiveTimeScale(1.2);\r\n } else {\r\n action.setLoop(THREE.LoopRepeat, Infinity);\r\n action.clampWhenFinished = false;\r\n action.setEffectiveTimeScale(1);\r\n }\r\n\r\n action.enabled = true;\r\n action.setEffectiveWeight(0);\r\n this.personActions.set(actionName, action);\r\n }\r\n\r\n // 获取动画动作引用\r\n this.idleAction = this.personActions.get(\"idle\")!;\r\n this.walkAction = this.personActions.get(\"walking\")!;\r\n this.leftWalkAction = this.personActions.get(\"left_walking\")!;\r\n this.rightWalkAction = this.personActions.get(\"right_walking\")!;\r\n this.backwardAction = this.personActions.get(\"walking_backward\")!;\r\n this.jumpAction = this.personActions.get(\"jumping\")!;\r\n this.runAction = this.personActions.get(\"running\")!;\r\n this.flyidleAction = this.personActions.get(\"flyidle\")!;\r\n this.flyAction = this.personActions.get(\"flying\")!;\r\n\r\n // 激活空闲动作\r\n this.idleAction.setEffectiveWeight(1);\r\n this.idleAction.play();\r\n this.actionState = this.idleAction;\r\n\r\n // 监听动画完成事件\r\n this.personMixer.addEventListener(\"finished\", (ev: any) => {\r\n const finishedAction: THREE.AnimationAction = ev.action;\r\n\r\n if (finishedAction === this.jumpAction) {\r\n if (this.fwdPressed) {\r\n this.playPersonAnimationByName(this.shiftPressed ? \"running\" : \"walking\");\r\n return;\r\n }\r\n if (this.bkdPressed) {\r\n this.playPersonAnimationByName(\"walking_backward\");\r\n return;\r\n }\r\n if (this.rgtPressed || this.lftPressed) {\r\n this.playPersonAnimationByName(\"walking\");\r\n return;\r\n }\r\n this.playPersonAnimationByName(\"idle\");\r\n }\r\n });\r\n } catch (error) {\r\n console.error(\"加载玩家模型失败:\", error);\r\n }\r\n }\r\n\r\n /**\r\n * 平滑切换人物动画\r\n */\r\n playPersonAnimationByName(name: string, fade = 0.18) {\r\n if (!this.personActions || this.ctPressed) return;\r\n\r\n const next = this.personActions.get(name);\r\n if (!next || this.actionState === next) return;\r\n\r\n const prev = this.actionState;\r\n\r\n next.reset();\r\n next.setEffectiveWeight(1);\r\n next.play();\r\n\r\n if (prev && prev !== next) {\r\n prev.fadeOut(fade);\r\n next.fadeIn(fade);\r\n } else {\r\n next.fadeIn(fade);\r\n }\r\n\r\n this.actionState = next;\r\n }\r\n\r\n /**\r\n * 创建玩家胶囊体\r\n */\r\n createPlayer() {\r\n const material = new THREE.MeshStandardMaterial({\r\n color: new THREE.Color(1, 0, 0),\r\n shadowSide: THREE.DoubleSide,\r\n depthTest: false,\r\n transparent: true,\r\n opacity: this.displayPlayer ? 0.5 : 0,\r\n wireframe: true,\r\n depthWrite: false,\r\n });\r\n\r\n const r = this.playerRadius * this.playerModel.scale;\r\n const h = this.playerHeight * this.playerModel.scale;\r\n this.player = new THREE.Mesh(new RoundedBoxGeometry(r * 2, h, r * 2, 1, 75), material) as typeof this.player;\r\n\r\n this.player.geometry.translate(0, -h * 0.25, 0);\r\n this.player.capsuleInfo = {\r\n radius: r,\r\n segment: new THREE.Line3(new THREE.Vector3(), new THREE.Vector3(0, -h * 0.5, 0)),\r\n };\r\n\r\n this.player.name = \"capsule\";\r\n this.scene.add(this.player);\r\n this.reset();\r\n\r\n // 设置初始朝向\r\n this.player.rotateY(this.playerModel.rotateY ?? 0);\r\n }\r\n\r\n // ==================== 车辆模型相关 ====================\r\n\r\n /**\r\n * 加载车辆模型与动画\r\n */\r\n async loadVehicleModel(params: {\r\n url: string;\r\n position: THREE.Vector3;\r\n scale?: number;\r\n animations?: {\r\n openDoorAnim?: string;\r\n wheelsTurnAnim?: string;\r\n turnLeftAnim?: string;\r\n turnRightAnim?: string;\r\n };\r\n }) {\r\n try {\r\n const { url, position, scale = 1 } = params;\r\n const gltf: GLTF = await this.loader.loadAsync(url);\r\n this.vehicle = gltf.scene;\r\n this.vehicle.scale.set(scale, scale, scale);\r\n this.vehicle.position.copy(position);\r\n this.vehicle.traverse((child: any) => {\r\n if (child.isMesh) {\r\n child.castShadow = true;\r\n child.receiveShadow = true;\r\n }\r\n });\r\n\r\n this.scene.add(this.vehicle);\r\n\r\n const animations = gltf.animations ?? [];\r\n // console.log(\"车辆所有动画\", animations);\r\n this.vehicleActions = new Map<string, THREE.AnimationAction>();\r\n this.vehicleMixer = new THREE.AnimationMixer(this.vehicle);\r\n\r\n // 动画映射表\r\n const animationMappings: [string, string][] = [\r\n [params.animations?.openDoorAnim ?? \"\", \"open_door\"],\r\n [params.animations?.wheelsTurnAnim ?? \"\", \"wheels_turn\"],\r\n [params.animations?.turnLeftAnim ?? \"\", \"turn_left\"],\r\n [params.animations?.turnRightAnim ?? \"\", \"turn_right\"],\r\n ];\r\n\r\n // 注册动画动作\r\n const findClip = (name: string) => animations.find((a: any) => a.name === name);\r\n for (const [clipName, actionName] of animationMappings) {\r\n const clip = findClip(clipName);\r\n if (!clip) continue;\r\n const action = this.vehicleMixer.clipAction(clip);\r\n action.setLoop(THREE.LoopOnce, 1);\r\n action.clampWhenFinished = true;\r\n action.setEffectiveTimeScale(2);\r\n action.enabled = true;\r\n action.setEffectiveWeight(0);\r\n this.vehicleActions.set(actionName, action);\r\n }\r\n\r\n console.log(\"开门动画\", this.vehicleActions.get(\"open_door\"));\r\n\r\n // const next = this.vehicleActions.get(\"open_door\") as THREE.AnimationAction;\r\n // next.setEffectiveWeight(1);\r\n // next.play();\r\n } catch (error) {\r\n console.error(\"加载车辆模型失败:\", error);\r\n }\r\n }\r\n\r\n // ==================== 相机与视角控制 ====================\r\n\r\n /**\r\n * 第一/三人称视角切换\r\n */\r\n changeView() {\r\n this.isFirstPerson = !this.isFirstPerson;\r\n\r\n if (this.isFirstPerson) {\r\n this.player.attach(this.camera);\r\n this.camera.position.set(0, 40 * this.playerModel.scale, 30 * this.playerModel.scale);\r\n this.camera.rotation.set(0, Math.PI, 0);\r\n } else {\r\n this.scene.attach(this.camera);\r\n const worldPos = this.player.position.clone();\r\n const dir = new THREE.Vector3(0, 0, -1).applyQuaternion(this.player.quaternion);\r\n const angle = Math.atan2(dir.z, dir.x);\r\n const offset = new THREE.Vector3(Math.cos(angle) * 400 * this.playerModel.scale, 200 * this.playerModel.scale, Math.sin(angle) * 400 * this.playerModel.scale);\r\n this.camera.position.copy(worldPos).add(offset);\r\n this.controls.target.copy(worldPos);\r\n }\r\n\r\n this.setPointerLock();\r\n }\r\n\r\n setDrive() {\r\n this.controllerMode = 2;\r\n this.person?.attach(this.vehicle as THREE.Object3D);\r\n }\r\n\r\n /**\r\n * 设置指针锁定\r\n */\r\n setPointerLock() {\r\n if (((this.thirdMouseMode === 0 || this.thirdMouseMode === 1) && !this.isFirstPerson) || this.isFirstPerson) {\r\n document.body.requestPointerLock();\r\n }\r\n }\r\n\r\n /**\r\n * 设置摄像机初始位置\r\n */\r\n setCameraPos() {\r\n if (this.isFirstPerson) {\r\n this.camera.position.set(0, 40 * this.playerModel.scale, 30 * this.playerModel.scale);\r\n } else {\r\n const worldPos = this.player.position.clone();\r\n const dir = new THREE.Vector3(0, 0, -1).applyQuaternion(this.player.quaternion);\r\n const angle = Math.atan2(dir.z, dir.x);\r\n const offset = new THREE.Vector3(Math.cos(angle) * 400 * this.playerModel.scale, -100 * this.playerModel.scale, Math.sin(angle) * 400 * this.playerModel.scale);\r\n this.camera.position.copy(worldPos).add(offset);\r\n }\r\n this.camera.updateProjectionMatrix();\r\n }\r\n\r\n /**\r\n * 设置控制器\r\n */\r\n setControls() {\r\n this.controls.enabled = !(this.thirdMouseMode === 0 || this.thirdMouseMode === 1);\r\n this.controls.rotateSpeed = this.mouseSensity * 0.05;\r\n this.controls.maxPolarAngle = Math.PI * (300 / 360);\r\n }\r\n\r\n /**\r\n * 重置控制器\r\n */\r\n resetControls() {\r\n if (!this.controls) return;\r\n this.controls.enabled = true;\r\n this.controls.enablePan = true;\r\n this.controls.maxPolarAngle = Math.PI / 2;\r\n this.controls.rotateSpeed = 1;\r\n this.controls.enableZoom = true;\r\n this.controls.mouseButtons = { LEFT: 0, MIDDLE: 1, RIGHT: 2 };\r\n }\r\n\r\n /**\r\n * 设置朝向\r\n */\r\n setToward(dx: number, dy: number, speed: number) {\r\n if (this.isFirstPerson) {\r\n const yaw = -dx * speed * this.mouseSensity;\r\n const pitch = -dy * speed * this.mouseSensity;\r\n this.player.rotateY(yaw);\r\n this.camera.rotation.x = THREE.MathUtils.clamp(this.camera.rotation.x + pitch, -1.1, 1.4);\r\n } else {\r\n const sensitivity = this.mouseSensity;\r\n const deltaX = -dx * speed * sensitivity;\r\n const deltaY = -dy * speed * sensitivity;\r\n\r\n const target = this.player.position.clone();\r\n const distance = this.camera.position.distanceTo(target);\r\n const currentPosition = this.camera.position.clone().sub(target);\r\n\r\n let theta = Math.atan2(currentPosition.x, currentPosition.z);\r\n let phi = Math.acos(currentPosition.y / distance);\r\n\r\n theta += deltaX;\r\n phi += deltaY;\r\n phi = Math.max(0.1, Math.min(Math.PI - 0.1, phi));\r\n\r\n const newX = distance * Math.sin(phi) * Math.sin(theta);\r\n const newY = distance * Math.cos(phi);\r\n const newZ = distance * Math.sin(phi) * Math.cos(theta);\r\n\r\n this.camera.position.set(target.x + newX, target.y + newY, target.z + newZ);\r\n this.camera.lookAt(target);\r\n }\r\n }\r\n\r\n // ==================== 物理与碰撞检测 ====================\r\n\r\n /**\r\n * 统一属性集合\r\n */\r\n unifiedAttribute(collected: THREE.BufferGeometry[]) {\r\n type AttrMeta = {\r\n itemSize: number;\r\n arrayCtor: any;\r\n examples: number;\r\n normalized: boolean;\r\n };\r\n const attrMap = new Map<string, AttrMeta>();\r\n const attrConflict = new Set<string>();\r\n\r\n // 保留必需的属性\r\n const requiredAttrs = new Set([\"position\", \"normal\", \"uv\"]);\r\n\r\n // 删除非必需属性\r\n for (const g of collected) {\r\n const attrNames = Object.keys(g.attributes);\r\n for (const name of attrNames) {\r\n if (!requiredAttrs.has(name)) {\r\n g.deleteAttribute(name);\r\n }\r\n }\r\n }\r\n\r\n for (const g of collected) {\r\n for (const name of Object.keys(g.attributes)) {\r\n const attr = g.attributes[name] as THREE.BufferAttribute;\r\n const ctor = (attr.array as any).constructor;\r\n const itemSize = attr.itemSize;\r\n const normalized = attr.normalized;\r\n\r\n if (!attrMap.has(name)) {\r\n attrMap.set(name, { itemSize, arrayCtor: ctor, examples: 1, normalized });\r\n } else {\r\n const m = attrMap.get(name)!;\r\n if (m.itemSize !== itemSize || m.arrayCtor !== ctor || m.normalized !== normalized) {\r\n attrConflict.add(name);\r\n } else {\r\n m.examples++;\r\n }\r\n }\r\n }\r\n }\r\n\r\n // 删除冲突属性\r\n if (attrConflict.size) {\r\n for (const g of collected) {\r\n for (const name of Array.from(attrConflict)) {\r\n if (g.attributes[name]) g.deleteAttribute(name);\r\n }\r\n }\r\n for (const name of attrConflict) attrMap.delete(name);\r\n }\r\n\r\n // 补全缺失属性\r\n const attrNames = Array.from(attrMap.keys());\r\n for (const g of collected) {\r\n const count = g.attributes.position.count;\r\n for (const name of attrNames) {\r\n if (!g.attributes[name]) {\r\n const meta = attrMap.get(name)!;\r\n const len = count * meta.itemSize;\r\n const array = new meta.arrayCtor(len);\r\n g.setAttribute(name, new THREE.BufferAttribute(array, meta.itemSize, meta.normalized));\r\n }\r\n }\r\n }\r\n\r\n return collected;\r\n }\r\n\r\n /**\r\n * BVH碰撞体构建\r\n */\r\n async createBVH(meshUrl: string = \"\"): Promise<void> {\r\n await this.initLoader();\r\n\r\n const ensureAttributesMinimal = (geom: THREE.BufferGeometry): THREE.BufferGeometry | null => {\r\n if (!geom.attributes.position) return null;\r\n if (!geom.attributes.normal) geom.computeVertexNormals();\r\n if (!geom.attributes.uv) {\r\n const count = geom.attributes.position.count;\r\n const dummyUV = new Float32Array(count * 2);\r\n geom.setAttribute(\"uv\", new THREE.BufferAttribute(dummyUV, 2));\r\n }\r\n return geom;\r\n };\r\n\r\n let collected: THREE.BufferGeometry[] = [];\r\n\r\n if (meshUrl === \"\") {\r\n // 从场景中收集几何体\r\n if (this.collider) {\r\n this.scene.remove(this.collider);\r\n this.collider = null;\r\n }\r\n\r\n this.scene.traverse((c) => {\r\n const mesh = c as THREE.Mesh;\r\n if (mesh?.isMesh && mesh.geometry && c.name !== \"capsule\") {\r\n try {\r\n let geom = (mesh.geometry as THREE.BufferGeometry).clone();\r\n geom.applyMatrix4(mesh.matrixWorld);\r\n if (geom.index) geom = geom.toNonIndexed();\r\n const safe = ensureAttributesMinimal(geom);\r\n if (safe) collected.push(safe);\r\n } catch (e) {\r\n console.warn(\"处理网格时出错：\", mesh, e);\r\n }\r\n }\r\n });\r\n\r\n if (!collected.length) return;\r\n\r\n collected = this.unifiedAttribute(collected);\r\n } else {\r\n // 从URL加载模型\r\n const gltf: GLTF = await this.loader.loadAsync(meshUrl);\r\n const mesh = gltf.scene.children[0] as THREE.Mesh;\r\n mesh.name = \"BVH加载模型\";\r\n\r\n let geom = mesh.geometry.clone();\r\n geom.applyMatrix4(mesh.matrixWorld);\r\n if (geom.index) geom = geom.toNonIndexed();\r\n const safe = ensureAttributesMinimal(geom);\r\n if (safe) collected.push(safe);\r\n }\r\n\r\n // 合并几何体\r\n const merged = BufferGeometryUtils.mergeGeometries(collected, false);\r\n if (!merged) {\r\n console.error(\"合并几何失败\");\r\n return;\r\n }\r\n\r\n // 构建BVH\r\n (merged as any).boundsTree = new MeshBVH(merged, { maxDepth: 100 });\r\n this.collider = new THREE.Mesh(\r\n merged,\r\n new THREE.MeshBasicMaterial({\r\n opacity: 0.5,\r\n transparent: true,\r\n wireframe: true,\r\n })\r\n );\r\n\r\n if (this.displayCollider) this.scene.add(this.collider);\r\n if (this.displayVisualizer) {\r\n if (this.visualizer) this.scene.remove(this.visualizer);\r\n this.visualizer = new MeshBVHHelper(this.collider, this.visualizeDepth);\r\n this.scene.add(this.visualizer);\r\n }\r\n\r\n this.boundingBoxMinY = (this.collider as any).geometry.boundingBox.min.y;\r\n }\r\n\r\n /**\r\n * 获取法线与Y轴的夹角\r\n */\r\n getAngleWithYAxis(normal: { x: number; y: number; z: number }): number {\r\n const yAxis = { x: 0, y: 1, z: 0 };\r\n const dotProduct = normal.x * yAxis.x + normal.y * yAxis.y + normal.z * yAxis.z;\r\n const normalMagnitude = Math.sqrt(normal.x * normal.x + normal.y * normal.y + normal.z * normal.z);\r\n const cosTheta = dotProduct / normalMagnitude;\r\n return Math.acos(cosTheta);\r\n }\r\n\r\n // ==================== 循环更新 ====================\r\n\r\n /**\r\n * 每帧更新\r\n */\r\n async update(delta: number = clock.getDelta()) {\r\n if (!this.isupdate || !this.player || !this.collider) return;\r\n delta = Math.min(delta, 1 / 30);\r\n\r\n // 应用速度\r\n if (!this.isFlying) {\r\n this.player.position.addScaledVector(this.playerVelocity, delta);\r\n }\r\n\r\n // 更新动画\r\n this.updateMixers(delta);\r\n\r\n // 计算移动方向\r\n this.camera.getWorldDirection(this.camDir);\r\n let angle = Math.atan2(this.camDir.z, this.camDir.x) + Math.PI / 2;\r\n angle = 2 * Math.PI - angle;\r\n\r\n this.moveDir.set(0, 0, 0);\r\n if (this.fwdPressed) this.moveDir.add(this.DIR_FWD);\r\n if (this.bkdPressed) this.moveDir.add(this.DIR_BKD);\r\n if (this.lftPressed) this.moveDir.add(this.DIR_LFT);\r\n if (this.rgtPressed) this.moveDir.add(this.DIR_RGT);\r\n\r\n if (this.isFlying) {\r\n if (this.fwdPressed) this.moveDir.y = this.camDir.y;\r\n else this.moveDir.y = 0;\r\n if (this.spacePressed) this.moveDir.add(this.DIR_UP);\r\n }\r\n\r\n // 设置速度\r\n if (this.isFlying && this.fwdPressed) {\r\n this.playerSpeed = this.shiftPressed ? this.originPlayerSpeed * 12 : this.originPlayerSpeed * 7;\r\n } else {\r\n this.playerSpeed = this.shiftPressed ? this.originPlayerSpeed * 2 : this.originPlayerSpeed;\r\n }\r\n\r\n this.moveDir.normalize().applyAxisAngle(this.upVector, angle);\r\n this.player.position.addScaledVector(this.moveDir, this.playerSpeed * delta);\r\n\r\n // 向下射线检测地面高度\r\n let playerDistanceFromGround = Infinity;\r\n this._originTmp.set(this.player.position.x, this.player.position.y, this.player.position.z);\r\n this._raycaster.ray.origin.copy(this._originTmp);\r\n const intersects = this._raycaster.intersectObject(this.collider as THREE.Object3D, false);\r\n\r\n if (intersects.length > 0) {\r\n playerDistanceFromGround = this.player.position.y - intersects[0].point.y;\r\n const normal = intersects[0].normal as THREE.Vector3;\r\n const angle = (this.getAngleWithYAxis(normal) * 180) / Math.PI;\r\n const maxH = this.playerHeight * this.playerModel.scale * 0.9; // 坡度高度阈值\r\n const h = this.playerHeight * this.playerModel.scale * 0.75; // 正常高度\r\n const minH = this.playerHeight * this.playerModel.scale * 0.7; // 最小高度\r\n\r\n // console.log(\"人物中心点距离地面高度\", playerDistanceFromGround, \"坡度高度阈值\", maxH, \"正常高度\", h, \"最小高度\", minH);\r\n // console.log(\"坡度角度\", angle);\r\n\r\n // console.log(\"this.playerVelocity.y\", this.playerVelocity.y);\r\n\r\n if (!this.isFlying) {\r\n if (playerDistanceFromGround > maxH) {\r\n // 下落状态\r\n this.playerVelocity.y += delta * this.gravity;\r\n this.player.position.addScaledVector(this.playerVelocity, delta);\r\n this.playerIsOnGround = false;\r\n // console.log(\"下落\");\r\n } else if (playerDistanceFromGround > h && playerDistanceFromGround < maxH) {\r\n if (angle >= 0 && angle < 5) {\r\n // 平地\r\n this.playerVelocity.y += delta * this.gravity;\r\n this.player.position.addScaledVector(this.playerVelocity, delta);\r\n this.playerIsOnGround = true;\r\n // console.log(\"平地\");\r\n } else {\r\n // 坡地\r\n if (this.spacePressed) {\r\n this.playerVelocity.y += delta * this.gravity;\r\n } else {\r\n // console.log(\"坡地\", this.spacePressed);\r\n this.playerVelocity.set(0, 0, 0);\r\n this.playerIsOnGround = true;\r\n }\r\n }\r\n } else if (playerDistanceFromGround > minH && playerDistanceFromGround < h) {\r\n // 误差范围内在平地\r\n this.playerVelocity.set(0, 0, 0);\r\n this.playerIsOnGround = true;\r\n } else if (playerDistanceFromGround < minH) {\r\n // 强行拉回\r\n this.playerVelocity.set(0, 0, 0);\r\n this.player.position.set(this.player.position.x, intersects[0].point.y + h, this.player.position.z);\r\n this.playerIsOnGround = true;\r\n }\r\n }\r\n\r\n // console.log(\"是否在地面\", this.playerIsOnGround);\r\n }\r\n\r\n // 更新玩家矩阵\r\n this.player.updateMatrixWorld();\r\n\r\n // BVH碰撞检测\r\n const capsuleInfo = this.player.capsuleInfo;\r\n this.tempBox.makeEmpty();\r\n this.tempMat.copy(this.collider!.matrixWorld).invert();\r\n this.tempSegment.copy(capsuleInfo.segment);\r\n this.tempSegment.start.applyMatrix4(this.player.matrixWorld).applyMatrix4(this.tempMat);\r\n this.tempSegment.end.applyMatrix4(this.player.matrixWorld).applyMatrix4(this.tempMat);\r\n\r\n this.tempBox.expandByPoint(this.tempSegment.start);\r\n this.tempBox.expandByPoint(this.tempSegment.end);\r\n this.tempBox.expandByScalar(capsuleInfo.radius);\r\n\r\n const bvh = this.collider?.geometry as any;\r\n bvh?.boundsTree?.shapecast({\r\n // 检测包围盒碰撞\r\n intersectsBounds: (box: THREE.Box3) => box.intersectsBox(this.tempBox),\r\n // 检测三角形碰撞\r\n intersectsTriangle: (tri: any) => {\r\n const triPoint = this.tempVector;\r\n const capsulePoint = this.tempVector2;\r\n const distance = tri.closestPointToSegment(this.tempSegment, triPoint, capsulePoint);\r\n // 距离小于人物半径，发生碰撞\r\n if (distance < capsuleInfo.radius) {\r\n const depth = capsuleInfo.radius - distance;\r\n const direction = capsulePoint.sub(triPoint).normalize();\r\n this.tempSegment.start.addScaledVector(direction, depth);\r\n this.tempSegment.end.addScaledVector(direction, depth);\r\n }\r\n },\r\n });\r\n\r\n // 设置玩家位置\r\n const newPosition = this.tempVector.copy(this.tempSegment.start).applyMatrix4(this.collider!.matrixWorld);\r\n const deltaVector = this.tempVector2.subVectors(newPosition, this.player.position);\r\n const offset = Math.max(0, deltaVector.length() - 1e-5);\r\n deltaVector.normalize().multiplyScalar(offset);\r\n this.player.position.add(deltaVector);\r\n\r\n // 第三人称-朝向\r\n if (!this.isFirstPerson && !this.isFlying) {\r\n this.camDir.y = 0;\r\n this.camDir.normalize();\r\n this.camDir.negate();\r\n this.moveDir.normalize();\r\n this.moveDir.negate();\r\n\r\n let lookTarget: THREE.Vector3;\r\n if (this.thirdMouseMode === 0 || this.thirdMouseMode === 2) {\r\n if (this.moveDir.lengthSq() > 0) {\r\n lookTarget = this.player.position.clone().add(this.moveDir);\r\n } else {\r\n lookTarget = this.player.position.clone().add(this.camDir);\r\n }\r\n this.targetMat.lookAt(this.player.position, lookTarget, this.player.up);\r\n this.targetQuat.setFromRotationMatrix(this.targetMat);\r\n const alpha = Math.min(1, this.rotationSpeed * delta);\r\n this.player.quaternion.slerp(this.targetQuat, alpha);\r\n }\r\n if ((this.thirdMouseMode === 1 || this.thirdMouseMode === 3) && this.moveDir.lengthSq() > 0) {\r\n lookTarget = this.player.position.clone().add(this.moveDir);\r\n this.targetMat.lookAt(this.player.position, lookTarget, this.player.up);\r\n this.targetQuat.setFromRotationMatrix(this.targetMat);\r\n const alpha = Math.min(1, this.rotationSpeed * delta);\r\n this.player.quaternion.slerp(this.targetQuat, alpha);\r\n }\r\n }\r\n\r\n // 飞行模式朝向\r\n if (this.isFlying) {\r\n this.camDir.y = 0;\r\n this.camDir.normalize();\r\n this.camDir.negate();\r\n this.moveDir.normalize();\r\n this.moveDir.negate();\r\n const lookTarget = this.player.position.clone().add(this.fwdPressed ? this.moveDir : this.camDir);\r\n this.targetMat.lookAt(this.player.position, lookTarget, this.player.up);\r\n this.targetQuat.setFromRotationMatrix(this.targetMat);\r\n const alpha = Math.min(1, this.rotationSpeed * delta);\r\n this.player.quaternion.slerp(this.targetQuat, alpha);\r\n }\r\n\r\n // 第三人称-相机跟随\r\n if (!this.isFirstPerson) {\r\n const lookTarget = this.player.position.clone();\r\n lookTarget.y += 30 * this.playerModel.scale;\r\n this.camera.position.sub(this.controls.target);\r\n this.controls.target.copy(lookTarget);\r\n this.camera.position.add(lookTarget);\r\n this.controls.update();\r\n\r\n // 当视线被遮挡时的处理\r\n this._personToCam.subVectors(this.camera.position, this.player.position);\r\n const origin = this.player.position.clone().add(new THREE.Vector3(0, 0, 0));\r\n const direction = this._personToCam.clone().normalize();\r\n const desiredDist = this._personToCam.length();\r\n this._raycasterPersonToCam.set(origin, direction);\r\n this._raycasterPersonToCam.far = desiredDist;\r\n\r\n const intersects = this._raycasterPersonToCam.intersectObject(this.collider as THREE.Object3D, false);\r\n\r\n if (intersects.length > 0) {\r\n // 相机拉近\r\n const hit = intersects[0];\r\n const safeDist = Math.max(hit.distance - this._camEpsilon, this._minCamDistance);\r\n const targetCamPos = origin.clone().add(direction.clone().multiplyScalar(safeDist));\r\n this.camera.position.lerp(targetCamPos, this._camCollisionLerp);\r\n } else {\r\n // 相机恢复\r\n this._raycasterPersonToCam.far = this._maxCamDistance;\r\n const intersectsMaxDis = this._raycasterPersonToCam.intersectObject(this.collider as THREE.Object3D, false);\r\n\r\n let safeDist = this._maxCamDistance;\r\n if (intersectsMaxDis.length) {\r\n const hitMax = intersectsMaxDis[0];\r\n safeDist = hitMax.distance - this._camEpsilon;\r\n }\r\n const targetCamPos = origin.clone().add(direction.clone().multiplyScalar(safeDist));\r\n this.camera.position.lerp(targetCamPos, this._camCollisionLerp);\r\n }\r\n }\r\n\r\n // 掉出场景重置\r\n if (this.player.position.y < this.boundingBoxMinY - 1) {\r\n this._originTmp.set(this.player.position.x, 10000, this.player.position.z);\r\n this._raycaster.ray.origin.copy(this._originTmp);\r\n const intersects = this._raycaster.intersectObject(this.collider as THREE.Object3D, false);\r\n\r\n if (intersects.length > 0) {\r\n // 出现碰撞 说明玩家为bug意外掉落\r\n console.log(\"玩家为bug意外掉落\");\r\n this.reset(new THREE.Vector3(this.player.position.x, intersects[0].point.y + 5, this.player.position.z));\r\n } else {\r\n // 无碰撞 正常掉落\r\n console.log(\"玩家正常掉落\");\r\n this.reset(new THREE.Vector3(this.player.position.x, this.player.position.y + 15, this.player.position.z));\r\n }\r\n }\r\n }\r\n\r\n /**\r\n * 更新模型动画\r\n */\r\n private updateMixers(delta: number) {\r\n if (this.personMixer) this.personMixer.update(delta);\r\n if (this.vehicleMixer) this.vehicleMixer.update(delta);\r\n }\r\n\r\n /**\r\n * 重置玩家位置\r\n */\r\n reset(position?: THREE.Vector3) {\r\n if (!this.player) return;\r\n this.playerVelocity.set(0, 0, 0);\r\n this.player.position.copy(position ?? this.initPos);\r\n }\r\n\r\n /**\r\n * 获取玩家位置\r\n */\r\n getPosition() {\r\n return this.player.position;\r\n }\r\n\r\n // ==================== 输入处理 ====================\r\n\r\n /**\r\n * 设置输入\r\n */\r\n setInput(\r\n input: Partial<{\r\n moveX: 1 | 0 | -1;\r\n moveY: 1 | 0 | -1;\r\n lookDeltaX: number;\r\n lookDeltaY: number;\r\n jump: boolean;\r\n shift: boolean;\r\n toggleView: boolean;\r\n toggleFly: boolean;\r\n }>\r\n ) {\r\n // 控制人物移动\r\n if (typeof input.moveX === \"number\") {\r\n this.lftPressed = input.moveX === -1;\r\n this.rgtPressed = input.moveX === 1;\r\n this.setAnimationByPressed();\r\n }\r\n if (typeof input.moveY === \"number\") {\r\n this.fwdPressed = input.moveY === 1;\r\n this.bkdPressed = input.moveY === -1;\r\n this.setAnimationByPressed();\r\n }\r\n\r\n // 控制朝向\r\n if (typeof input.lookDeltaX === \"number\" && typeof input.lookDeltaY === \"number\") {\r\n this.setToward(input.lookDeltaX, input.lookDeltaY, 0.002);\r\n }\r\n\r\n // 跳跃\r\n if (typeof input.jump === \"boolean\") {\r\n if (input.jump) {\r\n this.spacePressed = true;\r\n if (!this.playerIsOnGround || this.isFlying) return;\r\n this.playPersonAnimationByName(\"jumping\");\r\n this.playerVelocity.y = this.jumpHeight;\r\n this.playerIsOnGround = false;\r\n } else {\r\n this.spacePressed = false;\r\n }\r\n }\r\n\r\n // 加速\r\n if (typeof input.shift === \"boolean\") {\r\n this.shiftPressed = input.shift;\r\n }\r\n\r\n // 切换视角\r\n if (input.toggleView) {\r\n this.changeView();\r\n }\r\n\r\n // 切换飞行\r\n if (input.toggleFly) {\r\n this.isFlying = !this.isFlying;\r\n this.setAnimationByPressed();\r\n if (!this.isFlying && !this.playerIsOnGround) {\r\n this.playPersonAnimationByName(\"jumping\");\r\n }\r\n }\r\n }\r\n\r\n /**\r\n * 根据按键设置人物动画\r\n */\r\n private setAnimationByPressed = () => {\r\n this._maxCamDistance = this.orginMaxCamDistance;\r\n\r\n if (this.isFlying) {\r\n if (!this.fwdPressed) {\r\n this.playPersonAnimationByName(\"flyidle\");\r\n return;\r\n }\r\n this.playPersonAnimationByName(\"flying\");\r\n this._maxCamDistance = this.orginMaxCamDistance * 2;\r\n return;\r\n }\r\n\r\n if (this.playerIsOnGround) {\r\n if (!this.fwdPressed && !this.bkdPressed && !this.lftPressed && !this.rgtPressed) {\r\n this.playPersonAnimationByName(\"idle\");\r\n return;\r\n }\r\n\r\n if (this.fwdPressed) {\r\n this.playPersonAnimationByName(this.shiftPressed ? \"running\" : \"walking\");\r\n return;\r\n }\r\n\r\n // 第三人称下动画统一使用前进动画\r\n if (!this.isFirstPerson && (this.lftPressed || this.rgtPressed || this.bkdPressed)) {\r\n this.playPersonAnimationByName(this.shiftPressed ? \"running\" : \"walking\");\r\n return;\r\n }\r\n\r\n // 第一人称下根据方向播放不同动画\r\n if (this.lftPressed) {\r\n this.playPersonAnimationByName(\"left_walking\");\r\n return;\r\n }\r\n if (this.rgtPressed) {\r\n this.playPersonAnimationByName(\"right_walking\");\r\n return;\r\n }\r\n if (this.bkdPressed) {\r\n this.playPersonAnimationByName(\"walking_backward\");\r\n return;\r\n }\r\n }\r\n\r\n // 销毁旧的定时器\r\n if (this.recheckAnimTimer !== null) {\r\n clearTimeout(this.recheckAnimTimer);\r\n }\r\n\r\n // 200ms后重新检测动画\r\n this.recheckAnimTimer = setTimeout(() => {\r\n this.setAnimationByPressed();\r\n this.recheckAnimTimer = null;\r\n }, 200);\r\n };\r\n\r\n // ==================== 事件处理 ====================\r\n\r\n /**\r\n * 键盘按下事件\r\n */\r\n private _boundOnKeydown = async (e: KeyboardEvent) => {\r\n if (e.ctrlKey && [\"KeyW\", \"KeyA\", \"KeyS\", \"KeyD\"].includes(e.code)) {\r\n e.preventDefault();\r\n }\r\n\r\n switch (e.code) {\r\n case \"KeyW\":\r\n this.fwdPressed = true;\r\n this.setAnimationByPressed();\r\n break;\r\n case \"KeyS\":\r\n this.bkdPressed = true;\r\n this.setAnimationByPressed();\r\n break;\r\n case \"KeyD\":\r\n this.rgtPressed = true;\r\n this.setAnimationByPressed();\r\n break;\r\n case \"KeyA\":\r\n this.lftPressed = true;\r\n this.setAnimationByPressed();\r\n break;\r\n case \"ShiftLeft\":\r\n this.shiftPressed = true;\r\n this.setAnimationByPressed();\r\n this.controls.mouseButtons = { LEFT: 2, MIDDLE: 1, RIGHT: 0 };\r\n break;\r\n case \"Space\":\r\n this.spacePressed = true;\r\n // console.log(\"点击跳跃\", this.playerIsOnGround, this.isFlying);\r\n if (!this.playerIsOnGround || this.isFlying) return;\r\n const next = this.personActions?.get(\"jumping\");\r\n if (next && this.actionState === next) return;\r\n this.playPersonAnimationByName(\"jumping\");\r\n this.playerVelocity.y = this.jumpHeight;\r\n this.playerIsOnGround = false;\r\n break;\r\n case \"ControlLeft\":\r\n this.ctPressed = true;\r\n break;\r\n case \"KeyV\":\r\n this.changeView();\r\n break;\r\n case \"KeyF\":\r\n this.isFlying = !this.isFlying;\r\n this.setAnimationByPressed();\r\n if (!this.isFlying && !this.playerIsOnGround) {\r\n this.playPersonAnimationByName(\"jumping\");\r\n }\r\n break;\r\n case \"KeyE\":\r\n this.setDrive();\r\n break;\r\n }\r\n };\r\n\r\n /**\r\n * 键盘抬起事件\r\n */\r\n private _boundOnKeyup = (e: KeyboardEvent) => {\r\n switch (e.code) {\r\n case \"KeyW\":\r\n this.fwdPressed = false;\r\n this.setAnimationByPressed();\r\n break;\r\n case \"KeyS\":\r\n this.bkdPressed = false;\r\n this.setAnimationByPressed();\r\n break;\r\n case \"KeyD\":\r\n this.rgtPressed = false;\r\n this.setAnimationByPressed();\r\n break;\r\n case \"KeyA\":\r\n this.lftPressed = false;\r\n this.setAnimationByPressed();\r\n break;\r\n case \"ShiftLeft\":\r\n this.shiftPressed = false;\r\n this.setAnimationByPressed();\r\n this.controls.mouseButtons = { LEFT: 0, MIDDLE: 1, RIGHT: 2 };\r\n break;\r\n case \"Space\":\r\n this.spacePressed = false;\r\n break;\r\n case \"ControlLeft\":\r\n this.ctPressed = false;\r\n break;\r\n }\r\n };\r\n\r\n /**\r\n * 鼠标移动事件\r\n */\r\n private _mouseMove = (e: MouseEvent) => {\r\n if (document.pointerLockElement !== document.body) return;\r\n this.setToward(e.movementX, e.movementY, 0.0001);\r\n };\r\n\r\n /**\r\n * 鼠标点击事件\r\n */\r\n private _mouseClick = (e: MouseEvent) => {\r\n this.setPointerLock();\r\n };\r\n\r\n /**\r\n * 事件绑定\r\n */\r\n onAllEvent() {\r\n this.isupdate = true;\r\n this.setPointerLock();\r\n\r\n window.addEventListener(\"keydown\", this._boundOnKeydown);\r\n window.addEventListener(\"keyup\", this._boundOnKeyup);\r\n window.addEventListener(\"mousemove\", this._mouseMove);\r\n window.addEventListener(\"click\", this._mouseClick);\r\n }\r\n\r\n /**\r\n * 事件解绑\r\n */\r\n offAllEvent() {\r\n this.isupdate = false;\r\n document.exitPointerLock();\r\n window.removeEventListener(\"keydown\", this._boundOnKeydown);\r\n window.removeEventListener(\"keyup\", this._boundOnKeyup);\r\n window.removeEventListener(\"mousemove\", this._mouseMove);\r\n window.removeEventListener(\"click\", this._mouseClick);\r\n }\r\n\r\n // ==================== 移动端控制 ====================\r\n\r\n /**\r\n * 指针按下事件\r\n */\r\n onPointerDown = (e: PointerEvent) => {\r\n if (e.pointerType !== \"touch\") return;\r\n this.isLookDown = true;\r\n this.lookPointerId = e.pointerId;\r\n this.lastTouchX = e.clientX;\r\n this.lastTouchY = e.clientY;\r\n\r\n this.lookAreaEl?.setPointerCapture?.(e.pointerId);\r\n e.preventDefault();\r\n };\r\n\r\n /**\r\n * 指针移动事件\r\n */\r\n onPointerMove = (e: PointerEvent) => {\r\n if (!this.isLookDown || e.pointerId !== this.lookPointerId) return;\r\n const dx = e.clientX - this.lastTouchX;\r\n const dy = e.clientY - this.lastTouchY;\r\n this.lastTouchX = e.clientX;\r\n this.lastTouchY = e.clientY;\r\n\r\n this.setInput({ lookDeltaX: dx, lookDeltaY: dy });\r\n e.preventDefault();\r\n };\r\n\r\n /**\r\n * 指针抬起事件\r\n */\r\n onPointerUp = (e: PointerEvent) => {\r\n if (e.pointerId !== this.lookPointerId) return;\r\n this.isLookDown = false;\r\n this.lookPointerId = null;\r\n this.lookAreaEl?.releasePointerCapture?.(e.pointerId);\r\n };\r\n\r\n /**\r\n * 初始化移动端摇杆控制\r\n */\r\n async initMobileControls() {\r\n this.controls.maxPolarAngle = Math.PI * (300 / 360);\r\n this.controls.touches = { ONE: null as any, TWO: null as any };\r\n this.nippleModule = await import(\"nipplejs\");\r\n const nipple = this.nippleModule?.default;\r\n const JOY_SIZE = 120;\r\n\r\n const container = document.body;\r\n\r\n // 摇杆容器\r\n this.joystickZoneEl = document.createElement(\"div\");\r\n this.joystickZoneEl.id = \"joy-zone\";\r\n Object.assign(this.joystickZoneEl.style, {\r\n position: \"absolute\",\r\n left: \"16px\",\r\n bottom: \"16px\",\r\n width: `${JOY_SIZE + 40}px`,\r\n height: `${JOY_SIZE + 40}px`,\r\n touchAction: \"none\",\r\n zIndex: \"999\",\r\n pointerEvents: \"auto\",\r\n WebkitUserSelect: \"none\",\r\n userSelect: \"none\",\r\n });\r\n container.appendChild(this.joystickZoneEl);\r\n\r\n // 阻止touch的默认行为\r\n [\"touchstart\", \"touchmove\", \"touchend\", \"touchcancel\"].forEach((evtName) => {\r\n this.joystickZoneEl?.addEventListener(evtName, (e) => e.preventDefault(), {\r\n passive: false,\r\n });\r\n });\r\n\r\n // 创建摇杆\r\n this.joystickManager = nipple.create({\r\n zone: this.joystickZoneEl,\r\n mode: \"static\",\r\n position: {\r\n left: `${(JOY_SIZE + 40) / 2}px`,\r\n bottom: `${(JOY_SIZE + 40) / 2}px`,\r\n },\r\n color: \"#ffffff\",\r\n size: JOY_SIZE,\r\n multitouch: true,\r\n maxNumberOfNipples: 1,\r\n });\r\n\r\n this.joystickManager.on(\"move\", (_evt: any, data: any) => {\r\n if (!data) return;\r\n\r\n const rawX = data.vector?.x ?? 0;\r\n const rawY = data.vector?.y ?? 0;\r\n const distance = data.distance ?? 0;\r\n const deadzone = 0.5;\r\n\r\n const dirX = rawX > deadzone ? 1 : rawX < -deadzone ? -1 : 0;\r\n const dirY = rawY > deadzone ? 1 : rawY < -deadzone ? -1 : 0;\r\n\r\n const sprintThreshold = JOY_SIZE / 2;\r\n const isSprinting = distance >= sprintThreshold;\r\n\r\n const prev = this.prevJoyState || { dirX: 0, dirY: 0, shift: false };\r\n if (dirX === prev.dirX && dirY === prev.dirY && isSprinting === prev.shift) {\r\n return;\r\n }\r\n\r\n this.prevJoyState = { dirX, dirY, shift: isSprinting };\r\n this.setInput({ moveX: dirX, moveY: dirY, shift: isSprinting });\r\n });\r\n\r\n this.joystickManager.on(\"end\", () => {\r\n const prev = this.prevJoyState || { dirX: 0, dirY: 0, shift: false };\r\n if (prev.dirX !== 0 || prev.dirY !== 0 || prev.shift !== false) {\r\n this.prevJoyState = { dirX: 0, dirY: 0, shift: false };\r\n this.setInput({ moveX: 0, moveY: 0, shift: false });\r\n }\r\n });\r\n\r\n // 右侧视角控制区域\r\n this.lookAreaEl = document.createElement(\"div\");\r\n Object.assign(this.lookAreaEl.style, {\r\n position: \"absolute\",\r\n right: \"0\",\r\n bottom: \"0\",\r\n width: \"50%\",\r\n height: \"100%\",\r\n zIndex: \"998\",\r\n touchAction: \"none\",\r\n WebkitUserSelect: \"none\",\r\n userSelect: \"none\",\r\n });\r\n container.appendChild(this.lookAreaEl);\r\n\r\n [\"touchstart\", \"touchmove\", \"touchend\", \"touchcancel\"].forEach((evtName) => {\r\n this.lookAreaEl?.addEventListener(evtName, (e) => e.preventDefault(), {\r\n passive: false,\r\n });\r\n });\r\n\r\n this.lookAreaEl.addEventListener(\"pointerdown\", this.onPointerDown, { passive: false });\r\n this.lookAreaEl.addEventListener(\"pointermove\", this.onPointerMove, { passive: false });\r\n this.lookAreaEl.addEventListener(\"pointerup\", this.onPointerUp, { passive: false });\r\n this.lookAreaEl.addEventListener(\"pointercancel\", this.onPointerUp, { passive: false });\r\n\r\n // 创建按钮\r\n const createBtn = (rightPx: number, bottomPx: number, bgUrl?: string) => {\r\n const btn = document.createElement(\"button\");\r\n const styles: Partial<CSSStyleDeclaration> = {\r\n position: \"absolute\",\r\n right: `${rightPx}px`,\r\n bottom: `${bottomPx}px`,\r\n width: \"56px\",\r\n height: \"56px\",\r\n zIndex: \"1000\",\r\n borderRadius: \"50%\",\r\n border: \"2px solid black\",\r\n background: \"rgba(0,0,0)\",\r\n padding: \"20px\",\r\n opacity: \"0.95\",\r\n touchAction: \"none\",\r\n fontSize: \"14px\",\r\n userSelect: \"none\",\r\n overflow: \"hidden\",\r\n boxSizing: \"border-box\",\r\n backgroundColor: \"transparent\",\r\n backgroundRepeat: \"no-repeat, no-repeat\",\r\n backgroundPosition: \"center center, center center\",\r\n backgroundSize: \"100% 100%, 80% 80%\",\r\n };\r\n\r\n if (bgUrl) {\r\n const overlayColor = \"rgba(0,0,0,0.5)\";\r\n styles.backgroundImage = `linear-gradient(${overlayColor}, ${overlayColor}), url(\"${bgUrl}\")`;\r\n }\r\n\r\n Object.assign(btn.style, styles);\r\n container.appendChild(btn);\r\n [\"touchstart\", \"touchend\", \"touchcancel\"].forEach((evtName) => {\r\n btn.addEventListener(evtName, (e) => e.preventDefault(), { passive: false });\r\n });\r\n\r\n return btn;\r\n };\r\n\r\n // 跳跃按钮\r\n this.jumpBtnEl = createBtn(14, 14, jumpIconModule);\r\n this.jumpBtnEl.addEventListener(\r\n \"touchstart\",\r\n (e) => {\r\n e.preventDefault();\r\n this.setInput({ jump: true });\r\n },\r\n { passive: false }\r\n );\r\n this.jumpBtnEl.addEventListener(\r\n \"touchend\",\r\n (e) => {\r\n e.preventDefault();\r\n this.setInput({ jump: false });\r\n },\r\n { passive: false }\r\n );\r\n this.jumpBtnEl.addEventListener(\r\n \"touchcancel\",\r\n (e) => {\r\n e.preventDefault();\r\n this.setInput({ jump: false });\r\n },\r\n { passive: false }\r\n );\r\n\r\n // 切换飞行按钮\r\n this.flyBtnEl = createBtn(14, 14 + 80, flyIconModule);\r\n this.flyBtnEl.addEventListener(\r\n \"touchstart\",\r\n (e) => {\r\n e.preventDefault();\r\n this.setInput({ toggleFly: true });\r\n },\r\n { passive: false }\r\n );\r\n\r\n // 切换视角按钮\r\n this.viewBtnEl = createBtn(14, 14 + 200, viewIconModule);\r\n this.viewBtnEl.addEventListener(\r\n \"touchstart\",\r\n (e) => {\r\n e.preventDefault();\r\n this.setInput({ toggleView: true });\r\n },\r\n { passive: false }\r\n );\r\n }\r\n\r\n /**\r\n * 销毁移动端摇杆控制\r\n */\r\n destroyMobileControls() {\r\n try {\r\n if (this.joystickManager && this.joystickManager.destroy) {\r\n this.joystickManager.destroy();\r\n this.joystickManager = null;\r\n }\r\n if (this.joystickZoneEl?.parentElement) {\r\n this.joystickZoneEl.parentElement.removeChild(this.joystickZoneEl);\r\n this.joystickZoneEl = null;\r\n }\r\n if (this.lookAreaEl?.parentElement) {\r\n this.lookAreaEl.parentElement.removeChild(this.lookAreaEl);\r\n this.lookAreaEl = null;\r\n }\r\n if (this.jumpBtnEl?.parentElement) {\r\n this.jumpBtnEl.parentElement.removeChild(this.jumpBtnEl);\r\n this.jumpBtnEl = null;\r\n }\r\n if (this.flyBtnEl?.parentElement) {\r\n this.flyBtnEl.parentElement.removeChild(this.flyBtnEl);\r\n this.flyBtnEl = null;\r\n }\r\n if (this.viewBtnEl?.parentElement) {\r\n this.viewBtnEl.parentElement.removeChild(this.viewBtnEl);\r\n this.viewBtnEl = null;\r\n }\r\n\r\n // 监听\r\n this.lookAreaEl?.removeEventListener(\"pointerdown\", this.onPointerDown);\r\n this.lookAreaEl?.removeEventListener(\"pointermove\", this.onPointerMove);\r\n this.lookAreaEl?.removeEventListener(\"pointerup\", this.onPointerUp);\r\n this.lookAreaEl?.removeEventListener(\"pointercancel\", this.onPointerUp);\r\n } catch (e) {\r\n console.warn(\"销毁移动端摇杆控制时出错：\", e);\r\n }\r\n }\r\n\r\n // ==================== 销毁 ====================\r\n\r\n /**\r\n * 销毁人物控制器\r\n */\r\n destroy() {\r\n this.offAllEvent();\r\n if (this.player) {\r\n this.player.remove(this.camera);\r\n this.scene.remove(this.player);\r\n }\r\n (this.player as any) = null;\r\n if (this.person) {\r\n this.scene.remove(this.person);\r\n this.person = null;\r\n }\r\n\r\n this.resetControls();\r\n\r\n // 清理 BVH 可视化\r\n if (this.visualizer) {\r\n this.scene.remove(this.visualizer);\r\n this.visualizer = null;\r\n }\r\n if (this.collider) {\r\n this.scene.remove(this.collider);\r\n this.collider = null;\r\n }\r\n\r\n this.destroyMobileControls();\r\n\r\n controllerInstance = null;\r\n }\r\n}\r\n\r\n// 导出API\r\nexport function playerController() {\r\n if (!controllerInstance) controllerInstance = new PlayerController();\r\n const c = controllerInstance;\r\n return {\r\n init: (opts: PlayerControllerOptions, callback?: () => void) => c.init(opts, callback),\r\n changeView: () => c.changeView(),\r\n reset: (pos?: THREE.Vector3) => c.reset(pos),\r\n update: (dt?: number) => c.update(dt),\r\n destroy: () => c.destroy(),\r\n setInput: (i: any) => c.setInput(i),\r\n getposition: () => c.getPosition(),\r\n loadVehicleModel: (params: {\r\n url: string;\r\n position: THREE.Vector3;\r\n scale?: number;\r\n animations: {\r\n openDoorAnim?: string;\r\n wheelsTurnAnim?: string;\r\n turnLeftAnim?: string;\r\n turnRightAnim?: string;\r\n };\r\n }) => c.loadVehicleModel(params),\r\n };\r\n}\r\n\r\n// 打开所有事件\r\nexport function onAllEvent(): void {\r\n if (!controllerInstance) controllerInstance = new PlayerController();\r\n controllerInstance.onAllEvent();\r\n}\r\n\r\n// 关闭所有事件\r\nexport function offAllEvent(): void {\r\n if (!controllerInstance) return;\r\n 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1
+ {"version":3,"sources":["../src/playerController.ts","../src/utils/pathPlanner.ts","../src/utils/useVehicleController.ts"],"sourcesContent":["import type { RigidBody, World } from \"@dimforge/rapier3d-compat\";\r\nimport * as THREE from \"three\";\r\nimport { acceleratedRaycast, MeshBVH, MeshBVHHelper } from \"three-mesh-bvh\";\r\nimport type { GLTF } from \"three/examples/jsm/Addons.js\";\r\nimport { OrbitControls } from \"three/examples/jsm/controls/OrbitControls.js\";\r\nimport { RoundedBoxGeometry } from \"three/examples/jsm/geometries/RoundedBoxGeometry.js\";\r\nimport { DRACOLoader } from \"three/examples/jsm/loaders/DRACOLoader.js\";\r\nimport { GLTFLoader } from \"three/examples/jsm/loaders/GLTFLoader.js\";\r\nimport * as BufferGeometryUtils from \"three/examples/jsm/utils/BufferGeometryUtils.js\";\r\nimport flyIconModule from \"../assets/imgs/fly.png\";\r\nimport jumpIconModule from \"../assets/imgs/jump.png\";\r\nimport viewIconModule from \"../assets/imgs/view.png\";\r\nimport { ObstacleChecker, PathPlanner } from \"./utils/pathPlanner\";\r\nimport { createVehicleController } from \"./utils/useVehicleController\";\r\n\r\nTHREE.Mesh.prototype.raycast = acceleratedRaycast;\r\n\r\nlet controllerInstance: PlayerController | null = null;\r\nconst clock = new THREE.Clock();\r\n\r\nexport type PlayerControllerOptions = {\r\n scene: THREE.Scene;\r\n camera: THREE.PerspectiveCamera;\r\n controls: OrbitControls;\r\n playerModel: {\r\n url: string;\r\n idleAnim: string;\r\n walkAnim: string;\r\n runAnim: string;\r\n jumpAnim: string;\r\n leftWalkAnim?: string;\r\n rightWalkAnim?: string;\r\n backwardAnim?: string;\r\n flyAnim?: string;\r\n flyIdleAnim?: string;\r\n enterCarAnim?: string;\r\n exitCarAnim?: string;\r\n scale: number;\r\n gravity?: number;\r\n jumpHeight?: number;\r\n speed?: number;\r\n rotateY?: number;\r\n headObjName?: string;\r\n };\r\n initPos?: THREE.Vector3;\r\n mouseSensity?: number;\r\n minCamDistance?: number;\r\n maxCamDistance?: number;\r\n colliderMeshUrl?: string;\r\n isShowMobileControls?: boolean;\r\n thirdMouseMode?: 0 | 1 | 2 | 3;\r\n enableZoom?: boolean;\r\n};\r\n\r\nexport type vehicleOptions = {\r\n url: string;\r\n position: THREE.Vector3;\r\n wheelsNames: string[];\r\n scale?: number;\r\n animations: {\r\n openDoorAnim?: string;\r\n };\r\n boardingPoint: THREE.Vector3;\r\n seatOffset?: THREE.Vector3;\r\n chassisRatio?: number;\r\n suspensionRestLengthRatio?: number;\r\n};\r\n\r\n// ==================== 多车辆实例类型 ====================\r\nexport type VehicleInstance = {\r\n vehicleGroup: THREE.Group;\r\n chassisBody: RigidBody;\r\n vehicleController: any;\r\n updateWheelVisuals: () => void;\r\n vehicleMixer?: THREE.AnimationMixer;\r\n vehicleActions?: Map<string, THREE.AnimationAction>;\r\n vehiclIsOpenDoor: boolean;\r\n vehicleBBox: THREE.Box3;\r\n pathPlanner: PathPlanner;\r\n // 每辆车独立的参数\r\n scale: number;\r\n boardingPoint: THREE.Vector3;\r\n seatOffset: THREE.Vector3;\r\n enterVehicleTime: number;\r\n chassisRatio: number;\r\n suspensionRestLengthRatio: number;\r\n size: {\r\n l: number;\r\n w: number;\r\n h: number;\r\n };\r\n};\r\n\r\nclass PlayerController {\r\n // ==================== 基本配置与参数 ====================\r\n loader: GLTFLoader = new GLTFLoader();\r\n scene!: THREE.Scene;\r\n camera!: THREE.PerspectiveCamera;\r\n controls!: OrbitControls;\r\n playerModel!: PlayerControllerOptions[\"playerModel\"];\r\n initPos!: THREE.Vector3;\r\n gravity!: number;\r\n jumpHeight!: number;\r\n playerSpeed!: number;\r\n mouseSensity!: number;\r\n originPlayerSpeed!: number;\r\n colliderMeshUrl!: string;\r\n isShowMobileControls!: boolean;\r\n thirdMouseMode!: 0 | 1 | 2 | 3;\r\n enableZoom!: boolean;\r\n controllerMode: 0 | 1 = 0; // 0: 人物 1: 车辆\r\n isChangeControllerTransitionTimer: any = null;\r\n\r\n // ==================== 玩家基本属性 ====================\r\n playerRadius: number = 45;\r\n playerHeight: number = 180; // 玩家参考身高\r\n isFirstPerson: boolean = false;\r\n boundingBoxMinY: number = 0;\r\n\r\n // ==================== 测试参数 ====================\r\n displayPlayer: boolean = false;\r\n displayCollider: boolean = false;\r\n displayVisualizer: boolean = false;\r\n\r\n // ==================== 场景对象 ====================\r\n collider: THREE.Mesh | null = null;\r\n visualizer: MeshBVHHelper | null = null;\r\n player!: THREE.Mesh & { capsuleInfo?: any };\r\n person: THREE.Object3D | null = null;\r\n personHead: THREE.Object3D | null = null;\r\n collected: THREE.BufferGeometry[] = [];\r\n\r\n dynamicCollider: THREE.Mesh | null = null;\r\n dynamicCollected: THREE.BufferGeometry[] = [];\r\n\r\n // ==================== 多车辆相关 ====================\r\n vehicles: VehicleInstance[] = []; // 所有已加载车辆\r\n activeVehicle: VehicleInstance | null = null; // 当前驾驶/交互的车辆\r\n\r\n vehicleLength: number = 6; // 车辆参考长度\r\n readonly wheelSteeringQuat = new THREE.Quaternion();\r\n readonly wheelRotationQuat = new THREE.Quaternion();\r\n RAPIER: any | null = null;\r\n world: World | null = null;\r\n\r\n // 全局车辆共享参数\r\n vehicleParams = {\r\n debug: {\r\n showPhysicsBox: false,\r\n },\r\n chassis: {\r\n linearDamping: 0.5,\r\n angularDamping: 0.5,\r\n },\r\n model: {\r\n rotation: -Math.PI / 2,\r\n },\r\n power: {\r\n accelerateForce: 50, // 推进\r\n brakeForce: 200, // 刹车\r\n maxSpeed: 10000, // 最大速度\r\n },\r\n steering: {\r\n maxSteerAngle: Math.PI / 4,\r\n steerSpeed: 0.5,\r\n steerReturnSpeed: 1,\r\n },\r\n };\r\n\r\n camBehindDir = new THREE.Vector3(0, 0, 1);\r\n\r\n // ==================== 上车相关 ====================\r\n isMovingToBoardingPoint: boolean = false;\r\n boardingWaypoints: THREE.Vector3[] = [];\r\n currentWaypointIndex: number = 0;\r\n boardingTargetDir: THREE.Vector3 | null = null;\r\n boardingMoveSpeed: number = 300;\r\n boardingRotateSpeed: number = 10;\r\n flip180Quat = new THREE.Quaternion().setFromAxisAngle(new THREE.Vector3(0, 1, 0), Math.PI);\r\n enterVehicleTimer: any | null = null;\r\n closeVehicleDoorTimer: any | null = null;\r\n boardingPointWorld: THREE.Vector3 | null = null;\r\n\r\n // ==================== 状态开关 ====================\r\n playerIsOnGround: boolean = false;\r\n isupdate: boolean = true;\r\n isFlying: boolean = false;\r\n\r\n // ==================== 输入状态 ====================\r\n fwdPressed: boolean = false;\r\n bkdPressed: boolean = false;\r\n lftPressed: boolean = false;\r\n rgtPressed: boolean = false;\r\n spacePressed: boolean = false;\r\n ctPressed: boolean = false;\r\n shiftPressed: boolean = false;\r\n\r\n // ==================== 移动端输入 ====================\r\n prevJoyState = { dirX: 0, dirY: 0, shift: false };\r\n nippleModule: any = null;\r\n joystickManager: any = null;\r\n joystickZoneEl: HTMLDivElement | null = null;\r\n lookAreaEl: HTMLDivElement | null = null;\r\n jumpBtnEl: HTMLButtonElement | null = null;\r\n flyBtnEl: HTMLButtonElement | null = null;\r\n viewBtnEl: HTMLButtonElement | null = null;\r\n lookPointerId: number | null = null;\r\n isLookDown = false;\r\n lastTouchX = 0;\r\n lastTouchY = 0;\r\n\r\n // ==================== 第三人称相机参数 ====================\r\n _camCollisionLerp: number = 0.18;\r\n _camEpsilon: number = 0.35;\r\n _minCamDistance: number = 1.0;\r\n _maxCamDistance: number = 4.4;\r\n orginMaxCamDistance: number = 4.4;\r\n\r\n // ==================== 物理/运动 ====================\r\n playerVelocity = new THREE.Vector3();\r\n readonly upVector = new THREE.Vector3(0, 1, 0);\r\n\r\n // ==================== 临时复用向量/矩阵 ====================\r\n readonly tempVector = new THREE.Vector3();\r\n readonly tempVector2 = new THREE.Vector3();\r\n readonly tempBox = new THREE.Box3();\r\n readonly tempMat = new THREE.Matrix4();\r\n readonly tempSegment = new THREE.Line3();\r\n\r\n // ==================== 动画相关 ====================\r\n personMixer?: THREE.AnimationMixer;\r\n personActions?: Map<string, THREE.AnimationAction>;\r\n idleAction!: THREE.AnimationAction;\r\n walkAction!: THREE.AnimationAction;\r\n leftWalkAction!: THREE.AnimationAction;\r\n rightWalkAction!: THREE.AnimationAction;\r\n backwardAction!: THREE.AnimationAction;\r\n jumpAction!: THREE.AnimationAction;\r\n runAction!: THREE.AnimationAction;\r\n flyidleAction!: THREE.AnimationAction;\r\n flyAction!: THREE.AnimationAction;\r\n actionState!: THREE.AnimationAction;\r\n recheckAnimTimer: any | null = null;\r\n\r\n // ==================== 相机朝向/移动复用向量 ====================\r\n readonly camDir = new THREE.Vector3();\r\n readonly moveDir = new THREE.Vector3();\r\n readonly targetQuat = new THREE.Quaternion();\r\n readonly targetMat = new THREE.Matrix4();\r\n readonly rotationSpeed = 10;\r\n readonly DIR_FWD = new THREE.Vector3(0, 0, -1);\r\n readonly DIR_BKD = new THREE.Vector3(0, 0, 1);\r\n readonly DIR_LFT = new THREE.Vector3(-1, 0, 0);\r\n readonly DIR_RGT = new THREE.Vector3(1, 0, 0);\r\n readonly DIR_UP = new THREE.Vector3(0, 1, 0);\r\n\r\n // ==================== 射线检测 ====================\r\n readonly _personToCam = new THREE.Vector3();\r\n readonly _originTmp = new THREE.Vector3();\r\n readonly _raycaster = new THREE.Raycaster(new THREE.Vector3(), new THREE.Vector3(0, -1, 0));\r\n readonly _raycasterPersonToCam = new THREE.Raycaster(new THREE.Vector3(), new THREE.Vector3());\r\n\r\n constructor() {\r\n (this._raycaster as any).firstHitOnly = true;\r\n (this._raycasterPersonToCam as any).firstHitOnly = true;\r\n }\r\n\r\n // ==================== 初始化相关方法 ====================\r\n\r\n async init(opts: PlayerControllerOptions, callback?: () => void) {\r\n this.scene = opts.scene;\r\n this.camera = opts.camera;\r\n this.camera.rotation.order = \"YXZ\";\r\n this.controls = opts.controls;\r\n this.playerModel = opts.playerModel;\r\n this.initPos = opts.initPos ?? new THREE.Vector3(0, 0, 0);\r\n this.mouseSensity = opts.mouseSensity ?? 5;\r\n\r\n const s = this.playerModel.scale;\r\n this.gravity = (opts.playerModel.gravity ?? -2400) * s;\r\n this.jumpHeight = (opts.playerModel.jumpHeight ?? 800) * s;\r\n this.originPlayerSpeed = (opts.playerModel.speed ?? 400) * s;\r\n this.playerSpeed = this.originPlayerSpeed;\r\n this.playerModel.rotateY = opts.playerModel.rotateY ?? 0;\r\n\r\n this._camCollisionLerp = 0.18;\r\n this._camEpsilon = 35 * s;\r\n this._minCamDistance = (opts.minCamDistance ?? 100) * s;\r\n this._maxCamDistance = (opts.maxCamDistance ?? 440) * s;\r\n this.orginMaxCamDistance = this._maxCamDistance;\r\n this.thirdMouseMode = opts.thirdMouseMode ?? 1;\r\n this.enableZoom = opts.enableZoom ?? false;\r\n\r\n const isMobileDevice = () => (navigator.maxTouchPoints && navigator.maxTouchPoints > 0) || \"ontouchstart\" in window || /Mobi|Android|iPhone|iPad|iPod/i.test(navigator.userAgent);\r\n this.isShowMobileControls = (opts.isShowMobileControls ?? true) && isMobileDevice();\r\n if (this.isShowMobileControls) {\r\n await this.initMobileControls();\r\n }\r\n\r\n await this.createBVH(opts.colliderMeshUrl);\r\n await this.loadPersonGLB();\r\n\r\n this.onAllEvent();\r\n this.setCameraPos();\r\n this.setControls();\r\n if (callback) callback();\r\n }\r\n\r\n async initLoader() {\r\n const dracoLoader = new DRACOLoader();\r\n dracoLoader.setDecoderPath(\"https://unpkg.com/three@0.180.0/examples/jsm/libs/draco/gltf/\");\r\n dracoLoader.setDecoderConfig({ type: \"js\" });\r\n this.loader.setDRACOLoader(dracoLoader);\r\n }\r\n\r\n async initRapier() {\r\n if (this.RAPIER) return;\r\n this.RAPIER = await import(\"@dimforge/rapier3d-compat\");\r\n await this.RAPIER.init();\r\n\r\n const gravity = new this.RAPIER.Vector3(0, -9.81, 0);\r\n this.world = new this.RAPIER.World(gravity) as World;\r\n (this.world as any).maxCcdSubsteps = 2;\r\n\r\n const addGeometryAsTrimesh = (RAPIER: any, world: any, geom: THREE.BufferGeometry) => {\r\n let geometry = geom.index ? geom.clone().toNonIndexed() : geom.clone();\r\n const posAttr = geometry.attributes.position;\r\n const vertexCount = posAttr.count;\r\n if (vertexCount % 3 !== 0) {\r\n console.warn(\"顶点数不是3的倍数，三角形可能不完整\");\r\n }\r\n const vertices = new Float32Array(vertexCount * 3);\r\n const tmp = new THREE.Vector3();\r\n for (let i = 0; i < vertexCount; i++) {\r\n tmp.fromBufferAttribute(posAttr, i);\r\n vertices[i * 3 + 0] = tmp.x;\r\n vertices[i * 3 + 1] = tmp.y;\r\n vertices[i * 3 + 2] = tmp.z;\r\n }\r\n const indices = vertexCount > 65535 ? new Uint32Array(vertexCount) : new Uint16Array(vertexCount);\r\n for (let i = 0; i < vertexCount; i++) indices[i] = i;\r\n\r\n const bodyDesc = RAPIER.RigidBodyDesc.fixed();\r\n const body = world.createRigidBody(bodyDesc);\r\n // const flags = RAPIER.TriMeshFlags.FIX_INTERNAL_EDGES;\r\n const colliderDesc = RAPIER.ColliderDesc.trimesh(vertices, indices).setRestitution(0).setFriction(0.8);\r\n world.createCollider(colliderDesc, body);\r\n };\r\n\r\n for (const g of this.collected) {\r\n addGeometryAsTrimesh(this.RAPIER, this.world, g);\r\n }\r\n\r\n const groundDesc = this.RAPIER.RigidBodyDesc.fixed();\r\n const groundBody = this.world.createRigidBody(groundDesc);\r\n groundBody.userData = { outOfBounds: true };\r\n }\r\n\r\n // ==================== 玩家模型相关方法 ====================\r\n\r\n async loadPersonGLB() {\r\n try {\r\n const gltf: GLTF = await this.loader.loadAsync(this.playerModel.url);\r\n this.person = gltf.scene;\r\n const { size } = this.getBbox(this.person);\r\n const ratio = this.playerHeight / size.y;\r\n const power = Math.round(Math.log10(ratio));\r\n const modelScale = Math.pow(10, power);\r\n this.playerRadius = Number(Math.min(size.x, size.z).toFixed(0)) * modelScale;\r\n this.playerHeight = Number(size.y.toFixed(0)) * modelScale;\r\n\r\n const scale = this.playerModel.scale;\r\n const material = new THREE.MeshStandardMaterial({\r\n color: new THREE.Color(1, 0, 0),\r\n shadowSide: THREE.DoubleSide,\r\n depthTest: false,\r\n transparent: true,\r\n opacity: this.displayPlayer ? 0.5 : 0,\r\n wireframe: true,\r\n depthWrite: false,\r\n });\r\n\r\n const r = this.playerRadius * scale;\r\n const h = this.playerHeight * scale;\r\n this.player = new THREE.Mesh(new RoundedBoxGeometry(r * 2, h, r * 2, 1, 75), material);\r\n this.player.geometry.translate(0, -h * 0.25, 0);\r\n this.player.capsuleInfo = {\r\n radius: r,\r\n segment: new THREE.Line3(new THREE.Vector3(), new THREE.Vector3(0, -h * 0.5, 0)),\r\n };\r\n this.player.name = \"capsule\";\r\n this.scene.add(this.player);\r\n this.reset();\r\n this.player.rotateY(this.playerModel.rotateY ?? 0);\r\n\r\n this.person.scale.multiplyScalar(modelScale * scale);\r\n this.person.position.set(0, -h * 0.75, 0);\r\n this.person.traverse((child: any) => {\r\n if (child.name == this.playerModel?.headObjName) {\r\n this.personHead = child;\r\n }\r\n });\r\n this.player.add(this.person);\r\n this.reset();\r\n\r\n this.personMixer = new THREE.AnimationMixer(this.person);\r\n const animations = gltf.animations ?? [];\r\n this.personActions = new Map<string, THREE.AnimationAction>();\r\n\r\n const animationMappings: [string, string][] = [\r\n [this.playerModel.idleAnim, \"idle\"],\r\n [this.playerModel.walkAnim, \"walking\"],\r\n [this.playerModel.leftWalkAnim || this.playerModel.walkAnim, \"left_walking\"],\r\n [this.playerModel.rightWalkAnim || this.playerModel.walkAnim, \"right_walking\"],\r\n [this.playerModel.backwardAnim || this.playerModel.walkAnim, \"walking_backward\"],\r\n [this.playerModel.jumpAnim, \"jumping\"],\r\n [this.playerModel.runAnim, \"running\"],\r\n [this.playerModel.flyIdleAnim || this.playerModel.idleAnim, \"flyidle\"],\r\n [this.playerModel.flyAnim || this.playerModel.idleAnim, \"flying\"],\r\n [this.playerModel.enterCarAnim || this.playerModel.idleAnim, \"enterCar\"],\r\n [this.playerModel.exitCarAnim || this.playerModel.idleAnim, \"exitCar\"],\r\n ];\r\n\r\n const findClip = (name: string) => animations.find((a: any) => a.name === name);\r\n for (const [clipName, actionName] of animationMappings) {\r\n const clip = findClip(clipName);\r\n if (!clip) continue;\r\n const action = this.personMixer.clipAction(clip);\r\n if (actionName === \"jumping\") {\r\n action.setLoop(THREE.LoopOnce, 1);\r\n action.clampWhenFinished = true;\r\n action.setEffectiveTimeScale(1.2);\r\n } else {\r\n action.setLoop(THREE.LoopRepeat, Infinity);\r\n action.clampWhenFinished = false;\r\n action.setEffectiveTimeScale(1);\r\n }\r\n action.enabled = true;\r\n action.setEffectiveWeight(0);\r\n this.personActions.set(actionName, action);\r\n }\r\n\r\n this.idleAction = this.personActions.get(\"idle\")!;\r\n this.walkAction = this.personActions.get(\"walking\")!;\r\n this.leftWalkAction = this.personActions.get(\"left_walking\")!;\r\n this.rightWalkAction = this.personActions.get(\"right_walking\")!;\r\n this.backwardAction = this.personActions.get(\"walking_backward\")!;\r\n this.jumpAction = this.personActions.get(\"jumping\")!;\r\n this.runAction = this.personActions.get(\"running\")!;\r\n this.flyidleAction = this.personActions.get(\"flyidle\")!;\r\n this.flyAction = this.personActions.get(\"flying\")!;\r\n\r\n this.idleAction.setEffectiveWeight(1);\r\n this.idleAction.play();\r\n this.actionState = this.idleAction;\r\n\r\n this.personMixer.addEventListener(\"finished\", (ev: any) => {\r\n const finishedAction: THREE.AnimationAction = ev.action;\r\n if (finishedAction === this.jumpAction) {\r\n if (this.fwdPressed) {\r\n this.playPersonAnimationByName(this.shiftPressed ? \"running\" : \"walking\");\r\n return;\r\n }\r\n if (this.bkdPressed) {\r\n this.playPersonAnimationByName(\"walking_backward\");\r\n return;\r\n }\r\n if (this.rgtPressed || this.lftPressed) {\r\n this.playPersonAnimationByName(\"walking\");\r\n return;\r\n }\r\n this.playPersonAnimationByName(\"idle\");\r\n }\r\n });\r\n } catch (error) {\r\n console.error(\"加载玩家模型失败:\", error);\r\n }\r\n }\r\n\r\n playPersonAnimationByName(name: string, fade = 0.18) {\r\n if (!this.personActions || this.ctPressed) return;\r\n const next = this.personActions.get(name);\r\n if (!next || this.actionState === next) return;\r\n\r\n const duration = next.getClip().duration;\r\n const prev = this.actionState;\r\n\r\n next.reset();\r\n next.setEffectiveWeight(1);\r\n\r\n if (name == \"enterCar\" || name == \"exitCar\") {\r\n const enterTime = this.activeVehicle?.enterVehicleTime ?? 1.5;\r\n next.setEffectiveTimeScale(duration / enterTime);\r\n next.setLoop(THREE.LoopOnce, 1);\r\n next.clampWhenFinished = true;\r\n }\r\n\r\n next.play();\r\n\r\n if (prev && prev !== next) {\r\n prev.fadeOut(fade);\r\n next.fadeIn(fade);\r\n } else {\r\n next.fadeIn(fade);\r\n }\r\n\r\n this.actionState = next;\r\n }\r\n\r\n // ==================== 车辆模型相关 ====================\r\n\r\n /**\r\n * 加载车辆模型\r\n */\r\n async loadVehicleModel(opts: vehicleOptions) {\r\n try {\r\n if (!this.playerModel.enterCarAnim) {\r\n return console.warn(\"未配置上车动画，不执行车辆相关逻辑\");\r\n }\r\n\r\n // 物理引擎只初始化一次\r\n await this.initRapier();\r\n if (!this.world) return;\r\n\r\n const scale = opts.scale ?? 1;\r\n const chassisRatio = opts.chassisRatio ?? 0.2;\r\n const suspensionRestLengthRatio = opts.suspensionRestLengthRatio ?? 0.2;\r\n\r\n // 参数乘以系数\r\n this.vehicleParams.power.accelerateForce = 50 * scale;\r\n this.vehicleParams.power.brakeForce = 200 * scale;\r\n this.vehicleParams.power.maxSpeed = 10000 * scale;\r\n\r\n // 加载模型\r\n const vehicleModel = await this.loader.loadAsync(opts.url);\r\n\r\n const { size: originalSize } = this.getBbox(vehicleModel.scene);\r\n const ratio = this.vehicleLength / Math.max(originalSize.x, originalSize.y, originalSize.z);\r\n const power = Math.round(Math.log10(ratio));\r\n const modelScale = Math.pow(10, power);\r\n\r\n // 动画混合器\r\n const vehicleMixer = new THREE.AnimationMixer(vehicleModel.scene);\r\n const animations = vehicleModel.animations ?? [];\r\n const vehicleActions = new Map<string, THREE.AnimationAction>();\r\n\r\n const findClip = (name: string) => animations.find((a: any) => a.name === name);\r\n const openDoorClip = findClip(opts.animations?.openDoorAnim || \"\");\r\n if (openDoorClip) {\r\n const action = vehicleMixer.clipAction(openDoorClip);\r\n action.setLoop(THREE.LoopOnce, 1);\r\n action.clampWhenFinished = true;\r\n action.setEffectiveTimeScale(openDoorClip.duration);\r\n action.enabled = true;\r\n action.setEffectiveWeight(0);\r\n vehicleActions.set(\"openDoor\", action);\r\n }\r\n\r\n // 按名称顺序查找轮子\r\n const wheelObjects: THREE.Object3D[] = [];\r\n for (const wheelName of opts.wheelsNames) {\r\n let found = false;\r\n vehicleModel.scene.traverse((child) => {\r\n if (child.name === wheelName && !found) {\r\n wheelObjects.push(child);\r\n found = true;\r\n }\r\n });\r\n if (!found) console.warn(`未找到轮子: ${wheelName}`);\r\n }\r\n\r\n // 临时挂载以获取世界坐标\r\n const tempGroup = new THREE.Group();\r\n this.scene.add(tempGroup);\r\n vehicleModel.scene.scale.multiplyScalar(modelScale * scale);\r\n vehicleModel.scene.rotateY(this.vehicleParams.model.rotation);\r\n const { size, bbox, center } = this.getBbox(vehicleModel.scene);\r\n vehicleModel.scene.position.set(-center.x, -center.y, -center.z);\r\n tempGroup.add(vehicleModel.scene);\r\n tempGroup.updateMatrixWorld(true);\r\n\r\n const wheelsInfo: any[] = [];\r\n let wheelRadius = 0;\r\n let wheelWidth = 0;\r\n let suspensionRestLength = 0;\r\n let chassisHeight = 0;\r\n let wheelSizeInit = false;\r\n\r\n for (let i = 0; i < wheelObjects.length; i++) {\r\n const wheel = wheelObjects[i];\r\n const worldPos = new THREE.Vector3();\r\n const worldQuat = new THREE.Quaternion();\r\n const worldScale = new THREE.Vector3();\r\n wheel.getWorldPosition(worldPos);\r\n wheel.getWorldQuaternion(worldQuat);\r\n wheel.getWorldScale(worldScale);\r\n\r\n if (!wheelSizeInit) {\r\n const { size: ws } = this.getBbox(wheel);\r\n wheelRadius = Number((Math.max(ws.x, ws.y, ws.z) / 2).toFixed(2));\r\n wheelWidth = Number(Math.min(ws.x, ws.y, ws.z).toFixed(2));\r\n suspensionRestLength = Number((wheelRadius * 2 * suspensionRestLengthRatio).toFixed(2));\r\n chassisHeight = Number((wheelRadius * 2 * chassisRatio).toFixed(2));\r\n wheelSizeInit = true;\r\n }\r\n\r\n wheelsInfo.push({\r\n axleCs: new THREE.Vector3(0, 0, -1),\r\n position: worldPos,\r\n quaternion: worldQuat,\r\n scale: worldScale,\r\n radius: wheelRadius,\r\n width: wheelWidth,\r\n suspensionRestLength,\r\n object: wheel,\r\n });\r\n }\r\n\r\n tempGroup.remove(vehicleModel.scene);\r\n this.scene.remove(tempGroup);\r\n\r\n // 创建 vehicleGroup\r\n const vehicleGroup = new THREE.Group();\r\n this.scene.add(vehicleGroup);\r\n vehicleGroup.add(vehicleModel.scene);\r\n vehicleGroup.updateMatrixWorld(true);\r\n\r\n // 创建轮子包装组\r\n const wheelWrappers: THREE.Group[] = [];\r\n for (let i = 0; i < wheelsInfo.length; i++) {\r\n const wheel = wheelsInfo[i];\r\n const localPos = vehicleGroup.worldToLocal(wheel.position.clone());\r\n const wheelWrapper = new THREE.Group();\r\n wheelWrapper.position.copy(localPos);\r\n\r\n const wheelObj = wheelsInfo[i].object;\r\n if (wheelObj.parent) wheelObj.parent.remove(wheelObj);\r\n wheelObj.position.set(0, 0, 0);\r\n wheelObj.quaternion.copy(wheel.quaternion);\r\n wheelObj.scale.copy(wheel.scale);\r\n wheelObj.updateMatrixWorld();\r\n\r\n wheelWrapper.add(wheelObj);\r\n vehicleGroup.add(wheelWrapper);\r\n wheelWrappers.push(wheelWrapper);\r\n }\r\n\r\n // 车身刚体与碰撞体\r\n const halfExtents = size.clone().multiplyScalar(0.5);\r\n halfExtents.y -= chassisHeight / 2;\r\n vehicleModel.scene.position.y -= chassisHeight / 2;\r\n halfExtents.x *= 0.95;\r\n halfExtents.z *= 0.95;\r\n\r\n const chassisDesc = this.RAPIER.RigidBodyDesc.dynamic()\r\n .setTranslation(opts.position.x, opts.position.y, opts.position.z)\r\n .setLinearDamping(this.vehicleParams.chassis.linearDamping)\r\n .setAngularDamping(this.vehicleParams.chassis.angularDamping)\r\n .setCanSleep(false)\r\n .setAdditionalMass(10);\r\n const chassisBody = this.world.createRigidBody(chassisDesc);\r\n const chassisCollider = this.RAPIER.ColliderDesc.cuboid(halfExtents.x, halfExtents.y, halfExtents.z);\r\n this.world.createCollider(chassisCollider, chassisBody);\r\n\r\n if (this.vehicleParams.debug.showPhysicsBox) {\r\n const debugBox = new THREE.Mesh(\r\n new THREE.BoxGeometry(halfExtents.x * 2, halfExtents.y * 2, halfExtents.z * 2),\r\n new THREE.MeshBasicMaterial({\r\n color: 0xff0000,\r\n wireframe: true,\r\n transparent: true,\r\n opacity: 0.3,\r\n })\r\n );\r\n vehicleGroup.add(debugBox);\r\n }\r\n\r\n vehicleGroup.position.copy(opts.position);\r\n vehicleGroup.updateMatrixWorld(true);\r\n\r\n // 创建车辆控制器\r\n const { vehicle, updateWheelVisuals } = createVehicleController(this.world, chassisBody, wheelWrappers, wheelsInfo);\r\n\r\n // 组装 VehicleInstance\r\n const vehicleInstance: VehicleInstance = {\r\n vehicleGroup,\r\n chassisBody,\r\n vehicleController: vehicle,\r\n updateWheelVisuals,\r\n vehicleMixer,\r\n vehicleActions,\r\n vehiclIsOpenDoor: false,\r\n vehicleBBox: bbox.clone(),\r\n pathPlanner: new PathPlanner(this._createObstacleCheckerFor(vehicleGroup, bbox, scale), {\r\n debugEnabled: false,\r\n scene: this.scene,\r\n scale: this.playerModel.scale,\r\n }),\r\n scale,\r\n boardingPoint: opts.boardingPoint,\r\n seatOffset: opts.seatOffset ?? new THREE.Vector3(0, 0, 0),\r\n enterVehicleTime: 1.5,\r\n chassisRatio,\r\n suspensionRestLengthRatio,\r\n size: {\r\n l: Math.max(size.x, size.z),\r\n w: Math.min(size.x, size.z),\r\n h: size.y,\r\n },\r\n };\r\n\r\n this.vehicles.push(vehicleInstance);\r\n console.log(`车辆加载完成，当前共 ${this.vehicles.length} 辆车`, vehicleInstance);\r\n // 初始化过渡\r\n this.setControllerTransition();\r\n } catch (error) {\r\n console.error(\"加载车辆模型失败:\", error);\r\n }\r\n }\r\n\r\n getBbox(object: THREE.Object3D) {\r\n const bbox = new THREE.Box3().setFromObject(object);\r\n const center = new THREE.Vector3();\r\n const size = new THREE.Vector3();\r\n bbox.getCenter(center);\r\n bbox.getSize(size);\r\n return { bbox, center, size };\r\n }\r\n\r\n /**\r\n * 为指定车辆创建障碍物检测器\r\n */\r\n private _createObstacleCheckerFor(vehicleGroup: THREE.Group, bbox: THREE.Box3, scale: number): ObstacleChecker {\r\n return {\r\n isBlocked: (start: THREE.Vector3, end: THREE.Vector3): boolean => {\r\n const vehiclePos = vehicleGroup.position;\r\n const vehicleQuat = vehicleGroup.quaternion;\r\n\r\n const center = new THREE.Vector3();\r\n const size = new THREE.Vector3();\r\n bbox.getCenter(center);\r\n bbox.getSize(size);\r\n\r\n center.applyQuaternion(vehicleQuat).add(vehiclePos);\r\n\r\n const halfSize = size.clone().multiplyScalar(0.5 * scale);\r\n const corners: THREE.Vector3[] = [];\r\n for (let x = -1; x <= 1; x += 2) {\r\n for (let y = -1; y <= 1; y += 2) {\r\n for (let z = -1; z <= 1; z += 2) {\r\n const localCorner = new THREE.Vector3(halfSize.x * x, halfSize.y * y, halfSize.z * z);\r\n const worldCorner = localCorner.applyQuaternion(vehicleQuat).add(center);\r\n corners.push(worldCorner);\r\n }\r\n }\r\n }\r\n\r\n const expandedBBox = new THREE.Box3();\r\n corners.forEach((corner) => expandedBBox.expandByPoint(corner));\r\n expandedBBox.expandByScalar(100 * this.playerModel.scale);\r\n\r\n const direction = new THREE.Vector3().subVectors(end, start);\r\n const length = direction.length();\r\n direction.normalize();\r\n\r\n const ray = new THREE.Ray(start, direction);\r\n const intersection = new THREE.Vector3();\r\n const intersects = ray.intersectBox(expandedBBox, intersection);\r\n return intersects !== null && start.distanceTo(intersection) < length;\r\n },\r\n\r\n getNavigationNodes: (start: THREE.Vector3, _goal: THREE.Vector3): THREE.Vector3[] => {\r\n const nodes: THREE.Vector3[] = [];\r\n const vehiclePos = vehicleGroup.position;\r\n const vehicleQuat = vehicleGroup.quaternion;\r\n\r\n const vehicleForward = new THREE.Vector3(0, 0, 1).applyQuaternion(vehicleQuat);\r\n const vehicleRight = new THREE.Vector3(1, 0, 0).applyQuaternion(vehicleQuat);\r\n\r\n const bboxSize = new THREE.Vector3();\r\n bbox.getSize(bboxSize);\r\n\r\n const halfLength = (bboxSize.z / 2) * scale;\r\n const halfWidth = (bboxSize.x / 2) * scale;\r\n\r\n const bypassMargin = 300 * this.playerModel.scale;\r\n const extendedMargin = 500 * this.playerModel.scale;\r\n const groundY = start.y;\r\n\r\n for (const margin of [bypassMargin, extendedMargin]) {\r\n nodes.push(\r\n vehiclePos\r\n .clone()\r\n .add(vehicleForward.clone().multiplyScalar(halfLength + margin))\r\n .add(vehicleRight.clone().multiplyScalar(-halfWidth - margin))\r\n .setY(groundY)\r\n );\r\n nodes.push(\r\n vehiclePos\r\n .clone()\r\n .add(vehicleForward.clone().multiplyScalar(halfLength + margin))\r\n .add(vehicleRight.clone().multiplyScalar(halfWidth + margin))\r\n .setY(groundY)\r\n );\r\n nodes.push(\r\n vehiclePos\r\n .clone()\r\n .add(vehicleForward.clone().multiplyScalar(-halfLength - margin))\r\n .add(vehicleRight.clone().multiplyScalar(-halfWidth - margin))\r\n .setY(groundY)\r\n );\r\n nodes.push(\r\n vehiclePos\r\n .clone()\r\n .add(vehicleForward.clone().multiplyScalar(-halfLength - margin))\r\n .add(vehicleRight.clone().multiplyScalar(halfWidth + margin))\r\n .setY(groundY)\r\n );\r\n }\r\n\r\n return nodes;\r\n },\r\n };\r\n }\r\n\r\n /**\r\n * 开关车门动画（操作当前 activeVehicle）\r\n */\r\n openVehicleDoor(isOpen = true) {\r\n const v = this.activeVehicle;\r\n if (!v?.vehicleActions) return;\r\n\r\n const next = v.vehicleActions.get(\"openDoor\");\r\n if (!next) return;\r\n\r\n const duration = next.getClip().duration;\r\n next.reset();\r\n next.setEffectiveWeight(1);\r\n\r\n if (isOpen) {\r\n next.setEffectiveTimeScale(duration * 2);\r\n next.time = 0;\r\n v.vehiclIsOpenDoor = true;\r\n } else {\r\n next.setEffectiveTimeScale(-duration * 2);\r\n next.time = duration;\r\n v.vehiclIsOpenDoor = false;\r\n }\r\n\r\n next.setLoop(THREE.LoopOnce, 1);\r\n next.clampWhenFinished = true;\r\n next.play();\r\n }\r\n\r\n /**\r\n * 上车：自动寻找最近的车辆\r\n */\r\n enterVehicle() {\r\n if (this.vehicles.length === 0) return;\r\n\r\n // 遍历所有车辆，找距离最近的上车点\r\n let nearestVehicle: VehicleInstance | null = null;\r\n let nearestDist = Infinity;\r\n let nearBoardingPointWorld: THREE.Vector3 | null = null;\r\n\r\n for (const v of this.vehicles) {\r\n // 计算上车点世界坐标\r\n const boardingPointLocal = v.boardingPoint.clone().multiplyScalar(v.scale);\r\n const boardingPointWorld = new THREE.Vector3();\r\n v.vehicleGroup.localToWorld(boardingPointWorld.copy(boardingPointLocal));\r\n\r\n const dist = this.player.position.distanceTo(boardingPointWorld);\r\n if (dist < 800 * this.playerModel.scale && dist < nearestDist) {\r\n nearestDist = dist;\r\n nearestVehicle = v;\r\n nearBoardingPointWorld = boardingPointWorld;\r\n }\r\n }\r\n\r\n if (!nearestVehicle || !nearBoardingPointWorld) return;\r\n\r\n // 锁定目标车辆\r\n this.activeVehicle = nearestVehicle;\r\n const v = nearestVehicle;\r\n\r\n this.boardingPointWorld = nearBoardingPointWorld;\r\n // 计算车辆朝向\r\n const vehicleForward = new THREE.Vector3(0, 0, 1).applyQuaternion(v.vehicleGroup.quaternion).normalize();\r\n\r\n // 路径规划\r\n const path = v.pathPlanner.findPath(this.player.position.clone(), this.boardingPointWorld);\r\n this.boardingWaypoints = path;\r\n this.currentWaypointIndex = 0;\r\n this.boardingTargetDir = vehicleForward;\r\n this.isMovingToBoardingPoint = true;\r\n\r\n this.playPersonAnimationByName(\"walking\");\r\n }\r\n\r\n /**\r\n * 走向上车点\r\n */\r\n updateMoveToBoardingPoint(delta: number) {\r\n if (!this.isMovingToBoardingPoint || !this.boardingTargetDir || this.boardingWaypoints.length === 0) {\r\n return;\r\n }\r\n\r\n if (this.currentWaypointIndex >= this.boardingWaypoints.length) {\r\n this.finalizeBoarding(delta);\r\n return;\r\n }\r\n\r\n const currentWaypoint = this.boardingWaypoints[this.currentWaypointIndex];\r\n const currentPos = this.player.position.clone();\r\n\r\n const horizontalDistance = new THREE.Vector2(currentWaypoint.x - currentPos.x, currentWaypoint.z - currentPos.z).length();\r\n\r\n const isLastWaypoint = this.currentWaypointIndex === this.boardingWaypoints.length - 1;\r\n const waypointThreshold = isLastWaypoint ? 0 : 10 * this.playerModel.scale;\r\n\r\n if (horizontalDistance > waypointThreshold) {\r\n const moveDir = new THREE.Vector3(currentWaypoint.x - currentPos.x, 0, currentWaypoint.z - currentPos.z).normalize();\r\n\r\n const moveDistance = Math.min(this.boardingMoveSpeed * this.playerModel.scale * delta, horizontalDistance);\r\n this.player.position.add(moveDir.multiplyScalar(moveDistance));\r\n\r\n const lookTarget = this.player.position.clone().add(moveDir);\r\n this.targetMat.lookAt(this.player.position, lookTarget, this.player.up);\r\n this.targetQuat.setFromRotationMatrix(this.targetMat);\r\n this.targetQuat.multiply(this.flip180Quat);\r\n const rotateAlpha = Math.min(1, this.boardingRotateSpeed * delta);\r\n this.player.quaternion.slerp(this.targetQuat, rotateAlpha);\r\n } else {\r\n this.currentWaypointIndex++;\r\n }\r\n }\r\n\r\n /**\r\n * 完成上车\r\n */\r\n finalizeBoarding(delta: number) {\r\n const v = this.activeVehicle;\r\n if (!this.boardingTargetDir || !v) return;\r\n\r\n const currentDir = new THREE.Vector3(0, 0, -1).applyQuaternion(this.player.quaternion).normalize();\r\n const targetDir = this.boardingTargetDir.clone().normalize();\r\n const angleDiff = currentDir.angleTo(targetDir);\r\n\r\n if (angleDiff > 0.01) {\r\n const lookTarget = this.player.position.clone().add(targetDir);\r\n this.targetMat.lookAt(this.player.position, lookTarget, this.player.up);\r\n this.targetQuat.setFromRotationMatrix(this.targetMat);\r\n const rotateAlpha = Math.min(1, this.boardingRotateSpeed * delta);\r\n this.player.quaternion.slerp(this.targetQuat, rotateAlpha);\r\n } else {\r\n this.boardingWaypoints = [];\r\n this.currentWaypointIndex = 0;\r\n this.boardingTargetDir = null;\r\n\r\n v.pathPlanner?.clearVisualization();\r\n\r\n this.playPersonAnimationByName(\"enterCar\");\r\n if (!v.vehiclIsOpenDoor) this.openVehicleDoor();\r\n this.player.rotation.copy(v.vehicleGroup.rotation);\r\n this.player.quaternion.multiply(this.flip180Quat);\r\n\r\n this.closeVehicleDoorTimer = setTimeout(\r\n () => {\r\n this.openVehicleDoor(false);\r\n },\r\n v.enterVehicleTime * 1000 - 500\r\n );\r\n\r\n this.enterVehicleTimer = setTimeout(() => {\r\n if (this.boardingPointWorld) {\r\n const offsetY = this.boardingPointWorld.y - this.player.position.y;\r\n this.controllerMode = 1;\r\n v.vehicleGroup.attach(this.player);\r\n this.player.position.add(\r\n v.seatOffset\r\n .clone()\r\n .multiplyScalar(v.scale)\r\n .add(new THREE.Vector3(0, offsetY, 0))\r\n );\r\n this.isMovingToBoardingPoint = false;\r\n if (this.isChangeControllerTransitionTimer) {\r\n clearTimeout(this.isChangeControllerTransitionTimer);\r\n this.isChangeControllerTransitionTimer = null;\r\n }\r\n }\r\n }, v.enterVehicleTime * 1000);\r\n }\r\n }\r\n\r\n /**\r\n * 下车\r\n */\r\n exitVehicle() {\r\n const v = this.activeVehicle;\r\n if (!v) return;\r\n\r\n this.isMovingToBoardingPoint = false;\r\n this.boardingWaypoints = [];\r\n this.currentWaypointIndex = 0;\r\n this.boardingTargetDir = null;\r\n\r\n const vel = v.chassisBody.linvel();\r\n const velSpeed = new THREE.Vector3(vel.x, vel.y, vel.z).length();\r\n\r\n if (velSpeed > 0.1) {\r\n this.playPersonAnimationByName(\"idle\");\r\n } else {\r\n this.playPersonAnimationByName(\"exitCar\");\r\n }\r\n\r\n this.openVehicleDoor(true);\r\n this.closeVehicleDoorTimer = setTimeout(\r\n () => {\r\n this.openVehicleDoor(false);\r\n },\r\n v.enterVehicleTime * 1000 - 500\r\n );\r\n\r\n this.controllerMode = 0;\r\n this.scene.attach(this.player);\r\n\r\n if (this.isFirstPerson) {\r\n this.setFirstPersonCamera();\r\n }\r\n\r\n this.setControllerTransition();\r\n }\r\n\r\n // ==================== 相机与视角控制 ====================\r\n\r\n changeView() {\r\n this.isFirstPerson = !this.isFirstPerson;\r\n\r\n if (this.isFirstPerson) {\r\n this.setFirstPersonCamera();\r\n } else {\r\n this.scene.attach(this.camera);\r\n const worldPos = this.player.position.clone();\r\n const dir = new THREE.Vector3(0, 0, -1).applyQuaternion(this.player.quaternion);\r\n const angle = Math.atan2(dir.z, dir.x);\r\n const offset = new THREE.Vector3(Math.cos(angle) * 400 * this.playerModel.scale, 200 * this.playerModel.scale, Math.sin(angle) * 400 * this.playerModel.scale);\r\n this.camera.position.copy(worldPos).add(offset);\r\n this.controls.target.copy(worldPos);\r\n this.controls.enableZoom = this.enableZoom;\r\n }\r\n\r\n this.setPointerLock();\r\n }\r\n\r\n setFirstPersonCamera() {\r\n if (this.personHead) {\r\n this.personHead?.attach(this.camera);\r\n this.camera.position.set(0, 10, 20);\r\n } else {\r\n this.player.attach(this.camera);\r\n this.camera.position.set(0, 40 * this.playerModel.scale, 30 * this.playerModel.scale);\r\n }\r\n this.camera.rotation.set(0, Math.PI, 0);\r\n this.controls.enableZoom = false;\r\n }\r\n\r\n setPointerLock() {\r\n if (((this.thirdMouseMode === 0 || this.thirdMouseMode === 1) && !this.isFirstPerson) || this.isFirstPerson) {\r\n document.body.requestPointerLock();\r\n } else {\r\n document.exitPointerLock();\r\n }\r\n }\r\n\r\n setCameraPos() {\r\n setTimeout(() => {\r\n if (this.isFirstPerson) {\r\n this.person.add(this.camera);\r\n this.camera.position.set(0, 40 * this.playerModel.scale, 30 * this.playerModel.scale);\r\n } else {\r\n const worldPos = this.player.position.clone();\r\n const dir = new THREE.Vector3(0, 0, -1).applyQuaternion(this.player.quaternion);\r\n const angle = Math.atan2(dir.z, dir.x);\r\n const offset = new THREE.Vector3(Math.cos(angle) * 400 * this.playerModel.scale, -100 * this.playerModel.scale, Math.sin(angle) * 400 * this.playerModel.scale);\r\n this.camera.position.copy(worldPos).add(offset);\r\n this.controls.enableZoom = this.enableZoom;\r\n }\r\n this.camera.updateProjectionMatrix();\r\n }, 0);\r\n }\r\n\r\n setControls() {\r\n // this.controls.enabled = !(this.thirdMouseMode === 0 || this.thirdMouseMode === 1);\r\n this.controls.enableZoom = this.enableZoom;\r\n this.controls.rotateSpeed = this.mouseSensity * 0.05;\r\n this.controls.maxPolarAngle = Math.PI * (300 / 360);\r\n this.controls.mouseButtons = { LEFT: 0, MIDDLE: 1, RIGHT: 2 };\r\n }\r\n\r\n resetControls() {\r\n if (!this.controls) return;\r\n this.controls.enabled = true;\r\n this.controls.enablePan = true;\r\n this.controls.maxPolarAngle = Math.PI / 2;\r\n this.controls.rotateSpeed = 1;\r\n this.controls.enableZoom = true;\r\n this.controls.mouseButtons = { LEFT: 0, MIDDLE: 1, RIGHT: 2 };\r\n }\r\n\r\n setToward(dx: number, dy: number, speed: number) {\r\n if (this.controllerMode == 0) {\r\n if (this.isFirstPerson) {\r\n if (this.isMovingToBoardingPoint) return;\r\n const yaw = -dx * speed * this.mouseSensity;\r\n const pitch = -dy * speed * this.mouseSensity;\r\n this.player.rotateY(yaw);\r\n this.camera.rotation.x = THREE.MathUtils.clamp(this.camera.rotation.x + pitch, -1.1, 1.4);\r\n } else {\r\n const sensitivity = this.mouseSensity;\r\n const deltaX = -dx * speed * sensitivity;\r\n const deltaY = -dy * speed * sensitivity;\r\n const target = this.player.position.clone();\r\n const distance = this.camera.position.distanceTo(target);\r\n const currentPosition = this.camera.position.clone().sub(target);\r\n let theta = Math.atan2(currentPosition.x, currentPosition.z);\r\n let phi = Math.acos(currentPosition.y / distance);\r\n theta += deltaX;\r\n phi += deltaY;\r\n phi = Math.max(0.1, Math.min(Math.PI - 0.1, phi));\r\n const newX = distance * Math.sin(phi) * Math.sin(theta);\r\n const newY = distance * Math.cos(phi);\r\n const newZ = distance * Math.sin(phi) * Math.cos(theta);\r\n this.camera.position.set(target.x + newX, target.y + newY, target.z + newZ);\r\n this.camera.lookAt(target);\r\n }\r\n } else {\r\n const v = this.activeVehicle;\r\n if (!v) return;\r\n if (this.isFirstPerson) {\r\n const yaw = -dx * speed * this.mouseSensity;\r\n const pitch = -dy * speed * this.mouseSensity;\r\n this.camera.rotation.y = THREE.MathUtils.clamp(this.camera.rotation.y + yaw, Math.PI * (3 / 4), Math.PI * (5 / 4));\r\n this.camera.rotation.x = THREE.MathUtils.clamp(this.camera.rotation.x + pitch, 0, Math.PI * (1 / 3));\r\n } else {\r\n const sensitivity = this.mouseSensity;\r\n const deltaX = -dx * speed * sensitivity;\r\n const deltaY = -dy * speed * sensitivity;\r\n const target = v.vehicleGroup.position.clone();\r\n const distance = this.camera.position.distanceTo(target);\r\n const currentPosition = this.camera.position.clone().sub(target);\r\n let theta = Math.atan2(currentPosition.x, currentPosition.z);\r\n let phi = Math.acos(currentPosition.y / distance);\r\n theta += deltaX;\r\n phi += deltaY;\r\n phi = Math.max(0.1, Math.min(Math.PI - 0.1, phi));\r\n const newX = distance * Math.sin(phi) * Math.sin(theta);\r\n const newY = distance * Math.cos(phi);\r\n const newZ = distance * Math.sin(phi) * Math.cos(theta);\r\n this.camera.position.set(target.x + newX, target.y + newY, target.z + newZ);\r\n this.camera.lookAt(target);\r\n }\r\n }\r\n }\r\n\r\n // ==================== 物理与碰撞检测 ====================\r\n\r\n ensureAttributesMinimal = (geom: THREE.BufferGeometry): THREE.BufferGeometry | null => {\r\n if (!geom.attributes.position) return null;\r\n if (!geom.attributes.normal) geom.computeVertexNormals();\r\n if (!geom.attributes.uv) {\r\n const count = geom.attributes.position.count;\r\n const dummyUV = new Float32Array(count * 2);\r\n geom.setAttribute(\"uv\", new THREE.BufferAttribute(dummyUV, 2));\r\n }\r\n return geom;\r\n };\r\n\r\n unifiedAttribute(collected: THREE.BufferGeometry[]) {\r\n type AttrMeta = {\r\n itemSize: number;\r\n arrayCtor: any;\r\n examples: number;\r\n normalized: boolean;\r\n };\r\n const attrMap = new Map<string, AttrMeta>();\r\n const attrConflict = new Set<string>();\r\n const requiredAttrs = new Set([\"position\", \"normal\", \"uv\"]);\r\n\r\n for (const g of collected) {\r\n const attrNames = Object.keys(g.attributes);\r\n for (const name of attrNames) {\r\n if (!requiredAttrs.has(name)) {\r\n g.deleteAttribute(name);\r\n }\r\n }\r\n }\r\n\r\n for (const g of collected) {\r\n for (const name of Object.keys(g.attributes)) {\r\n const attr = g.attributes[name] as THREE.BufferAttribute;\r\n const ctor = (attr.array as any).constructor;\r\n const itemSize = attr.itemSize;\r\n const normalized = attr.normalized;\r\n\r\n if (!attrMap.has(name)) {\r\n attrMap.set(name, { itemSize, arrayCtor: ctor, examples: 1, normalized });\r\n } else {\r\n const m = attrMap.get(name)!;\r\n if (m.itemSize !== itemSize || m.arrayCtor !== ctor || m.normalized !== normalized) {\r\n attrConflict.add(name);\r\n } else {\r\n m.examples++;\r\n }\r\n }\r\n }\r\n }\r\n\r\n if (attrConflict.size) {\r\n for (const g of collected) {\r\n for (const name of Array.from(attrConflict)) {\r\n if (g.attributes[name]) g.deleteAttribute(name);\r\n }\r\n }\r\n for (const name of attrConflict) attrMap.delete(name);\r\n }\r\n\r\n const attrNames = Array.from(attrMap.keys());\r\n for (const g of collected) {\r\n const count = g.attributes.position.count;\r\n for (const name of attrNames) {\r\n if (!g.attributes[name]) {\r\n const meta = attrMap.get(name)!;\r\n const len = count * meta.itemSize;\r\n const array = new meta.arrayCtor(len);\r\n g.setAttribute(name, new THREE.BufferAttribute(array, meta.itemSize, meta.normalized));\r\n }\r\n }\r\n }\r\n\r\n return collected;\r\n }\r\n\r\n async createBVH(meshUrl: string = \"\"): Promise<void> {\r\n await this.initLoader();\r\n\r\n if (meshUrl === \"\") {\r\n if (this.collider) {\r\n this.scene.remove(this.collider);\r\n this.collider = null;\r\n }\r\n\r\n this.scene.traverse((c) => {\r\n const mesh = c as THREE.Mesh;\r\n if (mesh?.isMesh && mesh.geometry && c.name !== \"capsule\") {\r\n try {\r\n let geom = (mesh.geometry as THREE.BufferGeometry).clone();\r\n geom.applyMatrix4(mesh.matrixWorld);\r\n if (geom.index) geom = geom.toNonIndexed();\r\n const safe = this.ensureAttributesMinimal(geom);\r\n if (safe) this.collected.push(safe);\r\n } catch (e) {\r\n console.warn(\"处理网格时出错：\", mesh, e);\r\n }\r\n }\r\n });\r\n if (!this.collected.length) return;\r\n this.collected = this.unifiedAttribute(this.collected);\r\n } else {\r\n const gltf: GLTF = await this.loader.loadAsync(meshUrl);\r\n const mesh = gltf.scene.children[0] as THREE.Mesh;\r\n mesh.name = \"BVH加载模型\";\r\n let geom = mesh.geometry.clone();\r\n geom.applyMatrix4(mesh.matrixWorld);\r\n if (geom.index) geom = geom.toNonIndexed();\r\n const safe = this.ensureAttributesMinimal(geom);\r\n if (safe) this.collected.push(safe);\r\n }\r\n\r\n const merged = BufferGeometryUtils.mergeGeometries(this.collected, false);\r\n if (!merged) {\r\n console.error(\"合并几何失败\");\r\n return;\r\n }\r\n\r\n (merged as any).boundsTree = new MeshBVH(merged, { maxDepth: 100 });\r\n this.collider = new THREE.Mesh(\r\n merged,\r\n new THREE.MeshBasicMaterial({\r\n opacity: 0.5,\r\n transparent: true,\r\n wireframe: true,\r\n depthTest: true,\r\n })\r\n );\r\n\r\n if (this.displayCollider) this.scene.add(this.collider);\r\n if (this.displayVisualizer) {\r\n if (this.visualizer) this.scene.remove(this.visualizer);\r\n this.visualizer = new MeshBVHHelper(this.collider, 0);\r\n this.scene.add(this.visualizer);\r\n }\r\n\r\n this.boundingBoxMinY = (this.collider as any).geometry.boundingBox.min.y;\r\n }\r\n\r\n createDynamicBVH(objects: THREE.Object3D[] = []) {\r\n if (this.dynamicCollider) {\r\n this.scene.remove(this.dynamicCollider);\r\n this.dynamicCollider = null;\r\n }\r\n this.dynamicCollected = [];\r\n objects.forEach((object: THREE.Object3D) => {\r\n object.traverse((c) => {\r\n const mesh = c as THREE.Mesh;\r\n if (mesh?.isMesh && mesh.geometry && c.name !== \"capsule\") {\r\n try {\r\n let geom = (mesh.geometry as THREE.BufferGeometry).clone();\r\n geom.applyMatrix4(mesh.matrixWorld);\r\n if (geom.index) geom = geom.toNonIndexed();\r\n const safe = this.ensureAttributesMinimal(geom);\r\n if (safe) this.dynamicCollected.push(safe);\r\n } catch (e) {\r\n console.warn(\"处理网格时出错：\", mesh, e);\r\n }\r\n }\r\n });\r\n });\r\n\r\n if (!this.dynamicCollected.length) return;\r\n this.dynamicCollected = this.unifiedAttribute(this.dynamicCollected);\r\n\r\n const merged = BufferGeometryUtils.mergeGeometries(this.dynamicCollected, false);\r\n if (!merged) {\r\n console.error(\"合并几何失败\");\r\n return;\r\n }\r\n (merged as any).boundsTree = new MeshBVH(merged);\r\n this.dynamicCollider = new THREE.Mesh(\r\n merged,\r\n new THREE.MeshBasicMaterial({\r\n opacity: 0.5,\r\n transparent: true,\r\n wireframe: true,\r\n depthTest: true,\r\n })\r\n );\r\n if (this.displayCollider) this.scene.add(this.dynamicCollider);\r\n }\r\n\r\n getAngleWithYAxis(normal: { x: number; y: number; z: number }): number {\r\n const yAxis = { x: 0, y: 1, z: 0 };\r\n const dotProduct = normal.x * yAxis.x + normal.y * yAxis.y + normal.z * yAxis.z;\r\n const normalMagnitude = Math.sqrt(normal.x * normal.x + normal.y * normal.y + normal.z * normal.z);\r\n const cosTheta = dotProduct / normalMagnitude;\r\n return Math.acos(cosTheta);\r\n }\r\n\r\n // ==================== 设置控制器过渡 ====================\r\n\r\n setControllerTransition() {\r\n if (this.isChangeControllerTransitionTimer) {\r\n clearTimeout(this.isChangeControllerTransitionTimer);\r\n this.isChangeControllerTransitionTimer = null;\r\n }\r\n this.isChangeControllerTransitionTimer = setTimeout(() => {\r\n this.isChangeControllerTransitionTimer = null;\r\n // 用 activeVehicle 创建动态碰撞体，并清除所有车辆速度\r\n let vGroups: THREE.Group[] = [];\r\n for (const v of this.vehicles) {\r\n this.clearVehicleVelocity(v);\r\n vGroups.push(v.vehicleGroup);\r\n }\r\n this.createDynamicBVH(vGroups);\r\n }, 3000);\r\n }\r\n\r\n // 清除车辆速度\r\n private clearVehicleVelocity(v: VehicleInstance) {\r\n if (!v || !this.world || !this.RAPIER) return;\r\n\r\n const { chassisBody, vehicleController } = v;\r\n const ZERO = new this.RAPIER.Vector3(0, 0, 0);\r\n\r\n // 第一次清刚体速度\r\n chassisBody.setLinvel(ZERO, true);\r\n chassisBody.setAngvel(ZERO, true);\r\n\r\n // 清轮子引擎力，施加极大刹车力\r\n const BIG_BRAKE = 1e6;\r\n for (let i = 0; i < 4; i++) {\r\n vehicleController.setWheelEngineForce(i, 0);\r\n vehicleController.setWheelBrake(i, BIG_BRAKE);\r\n }\r\n\r\n // 让控制器用上面的参数覆盖内部轮速缓存\r\n vehicleController.updateVehicle(1 / 60);\r\n this.world.timestep = 1 / 60;\r\n this.world.step();\r\n\r\n // 第二次清刚体速度\r\n chassisBody.setLinvel(ZERO, true);\r\n chassisBody.setAngvel(ZERO, true);\r\n\r\n // 刹车力归零，避免影响下次正常驾驶\r\n for (let i = 0; i < 4; i++) {\r\n vehicleController.setWheelBrake(i, 0);\r\n }\r\n }\r\n\r\n // ==================== 循环更新 ====================\r\n\r\n async update(delta: number = clock.getDelta()) {\r\n if (!this.isupdate || !this.player || !this.collider) return;\r\n\r\n delta = Math.min(delta, 1 / 30);\r\n\r\n if (this.controllerMode == 1) {\r\n this.updateVehicle(delta);\r\n } else {\r\n this.updatePlayer(delta);\r\n if (this.isChangeControllerTransitionTimer) this.updateVehicleInertia(delta);\r\n }\r\n }\r\n\r\n /**\r\n * 更新当前驾驶的车辆\r\n */\r\n updateVehicle(delta: number) {\r\n const v = this.activeVehicle;\r\n if (!v || !this.world) return;\r\n\r\n const { vehicleController, chassisBody, vehicleGroup } = v;\r\n\r\n // 坡度检测与额外推力补偿\r\n const rotation = chassisBody.rotation();\r\n const quat = new THREE.Quaternion(rotation.x, rotation.y, rotation.z, rotation.w);\r\n const forward = new THREE.Vector3(1, 0, 0).applyQuaternion(quat);\r\n const slopeAngle = Math.asin(forward.y);\r\n let factor = 1;\r\n if (slopeAngle < -0.05 && this.fwdPressed) {\r\n factor = -Math.sin(slopeAngle) * 10;\r\n }\r\n const engineForce = (Number(this.fwdPressed) * this.vehicleParams.power.accelerateForce - Number(this.bkdPressed) * this.vehicleParams.power.accelerateForce) * factor;\r\n\r\n vehicleController.setWheelEngineForce(0, engineForce);\r\n vehicleController.setWheelEngineForce(1, engineForce);\r\n vehicleController.setWheelEngineForce(2, engineForce);\r\n vehicleController.setWheelEngineForce(3, engineForce);\r\n\r\n const wheelBrake = Number(this.spacePressed) * this.vehicleParams.power.brakeForce * delta;\r\n vehicleController.setWheelBrake(0, wheelBrake);\r\n vehicleController.setWheelBrake(1, wheelBrake);\r\n vehicleController.setWheelBrake(2, wheelBrake);\r\n vehicleController.setWheelBrake(3, wheelBrake);\r\n\r\n // 转向\r\n const currentSteering = vehicleController.wheelSteering(0) || 0;\r\n const steerDirection = Number(this.lftPressed) - Number(this.rgtPressed);\r\n let steerSpeed: number;\r\n if (steerDirection === 0) {\r\n steerSpeed = this.vehicleParams.steering.steerReturnSpeed || 0.15;\r\n } else {\r\n steerSpeed = this.vehicleParams.steering.steerSpeed || 0.08;\r\n }\r\n const steerLerpFactor = 1.0 - Math.pow(1.0 - steerSpeed, delta);\r\n const targetSteering = this.vehicleParams.steering.maxSteerAngle * steerDirection;\r\n const steering = THREE.MathUtils.lerp(currentSteering, targetSteering, steerLerpFactor);\r\n vehicleController.setWheelSteering(0, steering);\r\n vehicleController.setWheelSteering(1, steering);\r\n\r\n // 漂移\r\n if ((this.rgtPressed || this.lftPressed) && this.shiftPressed) {\r\n vehicleController.setWheelSideFrictionStiffness(2, 0.5);\r\n vehicleController.setWheelSideFrictionStiffness(3, 0.5);\r\n } else {\r\n vehicleController.setWheelSideFrictionStiffness(2, 2);\r\n vehicleController.setWheelSideFrictionStiffness(3, 2);\r\n }\r\n\r\n // 更新所有车辆物理和位置\r\n this.updateVehicleInertia(delta);\r\n\r\n // 相机跟随\r\n if (!this.isFirstPerson) {\r\n const lookTarget = vehicleGroup.position.clone();\r\n this.camera.position.sub(this.controls.target);\r\n this.controls.target.copy(lookTarget);\r\n this.camera.position.add(lookTarget);\r\n this.controls.update();\r\n\r\n const velocity = chassisBody.linvel();\r\n const currentSpeed = Math.sqrt(velocity.x * velocity.x + velocity.y * velocity.y + velocity.z * velocity.z);\r\n const maxSpeed = this.vehicleParams.power.maxSpeed * v.scale;\r\n const speedRatio = Math.min(currentSpeed / maxSpeed, 1.0);\r\n const baseCamDistance = v.size.l * 0.8;\r\n const maxCamDistanceLimit = v.size.l * 5;\r\n const targetDistance = THREE.MathUtils.lerp(baseCamDistance, maxCamDistanceLimit, speedRatio);\r\n\r\n this._personToCam.subVectors(this.camera.position, vehicleGroup.position);\r\n const origin = vehicleGroup.position.clone().add(new THREE.Vector3(0, 0, 0));\r\n const direction = this._personToCam.clone().normalize();\r\n const desiredDist = targetDistance;\r\n this._raycasterPersonToCam.set(origin, direction);\r\n this._raycasterPersonToCam.far = desiredDist;\r\n const intersects = this._raycasterPersonToCam.intersectObject(this.collider as THREE.Object3D, false);\r\n if (intersects.length > 0) {\r\n const hit = intersects[0];\r\n const safeDist = Math.max(hit.distance - this._camEpsilon, this._minCamDistance);\r\n const targetCamPos = origin.clone().add(direction.clone().multiplyScalar(safeDist));\r\n this.camera.position.lerp(targetCamPos, this._camCollisionLerp);\r\n } else {\r\n this._raycasterPersonToCam.far = maxCamDistanceLimit;\r\n const intersectsMaxDis = this._raycasterPersonToCam.intersectObject(this.collider as THREE.Object3D, false);\r\n let safeDist = desiredDist;\r\n if (intersectsMaxDis.length) {\r\n const hitMax = intersectsMaxDis[0];\r\n safeDist = Math.min(desiredDist, hitMax.distance - this._camEpsilon);\r\n }\r\n const targetCamPos = origin.clone().add(direction.clone().multiplyScalar(safeDist));\r\n this.camera.position.lerp(targetCamPos, this._camCollisionLerp);\r\n }\r\n\r\n if (this.fwdPressed || this.bkdPressed) {\r\n const vel = chassisBody.linvel();\r\n const velHorizontal = new THREE.Vector3(vel.x, vel.y, vel.z);\r\n const velSpeed = velHorizontal.length();\r\n if (velSpeed > 0.3) {\r\n const targetBehindDir = velHorizontal.clone().normalize().negate();\r\n this.camBehindDir.lerp(targetBehindDir, this._camCollisionLerp).normalize();\r\n const camHeightOffset = v.size.h;\r\n const targetCamPos = lookTarget\r\n .clone()\r\n .add(this.camBehindDir.clone().multiplyScalar(desiredDist))\r\n .add(new THREE.Vector3(0, camHeightOffset, 0));\r\n this.camera.position.lerp(targetCamPos, this._camCollisionLerp);\r\n this.controls.update();\r\n }\r\n }\r\n }\r\n\r\n // 翻车检测\r\n const vehicleUp = this.upVector.clone().applyQuaternion(vehicleGroup.quaternion);\r\n const angleWithUp = vehicleUp.angleTo(this.upVector);\r\n if (angleWithUp > Math.PI / 2) {\r\n const size = new THREE.Vector3();\r\n v.vehicleBBox?.getSize(size);\r\n const translation2 = chassisBody.translation();\r\n chassisBody.setTranslation(new this.RAPIER.Vector3(translation2.x, translation2.y + size.y, translation2.z), true);\r\n chassisBody.setRotation(new this.RAPIER.Quaternion(0, 0, 0, 1), true);\r\n chassisBody.setLinvel(new this.RAPIER.Vector3(0, 0, 0), true);\r\n chassisBody.setAngvel(new this.RAPIER.Vector3(0, 0, 0), true);\r\n }\r\n }\r\n\r\n /**\r\n * 更新所有车辆物理和位置\r\n */\r\n updateVehicleInertia(delta: number) {\r\n if (!this.world) return;\r\n\r\n // 更新所有车辆的物理\r\n this.world.timestep = delta;\r\n this.world.step();\r\n\r\n for (const v of this.vehicles) {\r\n const { vehicleController, chassisBody, vehicleGroup, updateWheelVisuals } = v;\r\n\r\n vehicleController.updateVehicle(delta);\r\n\r\n const velocity = chassisBody.linvel();\r\n const currentSpeed = Math.sqrt(velocity.x * velocity.x + velocity.y * velocity.y + velocity.z * velocity.z);\r\n const maxSpeed = this.vehicleParams.power.maxSpeed * v.scale;\r\n if (currentSpeed > maxSpeed) {\r\n const s = maxSpeed / currentSpeed;\r\n chassisBody.setLinvel(new this.RAPIER.Vector3(velocity.x * s, velocity.y * s, velocity.z * s), true);\r\n }\r\n\r\n const translation = chassisBody.translation();\r\n const rotationSync = chassisBody.rotation();\r\n vehicleGroup.position.set(translation.x, translation.y, translation.z);\r\n vehicleGroup.quaternion.set(rotationSync.x, rotationSync.y, rotationSync.z, rotationSync.w);\r\n\r\n if (updateWheelVisuals) updateWheelVisuals();\r\n }\r\n }\r\n\r\n /**\r\n * 更新人物\r\n */\r\n updatePlayer(delta: number) {\r\n if (this.isMovingToBoardingPoint) {\r\n this.updateMoveToBoardingPoint(delta);\r\n }\r\n\r\n if (!this.isFlying) {\r\n this.player.position.addScaledVector(this.playerVelocity, delta);\r\n }\r\n\r\n this.updateMixers(delta);\r\n\r\n this.camera.getWorldDirection(this.camDir);\r\n let angle = Math.atan2(this.camDir.z, this.camDir.x) + Math.PI / 2;\r\n angle = 2 * Math.PI - angle;\r\n\r\n this.moveDir.set(0, 0, 0);\r\n if (this.fwdPressed) this.moveDir.add(this.DIR_FWD);\r\n if (this.bkdPressed) this.moveDir.add(this.DIR_BKD);\r\n if (this.lftPressed) this.moveDir.add(this.DIR_LFT);\r\n if (this.rgtPressed) this.moveDir.add(this.DIR_RGT);\r\n\r\n if (this.isFlying) {\r\n if (this.fwdPressed) this.moveDir.y = this.camDir.y;\r\n else this.moveDir.y = 0;\r\n if (this.spacePressed) this.moveDir.add(this.DIR_UP);\r\n }\r\n\r\n if (this.isFlying && this.fwdPressed) {\r\n this.playerSpeed = this.shiftPressed ? this.originPlayerSpeed * 12 : this.originPlayerSpeed * 7;\r\n } else {\r\n this.playerSpeed = this.shiftPressed ? this.originPlayerSpeed * 2 : this.originPlayerSpeed;\r\n }\r\n\r\n this.moveDir.normalize().applyAxisAngle(this.upVector, angle);\r\n this.player.position.addScaledVector(this.moveDir, this.playerSpeed * delta);\r\n\r\n // 向下射线检测地面\r\n let playerDistanceFromGround = Infinity;\r\n this._originTmp.set(this.player.position.x, this.player.position.y, this.player.position.z);\r\n this._raycaster.ray.origin.copy(this._originTmp);\r\n const intersects = this._raycaster.intersectObject(this.collider as THREE.Object3D, false);\r\n\r\n if (intersects.length > 0) {\r\n playerDistanceFromGround = this.player.position.y - intersects[0].point.y;\r\n const maxH = this.playerHeight * this.playerModel.scale * 0.9;\r\n const h = this.playerHeight * this.playerModel.scale * 0.75;\r\n const minH = this.playerHeight * this.playerModel.scale * 0.7;\r\n\r\n if (!this.isFlying) {\r\n if (playerDistanceFromGround >= maxH) {\r\n this.playerVelocity.y += delta * this.gravity;\r\n this.player.position.addScaledVector(this.playerVelocity, delta);\r\n this.playerIsOnGround = false;\r\n } else if (playerDistanceFromGround >= h && playerDistanceFromGround < maxH) {\r\n if (!this.spacePressed) {\r\n this.playerVelocity.set(0, 0, 0);\r\n this.playerIsOnGround = true;\r\n this.player.position.y = intersects[0].point.y + h;\r\n }\r\n } else if (playerDistanceFromGround >= minH && playerDistanceFromGround < h) {\r\n this.playerVelocity.set(0, 0, 0);\r\n this.playerIsOnGround = true;\r\n this.player.position.y = intersects[0].point.y + h;\r\n } else if (playerDistanceFromGround < minH) {\r\n this.playerVelocity.set(0, 0, 0);\r\n this.player.position.set(this.player.position.x, intersects[0].point.y + h, this.player.position.z);\r\n this.playerIsOnGround = true;\r\n }\r\n }\r\n }\r\n\r\n this.player.updateMatrixWorld();\r\n\r\n // BVH 碰撞检测\r\n const capsuleInfo = this.player.capsuleInfo;\r\n this.tempBox.makeEmpty();\r\n this.tempMat.copy(this.collider!.matrixWorld).invert();\r\n this.tempSegment.copy(capsuleInfo.segment);\r\n this.tempSegment.start.applyMatrix4(this.player.matrixWorld).applyMatrix4(this.tempMat);\r\n this.tempSegment.end.applyMatrix4(this.player.matrixWorld).applyMatrix4(this.tempMat);\r\n this.tempBox.expandByPoint(this.tempSegment.start);\r\n this.tempBox.expandByPoint(this.tempSegment.end);\r\n this.tempBox.expandByScalar(capsuleInfo.radius);\r\n\r\n if (!this.isMovingToBoardingPoint) {\r\n (this.collider?.geometry as any)?.boundsTree?.shapecast({\r\n intersectsBounds: (box: THREE.Box3) => box.intersectsBox(this.tempBox),\r\n intersectsTriangle: (tri: any) => {\r\n const triPoint = this.tempVector;\r\n const capsulePoint = this.tempVector2;\r\n const distance = tri.closestPointToSegment(this.tempSegment, triPoint, capsulePoint);\r\n if (distance < capsuleInfo.radius) {\r\n const normal = tri.getNormal(new THREE.Vector3());\r\n if (normal.y > 0.5 && !this.isFlying) return;\r\n const depth = capsuleInfo.radius - distance;\r\n const direction = capsulePoint.sub(triPoint).normalize();\r\n this.tempSegment.start.addScaledVector(direction, depth);\r\n this.tempSegment.end.addScaledVector(direction, depth);\r\n }\r\n },\r\n });\r\n\r\n (this.dynamicCollider?.geometry as any)?.boundsTree?.shapecast({\r\n intersectsBounds: (box: THREE.Box3) => box.intersectsBox(this.tempBox),\r\n intersectsTriangle: (tri: any) => {\r\n const triPoint = this.tempVector;\r\n const capsulePoint = this.tempVector2;\r\n const distance = tri.closestPointToSegment(this.tempSegment, triPoint, capsulePoint);\r\n if (distance < capsuleInfo.radius) {\r\n const depth = capsuleInfo.radius - distance;\r\n const direction = capsulePoint.sub(triPoint).normalize();\r\n this.tempSegment.start.addScaledVector(direction, depth);\r\n this.tempSegment.end.addScaledVector(direction, depth);\r\n }\r\n },\r\n });\r\n }\r\n\r\n const newPosition = this.tempVector.copy(this.tempSegment.start).applyMatrix4(this.collider!.matrixWorld);\r\n const deltaVector = this.tempVector2.subVectors(newPosition, this.player.position);\r\n const offset = Math.max(0, deltaVector.length() - 1e-5);\r\n deltaVector.normalize().multiplyScalar(offset);\r\n this.player.position.add(deltaVector);\r\n\r\n // 第三人称-朝向\r\n if (!this.isFirstPerson && !this.isFlying) {\r\n this.camDir.y = 0;\r\n this.camDir.normalize();\r\n this.camDir.negate();\r\n this.moveDir.normalize();\r\n this.moveDir.negate();\r\n\r\n let lookTarget: THREE.Vector3;\r\n if (this.thirdMouseMode === 0 || this.thirdMouseMode === 2) {\r\n if (this.moveDir.lengthSq() > 0) {\r\n lookTarget = this.player.position.clone().add(this.moveDir);\r\n } else {\r\n lookTarget = this.player.position.clone().add(this.camDir);\r\n }\r\n this.targetMat.lookAt(this.player.position, lookTarget, this.player.up);\r\n this.targetQuat.setFromRotationMatrix(this.targetMat);\r\n const alpha = Math.min(1, this.rotationSpeed * delta);\r\n this.player.quaternion.slerp(this.targetQuat, alpha);\r\n }\r\n if ((this.thirdMouseMode === 1 || this.thirdMouseMode === 3) && this.moveDir.lengthSq() > 0) {\r\n lookTarget = this.player.position.clone().add(this.moveDir);\r\n this.targetMat.lookAt(this.player.position, lookTarget, this.player.up);\r\n this.targetQuat.setFromRotationMatrix(this.targetMat);\r\n const alpha = Math.min(1, this.rotationSpeed * delta);\r\n this.player.quaternion.slerp(this.targetQuat, alpha);\r\n }\r\n }\r\n\r\n // 飞行模式朝向\r\n if (this.isFlying) {\r\n if (!this.isFirstPerson) {\r\n this.camDir.y = 0;\r\n this.camDir.normalize();\r\n this.camDir.negate();\r\n this.moveDir.normalize();\r\n this.moveDir.negate();\r\n const lookTarget = this.player.position.clone().add(this.fwdPressed ? this.moveDir : this.camDir);\r\n this.targetMat.lookAt(this.player.position, lookTarget, this.player.up);\r\n this.targetQuat.setFromRotationMatrix(this.targetMat);\r\n const alpha = Math.min(1, this.rotationSpeed * delta);\r\n this.player.quaternion.slerp(this.targetQuat, alpha);\r\n }\r\n }\r\n\r\n // 第三人称-相机跟随\r\n if (!this.isFirstPerson) {\r\n const lookTarget = this.player.position.clone();\r\n lookTarget.y += (this.playerHeight / 6) * this.playerModel.scale;\r\n this.camera.position.sub(this.controls.target);\r\n this.controls.target.copy(lookTarget);\r\n this.camera.position.add(lookTarget);\r\n this.controls.update();\r\n\r\n // 当视线被遮挡时的处理\r\n if (!this.enableZoom) {\r\n this._personToCam.subVectors(this.camera.position, this.player.position);\r\n const origin = this.player.position.clone();\r\n const direction = this._personToCam.clone().normalize();\r\n const desiredDist = this._personToCam.length();\r\n this._raycasterPersonToCam.set(origin, direction);\r\n this._raycasterPersonToCam.far = desiredDist;\r\n\r\n const intersectsCamera = this._raycasterPersonToCam.intersectObject(this.collider as THREE.Object3D, false);\r\n\r\n if (intersectsCamera.length > 0) {\r\n const hit = intersectsCamera[0];\r\n const safeDist = Math.max(hit.distance - this._camEpsilon, this._minCamDistance);\r\n const targetCamPos = origin.clone().add(direction.clone().multiplyScalar(safeDist));\r\n this.camera.position.lerp(targetCamPos, this._camCollisionLerp);\r\n } else {\r\n this._raycasterPersonToCam.far = this._maxCamDistance;\r\n const intersectsMaxDis = this._raycasterPersonToCam.intersectObject(this.collider as THREE.Object3D, false);\r\n let safeDist = this._maxCamDistance;\r\n if (intersectsMaxDis.length) {\r\n const hitMax = intersectsMaxDis[0];\r\n safeDist = hitMax.distance - this._camEpsilon;\r\n }\r\n const targetCamPos = origin.clone().add(direction.clone().multiplyScalar(safeDist));\r\n this.camera.position.lerp(targetCamPos, this._camCollisionLerp);\r\n }\r\n }\r\n }\r\n\r\n // 掉出场景重置\r\n if (this.player.position.y < this.boundingBoxMinY - 1) {\r\n this._originTmp.set(this.player.position.x, 10000, this.player.position.z);\r\n this._raycaster.ray.origin.copy(this._originTmp);\r\n const intersectsFall = this._raycaster.intersectObject(this.collider as THREE.Object3D, false);\r\n\r\n if (intersectsFall.length > 0) {\r\n console.log(\"玩家为bug意外掉落\");\r\n this.reset(new THREE.Vector3(this.player.position.x, intersectsFall[0].point.y + 5, this.player.position.z));\r\n } else {\r\n console.log(\"玩家正常掉落\");\r\n this.reset(new THREE.Vector3(this.player.position.x, this.player.position.y + 15, this.player.position.z));\r\n }\r\n }\r\n }\r\n\r\n /**\r\n * 更新模型动画\r\n */\r\n private updateMixers(delta: number) {\r\n if (this.personMixer) this.personMixer.update(delta);\r\n // 更新所有车辆动画\r\n for (const v of this.vehicles) {\r\n v.vehicleMixer?.update(delta);\r\n }\r\n }\r\n\r\n reset(position?: THREE.Vector3) {\r\n if (!this.player) return;\r\n this.playerVelocity.set(0, 0, 0);\r\n this.player.position.copy(position ?? this.initPos);\r\n }\r\n\r\n getPosition() {\r\n return this.player.position;\r\n }\r\n\r\n // ==================== 输入处理 ====================\r\n\r\n setInput(\r\n input: Partial<{\r\n moveX: 1 | 0 | -1;\r\n moveY: 1 | 0 | -1;\r\n lookDeltaX: number;\r\n lookDeltaY: number;\r\n jump: boolean;\r\n shift: boolean;\r\n toggleView: boolean;\r\n toggleFly: boolean;\r\n }>\r\n ) {\r\n if (typeof input.moveX === \"number\") {\r\n this.lftPressed = input.moveX === -1;\r\n this.rgtPressed = input.moveX === 1;\r\n this.setAnimationByPressed();\r\n }\r\n if (typeof input.moveY === \"number\") {\r\n this.fwdPressed = input.moveY === 1;\r\n this.bkdPressed = input.moveY === -1;\r\n this.setAnimationByPressed();\r\n }\r\n\r\n if (typeof input.lookDeltaX === \"number\" && typeof input.lookDeltaY === \"number\") {\r\n this.setToward(input.lookDeltaX, input.lookDeltaY, 0.002);\r\n }\r\n\r\n if (typeof input.jump === \"boolean\") {\r\n if (input.jump) {\r\n this.spacePressed = true;\r\n if (!this.playerIsOnGround || this.isFlying) return;\r\n this.playPersonAnimationByName(\"jumping\");\r\n this.playerVelocity.y = this.jumpHeight;\r\n this.playerIsOnGround = false;\r\n } else {\r\n this.spacePressed = false;\r\n }\r\n }\r\n\r\n if (typeof input.shift === \"boolean\") {\r\n this.shiftPressed = input.shift;\r\n }\r\n\r\n if (input.toggleView) {\r\n this.changeView();\r\n }\r\n\r\n if (input.toggleFly) {\r\n this.isFlying = !this.isFlying;\r\n this.setAnimationByPressed();\r\n if (!this.isFlying && !this.playerIsOnGround) {\r\n this.playPersonAnimationByName(\"jumping\");\r\n }\r\n }\r\n }\r\n\r\n private setAnimationByPressed = () => {\r\n this._maxCamDistance = this.orginMaxCamDistance;\r\n if (this.isMovingToBoardingPoint) {\r\n this.isMovingToBoardingPoint = false;\r\n this.boardingWaypoints = [];\r\n this.currentWaypointIndex = 0;\r\n this.boardingTargetDir = null;\r\n }\r\n\r\n if (this.enterVehicleTimer) {\r\n clearTimeout(this.enterVehicleTimer);\r\n this.enterVehicleTimer = null;\r\n }\r\n if (this.closeVehicleDoorTimer) {\r\n clearTimeout(this.closeVehicleDoorTimer);\r\n this.closeVehicleDoorTimer = null;\r\n }\r\n\r\n if (this.isFlying) {\r\n if (!this.fwdPressed) {\r\n this.playPersonAnimationByName(\"flyidle\");\r\n return;\r\n }\r\n this.playPersonAnimationByName(\"flying\");\r\n this._maxCamDistance = this.orginMaxCamDistance * 2;\r\n return;\r\n }\r\n\r\n if (this.playerIsOnGround) {\r\n if (!this.fwdPressed && !this.bkdPressed && !this.lftPressed && !this.rgtPressed) {\r\n this.playPersonAnimationByName(\"idle\");\r\n return;\r\n }\r\n\r\n if (this.fwdPressed) {\r\n this.playPersonAnimationByName(this.shiftPressed ? \"running\" : \"walking\");\r\n return;\r\n }\r\n\r\n if (!this.isFirstPerson && (this.lftPressed || this.rgtPressed || this.bkdPressed)) {\r\n this.playPersonAnimationByName(this.shiftPressed ? \"running\" : \"walking\");\r\n return;\r\n }\r\n\r\n if (this.lftPressed) {\r\n this.playPersonAnimationByName(\"left_walking\");\r\n return;\r\n }\r\n if (this.rgtPressed) {\r\n this.playPersonAnimationByName(\"right_walking\");\r\n return;\r\n }\r\n if (this.bkdPressed) {\r\n this.playPersonAnimationByName(\"walking_backward\");\r\n return;\r\n }\r\n }\r\n\r\n if (this.recheckAnimTimer !== null) {\r\n clearTimeout(this.recheckAnimTimer);\r\n }\r\n this.recheckAnimTimer = setTimeout(() => {\r\n this.setAnimationByPressed();\r\n this.recheckAnimTimer = null;\r\n }, 200);\r\n };\r\n\r\n // ==================== 事件处理 ====================\r\n\r\n private _boundOnKeydown = async (e: KeyboardEvent) => {\r\n if (e.ctrlKey && [\"KeyW\", \"KeyA\", \"KeyS\", \"KeyD\"].includes(e.code)) {\r\n e.preventDefault();\r\n }\r\n switch (e.code) {\r\n case \"KeyW\":\r\n case \"ArrowUp\":\r\n this.fwdPressed = true;\r\n this.setAnimationByPressed();\r\n break;\r\n case \"KeyS\":\r\n case \"ArrowDown\":\r\n this.bkdPressed = true;\r\n this.setAnimationByPressed();\r\n break;\r\n case \"KeyD\":\r\n case \"ArrowRight\":\r\n this.rgtPressed = true;\r\n this.setAnimationByPressed();\r\n break;\r\n case \"KeyA\":\r\n case \"ArrowLeft\":\r\n this.lftPressed = true;\r\n this.setAnimationByPressed();\r\n break;\r\n case \"ShiftLeft\":\r\n case \"ShiftRight\":\r\n this.shiftPressed = true;\r\n this.setAnimationByPressed();\r\n this.controls.mouseButtons = { LEFT: 2, MIDDLE: 1, RIGHT: 0 };\r\n break;\r\n case \"Space\":\r\n this.spacePressed = true;\r\n if (!this.playerIsOnGround || this.isFlying) return;\r\n const next = this.personActions?.get(\"jumping\");\r\n if (next && this.actionState === next) return;\r\n this.playPersonAnimationByName(\"jumping\");\r\n this.playerVelocity.y = this.jumpHeight;\r\n this.playerIsOnGround = false;\r\n break;\r\n case \"ControlLeft\":\r\n this.ctPressed = true;\r\n break;\r\n case \"KeyV\":\r\n this.changeView();\r\n break;\r\n case \"KeyF\":\r\n if (this.controllerMode == 1) return;\r\n this.isFlying = !this.isFlying;\r\n this.setAnimationByPressed();\r\n if (!this.isFlying && !this.playerIsOnGround) {\r\n this.playPersonAnimationByName(\"jumping\");\r\n }\r\n break;\r\n case \"KeyE\":\r\n if (this.isFlying) return;\r\n if (this.controllerMode == 0) {\r\n this.enterVehicle();\r\n } else {\r\n this.exitVehicle();\r\n }\r\n break;\r\n }\r\n };\r\n\r\n private _boundOnKeyup = (e: KeyboardEvent) => {\r\n switch (e.code) {\r\n case \"KeyW\":\r\n case \"ArrowUp\":\r\n this.fwdPressed = false;\r\n this.setAnimationByPressed();\r\n break;\r\n case \"KeyS\":\r\n case \"ArrowDown\":\r\n this.bkdPressed = false;\r\n this.setAnimationByPressed();\r\n break;\r\n case \"KeyD\":\r\n case \"ArrowRight\":\r\n this.rgtPressed = false;\r\n this.setAnimationByPressed();\r\n break;\r\n case \"KeyA\":\r\n case \"ArrowLeft\":\r\n this.lftPressed = false;\r\n this.setAnimationByPressed();\r\n break;\r\n case \"ShiftLeft\":\r\n case \"ShiftRight\":\r\n this.shiftPressed = false;\r\n this.setAnimationByPressed();\r\n this.controls.mouseButtons = { LEFT: 0, MIDDLE: 1, RIGHT: 2 };\r\n break;\r\n case \"Space\":\r\n this.spacePressed = false;\r\n break;\r\n case \"ControlLeft\":\r\n this.ctPressed = false;\r\n break;\r\n }\r\n };\r\n\r\n private _mouseMove = (e: MouseEvent) => {\r\n if (document.pointerLockElement !== document.body) return;\r\n this.setToward(e.movementX, e.movementY, 0.0001);\r\n };\r\n\r\n private _mouseClick = (_e: MouseEvent) => {\r\n this.setPointerLock();\r\n };\r\n\r\n onAllEvent() {\r\n this.isupdate = true;\r\n this.setPointerLock();\r\n window.addEventListener(\"keydown\", this._boundOnKeydown);\r\n window.addEventListener(\"keyup\", this._boundOnKeyup);\r\n window.addEventListener(\"mousemove\", this._mouseMove);\r\n window.addEventListener(\"click\", this._mouseClick);\r\n }\r\n\r\n offAllEvent() {\r\n this.isupdate = false;\r\n document.exitPointerLock();\r\n window.removeEventListener(\"keydown\", this._boundOnKeydown);\r\n window.removeEventListener(\"keyup\", this._boundOnKeyup);\r\n window.removeEventListener(\"mousemove\", this._mouseMove);\r\n window.removeEventListener(\"click\", this._mouseClick);\r\n }\r\n\r\n // ==================== 移动端控制 ====================\r\n\r\n onPointerDown = (e: PointerEvent) => {\r\n if (e.pointerType !== \"touch\") return;\r\n this.isLookDown = true;\r\n this.lookPointerId = e.pointerId;\r\n this.lastTouchX = e.clientX;\r\n this.lastTouchY = e.clientY;\r\n this.lookAreaEl?.setPointerCapture?.(e.pointerId);\r\n e.preventDefault();\r\n };\r\n\r\n onPointerMove = (e: PointerEvent) => {\r\n if (!this.isLookDown || e.pointerId !== this.lookPointerId) return;\r\n const dx = e.clientX - this.lastTouchX;\r\n const dy = e.clientY - this.lastTouchY;\r\n this.lastTouchX = e.clientX;\r\n this.lastTouchY = e.clientY;\r\n this.setInput({ lookDeltaX: dx, lookDeltaY: dy });\r\n e.preventDefault();\r\n };\r\n\r\n onPointerUp = (e: PointerEvent) => {\r\n if (e.pointerId !== this.lookPointerId) return;\r\n this.isLookDown = false;\r\n this.lookPointerId = null;\r\n this.lookAreaEl?.releasePointerCapture?.(e.pointerId);\r\n };\r\n\r\n async initMobileControls() {\r\n this.controls.maxPolarAngle = Math.PI * (300 / 360);\r\n this.controls.touches = { ONE: null as any, TWO: null as any };\r\n this.nippleModule = await import(\"nipplejs\");\r\n const nipple = this.nippleModule?.default;\r\n const JOY_SIZE = 120;\r\n const container = document.body;\r\n\r\n this.joystickZoneEl = document.createElement(\"div\");\r\n this.joystickZoneEl.id = \"joy-zone\";\r\n Object.assign(this.joystickZoneEl.style, {\r\n position: \"absolute\",\r\n left: \"16px\",\r\n bottom: \"16px\",\r\n width: `${JOY_SIZE + 40}px`,\r\n height: `${JOY_SIZE + 40}px`,\r\n touchAction: \"none\",\r\n zIndex: \"999\",\r\n pointerEvents: \"auto\",\r\n WebkitUserSelect: \"none\",\r\n userSelect: \"none\",\r\n });\r\n container.appendChild(this.joystickZoneEl);\r\n\r\n [\"touchstart\", \"touchmove\", \"touchend\", \"touchcancel\"].forEach((evtName) => {\r\n this.joystickZoneEl?.addEventListener(evtName, (e) => e.preventDefault(), {\r\n passive: false,\r\n });\r\n });\r\n\r\n this.joystickManager = nipple.create({\r\n zone: this.joystickZoneEl,\r\n mode: \"static\",\r\n position: {\r\n left: `${(JOY_SIZE + 40) / 2}px`,\r\n bottom: `${(JOY_SIZE + 40) / 2}px`,\r\n },\r\n color: \"#ffffff\",\r\n size: JOY_SIZE,\r\n multitouch: true,\r\n maxNumberOfNipples: 1,\r\n });\r\n\r\n this.joystickManager.on(\"move\", (_evt: any, data: any) => {\r\n if (!data) return;\r\n const rawX = data.vector?.x ?? 0;\r\n const rawY = data.vector?.y ?? 0;\r\n const distance = data.distance ?? 0;\r\n const deadzone = 0.5;\r\n const dirX = rawX > deadzone ? 1 : rawX < -deadzone ? -1 : 0;\r\n const dirY = rawY > deadzone ? 1 : rawY < -deadzone ? -1 : 0;\r\n const sprintThreshold = JOY_SIZE / 2;\r\n const isSprinting = distance >= sprintThreshold;\r\n const prev = this.prevJoyState || { dirX: 0, dirY: 0, shift: false };\r\n if (dirX === prev.dirX && dirY === prev.dirY && isSprinting === prev.shift) return;\r\n this.prevJoyState = { dirX, dirY, shift: isSprinting };\r\n this.setInput({ moveX: dirX, moveY: dirY, shift: isSprinting });\r\n });\r\n\r\n this.joystickManager.on(\"end\", () => {\r\n const prev = this.prevJoyState || { dirX: 0, dirY: 0, shift: false };\r\n if (prev.dirX !== 0 || prev.dirY !== 0 || prev.shift !== false) {\r\n this.prevJoyState = { dirX: 0, dirY: 0, shift: false };\r\n this.setInput({ moveX: 0, moveY: 0, shift: false });\r\n }\r\n });\r\n\r\n this.lookAreaEl = document.createElement(\"div\");\r\n Object.assign(this.lookAreaEl.style, {\r\n position: \"absolute\",\r\n right: \"0\",\r\n bottom: \"0\",\r\n width: \"50%\",\r\n height: \"100%\",\r\n zIndex: \"998\",\r\n touchAction: \"none\",\r\n WebkitUserSelect: \"none\",\r\n userSelect: \"none\",\r\n });\r\n container.appendChild(this.lookAreaEl);\r\n\r\n [\"touchstart\", \"touchmove\", \"touchend\", \"touchcancel\"].forEach((evtName) => {\r\n this.lookAreaEl?.addEventListener(evtName, (e) => e.preventDefault(), {\r\n passive: false,\r\n });\r\n });\r\n\r\n this.lookAreaEl.addEventListener(\"pointerdown\", this.onPointerDown, { passive: false });\r\n this.lookAreaEl.addEventListener(\"pointermove\", this.onPointerMove, { passive: false });\r\n this.lookAreaEl.addEventListener(\"pointerup\", this.onPointerUp, { passive: false });\r\n this.lookAreaEl.addEventListener(\"pointercancel\", this.onPointerUp, { passive: false });\r\n\r\n const createBtn = (rightPx: number, bottomPx: number, bgUrl?: string) => {\r\n const btn = document.createElement(\"button\");\r\n const styles: Partial<CSSStyleDeclaration> = {\r\n position: \"absolute\",\r\n right: `${rightPx}px`,\r\n bottom: `${bottomPx}px`,\r\n width: \"56px\",\r\n height: \"56px\",\r\n zIndex: \"1000\",\r\n borderRadius: \"50%\",\r\n border: \"2px solid black\",\r\n background: \"rgba(0,0,0)\",\r\n padding: \"20px\",\r\n opacity: \"0.95\",\r\n touchAction: \"none\",\r\n fontSize: \"14px\",\r\n userSelect: \"none\",\r\n overflow: \"hidden\",\r\n boxSizing: \"border-box\",\r\n backgroundColor: \"transparent\",\r\n backgroundRepeat: \"no-repeat, no-repeat\",\r\n backgroundPosition: \"center center, center center\",\r\n backgroundSize: \"100% 100%, 80% 80%\",\r\n };\r\n\r\n if (bgUrl) {\r\n const overlayColor = \"rgba(0,0,0,0.5)\";\r\n styles.backgroundImage = `linear-gradient(${overlayColor}, ${overlayColor}), url(\"${bgUrl}\")`;\r\n }\r\n\r\n Object.assign(btn.style, styles);\r\n container.appendChild(btn);\r\n [\"touchstart\", \"touchend\", \"touchcancel\"].forEach((evtName) => {\r\n btn.addEventListener(evtName, (e) => e.preventDefault(), { passive: false });\r\n });\r\n return btn;\r\n };\r\n\r\n this.jumpBtnEl = createBtn(14, 14, jumpIconModule);\r\n this.jumpBtnEl.addEventListener(\r\n \"touchstart\",\r\n (e) => {\r\n e.preventDefault();\r\n this.setInput({ jump: true });\r\n },\r\n { passive: false }\r\n );\r\n this.jumpBtnEl.addEventListener(\r\n \"touchend\",\r\n (e) => {\r\n e.preventDefault();\r\n this.setInput({ jump: false });\r\n },\r\n { passive: false }\r\n );\r\n this.jumpBtnEl.addEventListener(\r\n \"touchcancel\",\r\n (e) => {\r\n e.preventDefault();\r\n this.setInput({ jump: false });\r\n },\r\n { passive: false }\r\n );\r\n\r\n this.flyBtnEl = createBtn(14, 14 + 80, flyIconModule);\r\n this.flyBtnEl.addEventListener(\r\n \"touchstart\",\r\n (e) => {\r\n e.preventDefault();\r\n this.setInput({ toggleFly: true });\r\n },\r\n { passive: false }\r\n );\r\n\r\n this.viewBtnEl = createBtn(14, 14 + 200, viewIconModule);\r\n this.viewBtnEl.addEventListener(\r\n \"touchstart\",\r\n (e) => {\r\n e.preventDefault();\r\n this.setInput({ toggleView: true });\r\n },\r\n { passive: false }\r\n );\r\n }\r\n\r\n destroyMobileControls() {\r\n try {\r\n if (this.joystickManager && this.joystickManager.destroy) {\r\n this.joystickManager.destroy();\r\n this.joystickManager = null;\r\n }\r\n if (this.joystickZoneEl?.parentElement) {\r\n this.joystickZoneEl.parentElement.removeChild(this.joystickZoneEl);\r\n this.joystickZoneEl = null;\r\n }\r\n if (this.lookAreaEl?.parentElement) {\r\n this.lookAreaEl.parentElement.removeChild(this.lookAreaEl);\r\n this.lookAreaEl = null;\r\n }\r\n if (this.jumpBtnEl?.parentElement) {\r\n this.jumpBtnEl.parentElement.removeChild(this.jumpBtnEl);\r\n this.jumpBtnEl = null;\r\n }\r\n if (this.flyBtnEl?.parentElement) {\r\n this.flyBtnEl.parentElement.removeChild(this.flyBtnEl);\r\n this.flyBtnEl = null;\r\n }\r\n if (this.viewBtnEl?.parentElement) {\r\n this.viewBtnEl.parentElement.removeChild(this.viewBtnEl);\r\n this.viewBtnEl = null;\r\n }\r\n this.lookAreaEl?.removeEventListener(\"pointerdown\", this.onPointerDown);\r\n this.lookAreaEl?.removeEventListener(\"pointermove\", this.onPointerMove);\r\n this.lookAreaEl?.removeEventListener(\"pointerup\", this.onPointerUp);\r\n this.lookAreaEl?.removeEventListener(\"pointercancel\", this.onPointerUp);\r\n } catch (e) {\r\n console.warn(\"销毁移动端摇杆控制时出错：\", e);\r\n }\r\n }\r\n\r\n // ==================== 销毁 ====================\r\n\r\n destroy() {\r\n this.offAllEvent();\r\n if (this.player) {\r\n this.player.remove(this.camera);\r\n this.scene.remove(this.player);\r\n }\r\n (this.player as any) = null;\r\n if (this.person) {\r\n this.scene.remove(this.person);\r\n this.person = null;\r\n }\r\n\r\n this.resetControls();\r\n\r\n if (this.visualizer) {\r\n this.scene.remove(this.visualizer);\r\n this.visualizer = null;\r\n }\r\n if (this.collider) {\r\n this.scene.remove(this.collider);\r\n this.collider = null;\r\n }\r\n\r\n this.destroyMobileControls();\r\n\r\n // 清理所有车辆\r\n for (const v of this.vehicles) {\r\n this.scene.remove(v.vehicleGroup);\r\n v.pathPlanner?.dispose();\r\n }\r\n this.vehicles = [];\r\n this.activeVehicle = null;\r\n\r\n controllerInstance = null;\r\n }\r\n}\r\n\r\n// ==================== 导出API ====================\r\n\r\nexport function playerController() {\r\n if (!controllerInstance) controllerInstance = new PlayerController();\r\n const c = controllerInstance;\r\n return {\r\n init: (opts: PlayerControllerOptions, callback?: () => void) => c.init(opts, callback),\r\n loadVehicleModel: (params: vehicleOptions) => c.loadVehicleModel(params),\r\n changeView: () => c.changeView(),\r\n reset: (pos?: THREE.Vector3) => c.reset(pos),\r\n update: (dt?: number) => c.update(dt),\r\n destroy: () => c.destroy(),\r\n setInput: (i: any) => c.setInput(i),\r\n getposition: () => c.getPosition(),\r\n getPerson: () => c.person,\r\n getActiveVehicle: () => c.activeVehicle,\r\n getAllVehicles: () => c.vehicles,\r\n };\r\n}\r\n\r\nexport function onAllEvent(): void {\r\n if (!controllerInstance) controllerInstance = new PlayerController();\r\n controllerInstance.onAllEvent();\r\n}\r\n\r\nexport function offAllEvent(): void {\r\n if (!controllerInstance) return;\r\n controllerInstance.offAllEvent();\r\n}\r\n","import * as THREE from \"three\";\r\n\r\n/**\r\n * 路径规划节点\r\n */\r\nclass PathNode {\r\n position: THREE.Vector3;\r\n g: number = Infinity; // 实际代价\r\n h: number = 0; // 估计代价\r\n f: number = Infinity; // f = g + h\r\n parent: PathNode | null = null;\r\n\r\n constructor(position: THREE.Vector3) {\r\n this.position = position.clone();\r\n }\r\n\r\n equals(other: PathNode): boolean {\r\n return this.position.distanceTo(other.position) < 0.01;\r\n }\r\n}\r\n\r\n/**\r\n * 优先队列（用于A*开放列表）\r\n */\r\nclass PriorityQueue<T> {\r\n private elements: Array<{ priority: number; item: T }> = [];\r\n\r\n enqueue(item: T, priority: number) {\r\n this.elements.push({ priority, item });\r\n this.elements.sort((a, b) => a.priority - b.priority);\r\n }\r\n\r\n dequeue(): T | undefined {\r\n return this.elements.shift()?.item;\r\n }\r\n\r\n isEmpty(): boolean {\r\n return this.elements.length === 0;\r\n }\r\n\r\n contains(item: T, compareFn: (a: T, b: T) => boolean): boolean {\r\n return this.elements.some((e) => compareFn(e.item, item));\r\n }\r\n\r\n update(item: T, newPriority: number, compareFn: (a: T, b: T) => boolean) {\r\n const index = this.elements.findIndex((e) => compareFn(e.item, item));\r\n if (index !== -1) {\r\n this.elements[index].priority = newPriority;\r\n this.elements.sort((a, b) => a.priority - b.priority);\r\n }\r\n }\r\n}\r\n\r\n/**\r\n * 障碍物检测接口\r\n */\r\nexport interface ObstacleChecker {\r\n /**\r\n * 检查两点之间的线段是否被障碍物阻挡\r\n */\r\n isBlocked(start: THREE.Vector3, end: THREE.Vector3): boolean;\r\n\r\n /**\r\n * 获取障碍物周围的导航节点\r\n */\r\n getNavigationNodes(start: THREE.Vector3, goal: THREE.Vector3): THREE.Vector3[];\r\n}\r\n\r\n/**\r\n * 路径规划器配置\r\n */\r\nexport interface PathPlannerConfig {\r\n // 路径可视化\r\n debugEnabled?: boolean;\r\n //场景对象（用于可视化）\r\n scene?: THREE.Scene;\r\n //缩放系数\r\n scale?: number;\r\n}\r\n\r\n/**\r\n * A*路径规划器\r\n */\r\nexport class PathPlanner {\r\n private obstacleChecker: ObstacleChecker;\r\n private config: PathPlannerConfig;\r\n private debugLines: THREE.Line[] = [];\r\n private debugPoints: THREE.Mesh[] = [];\r\n\r\n constructor(obstacleChecker: ObstacleChecker, config: PathPlannerConfig = {}) {\r\n this.obstacleChecker = obstacleChecker;\r\n this.config = {\r\n debugEnabled: false,\r\n scale: 1,\r\n ...config,\r\n };\r\n }\r\n\r\n // 计算启发式距离\r\n\r\n private heuristic(a: THREE.Vector3, b: THREE.Vector3): number {\r\n return a.distanceTo(b);\r\n }\r\n\r\n // A*路径规划算法\r\n findPath(start: THREE.Vector3, goal: THREE.Vector3): THREE.Vector3[] {\r\n // console.log(\"开始A*路径规划...\");\r\n const startTime = performance.now();\r\n\r\n // 首先检查直线路径是否可行\r\n if (!this.obstacleChecker.isBlocked(start, goal)) {\r\n // console.log(\"直线路径可行，无需绕行\");\r\n return [goal];\r\n }\r\n\r\n // 生成导航节点\r\n const navigationPoints = this.obstacleChecker.getNavigationNodes(start, goal);\r\n const allNodes = [new PathNode(start), new PathNode(goal), ...navigationPoints.map((p) => new PathNode(p))];\r\n\r\n if (allNodes.length < 2) {\r\n console.warn(\"导航节点不足，返回直线路径\");\r\n return [goal];\r\n }\r\n\r\n const startNode = allNodes[0];\r\n const goalNode = allNodes[1];\r\n\r\n // 初始化起点\r\n startNode.g = 0;\r\n startNode.h = this.heuristic(startNode.position, goalNode.position);\r\n startNode.f = startNode.h;\r\n\r\n // 开放列表和关闭列表\r\n const openList = new PriorityQueue<PathNode>();\r\n const closedSet = new Set<PathNode>();\r\n\r\n openList.enqueue(startNode, startNode.f);\r\n\r\n const nodeEquals = (a: PathNode, b: PathNode) => a.equals(b);\r\n\r\n // A*主循环\r\n while (!openList.isEmpty()) {\r\n const current = openList.dequeue();\r\n if (!current) break;\r\n\r\n // 到达目标\r\n if (current.equals(goalNode)) {\r\n const path = this.reconstructPath(current);\r\n const endTime = performance.now();\r\n // console.log(`A*路径规划完成，耗时: ${(endTime - startTime).toFixed(2)}ms`);\r\n // console.log(`路径点数量: ${path.length}`);\r\n\r\n // 可视化路径\r\n if (this.config.debugEnabled) {\r\n this.visualizePath([start, ...path]);\r\n }\r\n\r\n return path;\r\n }\r\n\r\n closedSet.add(current);\r\n\r\n // 检查所有邻居节点\r\n for (const neighbor of allNodes) {\r\n if (closedSet.has(neighbor)) continue;\r\n\r\n // 检查从当前节点到邻居节点的路径是否被阻挡\r\n if (this.obstacleChecker.isBlocked(current.position, neighbor.position)) {\r\n continue;\r\n }\r\n\r\n // 计算新的g值\r\n const tentativeG = current.g + current.position.distanceTo(neighbor.position);\r\n\r\n // 如果找到更好的路径\r\n if (tentativeG < neighbor.g) {\r\n neighbor.parent = current;\r\n neighbor.g = tentativeG;\r\n neighbor.h = this.heuristic(neighbor.position, goalNode.position);\r\n neighbor.f = neighbor.g + neighbor.h;\r\n\r\n // 更新或添加到开放列表\r\n if (openList.contains(neighbor, nodeEquals)) {\r\n openList.update(neighbor, neighbor.f, nodeEquals);\r\n } else {\r\n openList.enqueue(neighbor, neighbor.f);\r\n }\r\n }\r\n }\r\n }\r\n\r\n console.warn(\"A*未找到路径，使用直线路径\");\r\n return [goal];\r\n }\r\n\r\n /**\r\n * 重建路径\r\n */\r\n private reconstructPath(endNode: PathNode): THREE.Vector3[] {\r\n const path: THREE.Vector3[] = [];\r\n let current: PathNode | null = endNode;\r\n\r\n while (current !== null) {\r\n path.unshift(current.position.clone());\r\n current = current.parent;\r\n }\r\n\r\n // 移除起点\r\n if (path.length > 0) {\r\n path.shift();\r\n }\r\n\r\n // 路径平滑优化\r\n return this.smoothPath(path);\r\n }\r\n\r\n /**\r\n * 路径平滑\r\n */\r\n private smoothPath(path: THREE.Vector3[]): THREE.Vector3[] {\r\n if (path.length <= 2) return path;\r\n\r\n const smoothed: THREE.Vector3[] = [path[0]];\r\n let current = 0;\r\n\r\n while (current < path.length - 1) {\r\n // 尝试跳过中间点\r\n let farthest = current + 1;\r\n\r\n for (let i = path.length - 1; i > current + 1; i--) {\r\n if (!this.obstacleChecker.isBlocked(path[current], path[i])) {\r\n farthest = i;\r\n break;\r\n }\r\n }\r\n\r\n smoothed.push(path[farthest]);\r\n current = farthest;\r\n }\r\n\r\n return smoothed;\r\n }\r\n\r\n /**\r\n * 可视化路径\r\n */\r\n private visualizePath(path: THREE.Vector3[]) {\r\n if (!this.config.scene || !this.config.debugEnabled) return;\r\n\r\n // 清除之前的可视化\r\n this.clearVisualization();\r\n\r\n const scale = this.config.scale || 1;\r\n\r\n // 绘制路径线\r\n if (path.length > 1) {\r\n const points = path.map((p) => p.clone());\r\n const geometry = new THREE.BufferGeometry().setFromPoints(points);\r\n const material = new THREE.LineBasicMaterial({\r\n color: 0x00ff00,\r\n linewidth: 3,\r\n });\r\n const line = new THREE.Line(geometry, material);\r\n this.config.scene.add(line);\r\n this.debugLines.push(line);\r\n }\r\n\r\n // 绘制路径点\r\n path.forEach((point, index) => {\r\n const geometry = new THREE.SphereGeometry(20 * scale);\r\n const material = new THREE.MeshBasicMaterial({\r\n color: index === path.length - 1 ? 0xff0000 : 0x00ff00,\r\n });\r\n const sphere = new THREE.Mesh(geometry, material);\r\n sphere.position.copy(point);\r\n this.config.scene!.add(sphere);\r\n this.debugPoints.push(sphere);\r\n });\r\n }\r\n\r\n /**\r\n * 清除路径可视化\r\n */\r\n clearVisualization() {\r\n if (!this.config.scene) return;\r\n\r\n this.debugLines.forEach((line) => {\r\n this.config.scene!.remove(line);\r\n line.geometry.dispose();\r\n (line.material as THREE.Material).dispose();\r\n });\r\n this.debugLines = [];\r\n\r\n this.debugPoints.forEach((point) => {\r\n this.config.scene!.remove(point);\r\n point.geometry.dispose();\r\n (point.material as THREE.Material).dispose();\r\n });\r\n this.debugPoints = [];\r\n }\r\n\r\n /**\r\n * 更新配置\r\n */\r\n updateConfig(config: Partial<PathPlannerConfig>) {\r\n this.config = { ...this.config, ...config };\r\n }\r\n\r\n /**\r\n * 销毁\r\n */\r\n dispose() {\r\n this.clearVisualization();\r\n }\r\n}\r\n","import type { World } from \"@dimforge/rapier3d-compat\";\r\nimport * as THREE from \"three\";\r\n\r\nexport type WheelInfo = {\r\n axleCs: THREE.Vector3;\r\n suspensionRestLength: number;\r\n position: THREE.Vector3;\r\n radius: number;\r\n};\r\n\r\nexport function createVehicleController(world: World, chassisBody: any, wheels: (THREE.Object3D | null)[], wheelsInfo: WheelInfo[]) {\r\n if (!world || !chassisBody) return { vehicle: null, updateWheelVisuals: () => {} };\r\n\r\n const vehicle = world.createVehicleController(chassisBody);\r\n const suspensionDirection = new THREE.Vector3(0, -1, 0);\r\n wheelsInfo.forEach((wheel, index) => {\r\n vehicle.addWheel(wheel.position, suspensionDirection, wheel.axleCs, wheel.suspensionRestLength, wheel.radius);\r\n // 轮子相对车身的连接点\r\n vehicle.setWheelChassisConnectionPointCs(index, wheel.position);\r\n // 悬挂方向\r\n vehicle.setWheelDirectionCs(index, suspensionDirection);\r\n // 轮轴方向\r\n vehicle.setWheelAxleCs(index, wheel.axleCs);\r\n // 悬挂静止长度\r\n vehicle.setWheelSuspensionRestLength(index, wheel.suspensionRestLength);\r\n // 轮胎半径\r\n vehicle.setWheelRadius(index, wheel.radius);\r\n // 悬挂最大行程\r\n vehicle.setWheelMaxSuspensionTravel(index, wheel.suspensionRestLength * 1);\r\n // 悬挂刚度\r\n vehicle.setWheelSuspensionStiffness(index, 250);\r\n // 悬挂压缩阻尼\r\n vehicle.setWheelSuspensionCompression(index, 6);\r\n // 悬挂回弹阻尼\r\n vehicle.setWheelSuspensionRelaxation(index, 6);\r\n // 悬挂最大作用力\r\n vehicle.setWheelMaxSuspensionForce(index, 10000);\r\n // 制动\r\n vehicle.setWheelBrake(index, 0);\r\n // 转向角\r\n vehicle.setWheelSteering(index, 0);\r\n // 发动机驱动力\r\n vehicle.setWheelEngineForce(index, 0);\r\n // 纵向抓地参数\r\n vehicle.setWheelFrictionSlip(index, 20);\r\n // 侧向摩擦刚度倍率\r\n vehicle.setWheelSideFrictionStiffness(index, 2);\r\n });\r\n\r\n const up = new THREE.Vector3(0, 1, 0);\r\n const _wheelSteeringQuat = new THREE.Quaternion();\r\n const _wheelRotationQuat = new THREE.Quaternion();\r\n\r\n function updateWheelVisuals() {\r\n for (const [index, wheelObj] of wheels.entries()) {\r\n if (!wheelObj) continue;\r\n try {\r\n const wheelAxleCs = vehicle.wheelAxleCs(index) ?? new THREE.Vector3(1, 0, 0);\r\n const connection = vehicle.wheelChassisConnectionPointCs(index)?.y ?? 0;\r\n const suspension = vehicle.wheelSuspensionLength(index) ?? 0;\r\n const steering = vehicle.wheelSteering(index) ?? 0;\r\n const rotationRad = vehicle.wheelRotation(index) ?? 0;\r\n\r\n wheelObj.position.y = connection - suspension;\r\n\r\n _wheelSteeringQuat.setFromAxisAngle(up, steering);\r\n _wheelRotationQuat.setFromAxisAngle(wheelAxleCs, rotationRad);\r\n\r\n wheelObj.quaternion.copy(_wheelSteeringQuat).multiply(_wheelRotationQuat);\r\n } catch (e) {}\r\n }\r\n }\r\n\r\n function destroy() {\r\n try {\r\n world.removeVehicleController(vehicle);\r\n } catch {}\r\n }\r\n\r\n return {\r\n vehicle: vehicle,\r\n updateWheelVisuals,\r\n destroy,\r\n 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