three-player-controller 0.3.6 → 0.3.8

package/dist/index.js.map

@@ -1 +1 @@
-{"version":3,"sources":["../src/index.ts","../src/playerController.ts","../src/utils/pathPlanner.ts","../src/utils/useVehicleController.ts"],"sourcesContent":["export * from \"./playerController\";\r\n","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 breakIconModule from \"../assets/imgs/break.png\";\r\nimport flyIconModule from \"../assets/imgs/fly.png\";\r\nimport jumpIconModule from \"../assets/imgs/jump.png\";\r\nimport vehicleIconModule from \"../assets/imgs/vehicle.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\n// ==================== 玩家控制器类型 ====================\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        playerFlySpeed?: number;\r\n        rotateY?: number;\r\n        headObjName?: string;\r\n        flyEnabled?: boolean;\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    enableOverShoulderView?: boolean;\r\n};\r\n\r\n// ==================== 车辆类型 ====================\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    followVehicleDirection?: boolean;\r\n    speedMultiplier?: 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    speedMultiplier: number;\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    curPlayerSpeed!: number;\r\n    playerFlySpeed!: number;\r\n    playerSpeed!: number;\r\n    mouseSensity!: number;\r\n    colliderMeshUrl!: string;\r\n    playerFlyEnabled!: boolean;\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    enableOverShoulderView: boolean = false;\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: true,\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        followVehicleDirection: true,\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(\r\n        new THREE.Vector3(0, 1, 0),\r\n        Math.PI,\r\n    );\r\n    closeVehicleDoorTimer: any | null = null;\r\n    boardingPointWorld: THREE.Vector3 | null = null;\r\n    isBoardingAnimPlaying: boolean = false;\r\n    closeDoorTriggered: boolean = false;\r\n    isExitAnimPlaying: boolean = false;\r\n    closeExitDoorTriggered: boolean = false;\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    vehicleBtnEl: HTMLButtonElement | null = null;\r\n    lookPointerId: number | null = null;\r\n    isLookDown = false;\r\n    lastTouchX = 0;\r\n    lastTouchY = 0;\r\n    nearCheckLocal = new THREE.Vector3();\r\n    nearCheckWorld = new THREE.Vector3();\r\n    isNearVehicle = false;\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(\r\n        new THREE.Vector3(),\r\n        new THREE.Vector3(0, -1, 0),\r\n    );\r\n    readonly _raycasterPersonToCam = new THREE.Raycaster(\r\n        new THREE.Vector3(),\r\n        new THREE.Vector3(),\r\n    );\r\n\r\n    centerRay = new THREE.Raycaster();\r\n    centerMouse = new THREE.Vector2();\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 ?? 600) * s;\r\n        this.playerSpeed = (opts.playerModel.speed ?? 300) * s;\r\n        this.playerFlySpeed = (opts.playerModel.playerFlySpeed ?? 2100) * s;\r\n        this.curPlayerSpeed = this.playerSpeed;\r\n        this.playerModel.rotateY = opts.playerModel.rotateY ?? 0;\r\n        this.playerFlyEnabled = opts.playerModel.flyEnabled ?? true;\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 = () =>\r\n            (navigator.maxTouchPoints && navigator.maxTouchPoints > 0) ||\r\n            \"ontouchstart\" in window ||\r\n            /Mobi|Android|iPhone|iPad|iPod/i.test(navigator.userAgent);\r\n        this.isShowMobileControls =\r\n            (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        this.enableOverShoulderView = opts.enableOverShoulderView ?? false;\r\n        this.setOverShoulderView(this.enableOverShoulderView)\r\n    }\r\n\r\n    setOverShoulderView(enable: boolean) {\r\n        if (!enable || this.controllerMode == 1) {\r\n            this.camera.clearViewOffset();\r\n            return;\r\n        }\r\n        const w = window.innerWidth;\r\n        const h = window.innerHeight;\r\n        this.camera.setViewOffset(\r\n            w, h,\r\n            -w * -0.15, 0,\r\n            w, h\r\n        );\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 = (\r\n            RAPIER: any,\r\n            world: any,\r\n            geom: THREE.BufferGeometry,\r\n        ) => {\r\n            let geometry = geom.index\r\n                ? geom.clone().toNonIndexed()\r\n                : 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 =\r\n                vertexCount > 65535\r\n                    ? new Uint32Array(vertexCount)\r\n                    : 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)\r\n                .setRestitution(0)\r\n                .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(\r\n                this.playerModel.url,\r\n            );\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(\r\n                new RoundedBoxGeometry(r * 2, h, r * 2, 1, 75),\r\n                material,\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(\r\n                    new THREE.Vector3(),\r\n                    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            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            console.log('animations', 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(\r\n                            this.shiftPressed ? \"running\" : \"walking\",\r\n                        );\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                if (finishedAction === this.personActions?.get(\"enterCar\")) {\r\n                    this.onEnterCarAnimFinished();\r\n                }\r\n                if (finishedAction === this.personActions?.get(\"exitCar\")) {\r\n                    // this._onExitCarAnimFinished();\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    async switchPlayerModel(newPlayerModel: PlayerControllerOptions[\"playerModel\"]) {\r\n        const savedPos = this.player.position.clone();\r\n        const savedQuat = this.player.quaternion.clone();\r\n\r\n        const wasFirstPerson = this.isFirstPerson;\r\n        if (wasFirstPerson) {\r\n            this.scene.attach(this.camera);\r\n        }\r\n\r\n        if (this.player) {\r\n            this.scene.remove(this.player);\r\n        }\r\n\r\n        if (this.person) {\r\n            this.player.remove(this.person);\r\n            this.person = null;\r\n            this.personHead = null;\r\n        }\r\n\r\n        if (this.personMixer) {\r\n            this.personMixer.stopAllAction();\r\n            this.personMixer.uncacheRoot(this.personMixer.getRoot());\r\n            this.personMixer = undefined;\r\n            this.personActions = undefined;\r\n        }\r\n\r\n        const ratio = newPlayerModel.scale / this.playerModel.scale;\r\n        this.playerModel = { ...this.playerModel, ...newPlayerModel };\r\n\r\n        this.gravity *= ratio;\r\n        this.jumpHeight *= ratio;\r\n        this.playerSpeed *= ratio;\r\n        this.playerFlySpeed *= ratio;\r\n        this.curPlayerSpeed *= ratio;\r\n        this._camEpsilon *= ratio;\r\n        this.minCamDistance *= ratio;\r\n        this.maxCamDistance *= ratio;\r\n        this.orginMaxCamDistance *= ratio;\r\n\r\n        await this.loadPersonGLB();\r\n\r\n        this.player.position.copy(savedPos);\r\n        this.player.quaternion.copy(savedQuat);\r\n\r\n        if (wasFirstPerson) {\r\n            this.setFirstPersonCamera();\r\n        }\r\n\r\n        this.setDebug(this.displayCollider);\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            const speedMultiplier = opts.speedMultiplier ?? 1;\r\n            const followVehicleDirection = opts.followVehicleDirection ?? true;\r\n\r\n            // 参数调整\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            this.vehicleParams.followVehicleDirection = followVehicleDirection;\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) =>\r\n                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(\r\n                    opts.position.x,\r\n                    opts.position.y,\r\n                    opts.position.z,\r\n                )\r\n                .setLinearDamping(this.vehicleParams.chassis.linearDamping)\r\n                .setAngularDamping(this.vehicleParams.chassis.angularDamping)\r\n                .setCanSleep(true)\r\n                .setAdditionalMass(10);\r\n            const chassisBody = this.world.createRigidBody(chassisDesc);\r\n            const chassisCollider = this.RAPIER.ColliderDesc.cuboid(\r\n                halfExtents.x,\r\n                halfExtents.y,\r\n                halfExtents.z,\r\n            );\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(\r\n                        halfExtents.x * 2,\r\n                        halfExtents.y * 2,\r\n                        halfExtents.z * 2,\r\n                    ),\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(\r\n                this.world,\r\n                chassisBody,\r\n                wheelWrappers,\r\n                wheelsInfo,\r\n            );\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(\r\n                    this._createObstacleCheckerFor(vehicleGroup, bbox, scale),\r\n                    {\r\n                        debugEnabled: false,\r\n                        scene: this.scene,\r\n                        scale: this.playerModel.scale,\r\n                    },\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                speedMultiplier,\r\n            };\r\n\r\n            this.vehicles.push(vehicleInstance);\r\n            // console.log(\r\n            //     `车辆加载完成，当前共 ${this.vehicles.length} 辆车`,\r\n            //     vehicleInstance,\r\n            // );\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(\r\n        vehicleGroup: THREE.Group,\r\n        bbox: THREE.Box3,\r\n        scale: number,\r\n    ): 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(\r\n                                halfSize.x * x,\r\n                                halfSize.y * y,\r\n                                halfSize.z * z,\r\n                            );\r\n                            const worldCorner = localCorner\r\n                                .applyQuaternion(vehicleQuat)\r\n                                .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 (\r\n                    intersects !== null &&\r\n                    start.distanceTo(intersection) < length\r\n                );\r\n            },\r\n\r\n            getNavigationNodes: (\r\n                start: THREE.Vector3,\r\n                _goal: THREE.Vector3,\r\n            ): 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(\r\n                    0,\r\n                    0,\r\n                    1,\r\n                ).applyQuaternion(vehicleQuat);\r\n                const vehicleRight = new THREE.Vector3(1, 0, 0).applyQuaternion(\r\n                    vehicleQuat,\r\n                );\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(\r\n                                vehicleForward\r\n                                    .clone()\r\n                                    .multiplyScalar(halfLength + margin),\r\n                            )\r\n                            .add(\r\n                                vehicleRight\r\n                                    .clone()\r\n                                    .multiplyScalar(-halfWidth - margin),\r\n                            )\r\n                            .setY(groundY),\r\n                    );\r\n                    nodes.push(\r\n                        vehiclePos\r\n                            .clone()\r\n                            .add(\r\n                                vehicleForward\r\n                                    .clone()\r\n                                    .multiplyScalar(halfLength + margin),\r\n                            )\r\n                            .add(\r\n                                vehicleRight\r\n                                    .clone()\r\n                                    .multiplyScalar(halfWidth + margin),\r\n                            )\r\n                            .setY(groundY),\r\n                    );\r\n                    nodes.push(\r\n                        vehiclePos\r\n                            .clone()\r\n                            .add(\r\n                                vehicleForward\r\n                                    .clone()\r\n                                    .multiplyScalar(-halfLength - margin),\r\n                            )\r\n                            .add(\r\n                                vehicleRight\r\n                                    .clone()\r\n                                    .multiplyScalar(-halfWidth - margin),\r\n                            )\r\n                            .setY(groundY),\r\n                    );\r\n                    nodes.push(\r\n                        vehiclePos\r\n                            .clone()\r\n                            .add(\r\n                                vehicleForward\r\n                                    .clone()\r\n                                    .multiplyScalar(-halfLength - margin),\r\n                            )\r\n                            .add(\r\n                                vehicleRight\r\n                                    .clone()\r\n                                    .multiplyScalar(halfWidth + margin),\r\n                            )\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 || this.isMovingToBoardingPoint) 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\r\n                .clone()\r\n                .multiplyScalar(v.scale);\r\n            const boardingPointWorld = new THREE.Vector3();\r\n            v.vehicleGroup.localToWorld(\r\n                boardingPointWorld.copy(boardingPointLocal),\r\n            );\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        const vel = v.chassisBody.linvel();\r\n        const horizSpeed = Math.sqrt(vel.x * vel.x + vel.z * vel.z);\r\n        if (horizSpeed > 0.1) return;\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)\r\n            .applyQuaternion(v.vehicleGroup.quaternion)\r\n            .normalize();\r\n\r\n        // 路径规划\r\n        const path = v.pathPlanner.findPath(\r\n            this.player.position.clone(),\r\n            this.boardingPointWorld,\r\n        );\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 (\r\n            !this.isMovingToBoardingPoint ||\r\n            !this.boardingTargetDir ||\r\n            this.boardingWaypoints.length === 0\r\n        ) {\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 =\r\n            this.boardingWaypoints[this.currentWaypointIndex];\r\n        const currentPos = this.player.position.clone();\r\n\r\n        const horizontalDistance = new THREE.Vector2(\r\n            currentWaypoint.x - currentPos.x,\r\n            currentWaypoint.z - currentPos.z,\r\n        ).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(\r\n                currentWaypoint.x - currentPos.x,\r\n                0,\r\n                currentWaypoint.z - currentPos.z,\r\n            ).normalize();\r\n\r\n            const moveDistance = Math.min(\r\n                this.boardingMoveSpeed * this.playerModel.scale * delta,\r\n                horizontalDistance,\r\n            );\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(\r\n                this.player.position,\r\n                lookTarget,\r\n                this.player.up,\r\n            );\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 || !this.isMovingToBoardingPoint) return;\r\n\r\n        const currentDir = new THREE.Vector3(0, 0, -1)\r\n            .applyQuaternion(this.player.quaternion)\r\n            .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(\r\n                this.player.position,\r\n                lookTarget,\r\n                this.player.up,\r\n            );\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            this.isBoardingAnimPlaying = true;\r\n            this.closeDoorTriggered = false;\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    }\r\n\r\n    onEnterCarAnimFinished() {\r\n        const v = this.activeVehicle;\r\n        if (!v || !this.isMovingToBoardingPoint) return;\r\n        this.player.updateMatrixWorld(true);\r\n        const offsetY = this.boardingPointWorld.y - this.player.position.y;\r\n        this.controllerMode = 1;\r\n        this.syncControllerModeBtnEl();\r\n        this.setOverShoulderView(false);\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    }\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 horizSpeed = Math.sqrt(vel.x * vel.x + vel.z * vel.z);\r\n        const isStationary = horizSpeed < 0.1;\r\n        if (isStationary) {\r\n            this.playPersonAnimationByName(\"exitCar\");\r\n            this.isExitAnimPlaying = true;\r\n            this.closeExitDoorTriggered = false;\r\n        } else {\r\n            this.playPersonAnimationByName(\"idle\");\r\n        }\r\n\r\n        this.openVehicleDoor(true);\r\n        this.controllerMode = 0;\r\n        this.syncControllerModeBtnEl();\r\n        this.setOverShoulderView(this.enableOverShoulderView);\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            this.setOverShoulderView(false)\r\n        } else {\r\n            this.controls.enabled = true;\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(\r\n                this.player.quaternion,\r\n            );\r\n            const angle = Math.atan2(dir.z, dir.x);\r\n            const offset = new THREE.Vector3(\r\n                Math.cos(angle) * 400 * this.playerModel.scale,\r\n                200 * this.playerModel.scale,\r\n                Math.sin(angle) * 400 * this.playerModel.scale,\r\n            );\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            this.setOverShoulderView(this.enableOverShoulderView);\r\n        }\r\n\r\n        this.setPointerLock();\r\n    }\r\n\r\n    setFirstPersonCamera() {\r\n        this.controls.enabled = false;\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(\r\n                0,\r\n                40 * this.playerModel.scale,\r\n                30 * this.playerModel.scale,\r\n            );\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 (\r\n            ((this.thirdMouseMode === 0 || this.thirdMouseMode === 1) &&\r\n                !this.isFirstPerson) ||\r\n            this.isFirstPerson\r\n        ) {\r\n            document.body.requestPointerLock();\r\n        } else {\r\n            document.exitPointerLock();\r\n        }\r\n    }\r\n\r\n    setCameraPos() {\r\n        requestAnimationFrame(() => {\r\n            if (this.isFirstPerson) {\r\n                this.person.add(this.camera);\r\n                this.camera.position.set(\r\n                    0,\r\n                    40 * this.playerModel.scale,\r\n                    30 * this.playerModel.scale,\r\n                );\r\n            } else {\r\n                const worldPos = this.player.position.clone();\r\n                const dir = new THREE.Vector3(0, 0, -1).applyQuaternion(\r\n                    this.player.quaternion,\r\n                ); \r\n                const angle = Math.atan2(dir.z, dir.x);\r\n                const offset = new THREE.Vector3(\r\n                    Math.cos(angle) * 400 * this.playerModel.scale,\r\n                    200 * this.playerModel.scale,\r\n                    Math.sin(angle) * 400 * this.playerModel.scale,\r\n                );\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        });\r\n\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(\r\n                    this.camera.rotation.x + pitch,\r\n                    -1.1,\r\n                    1.4,\r\n                );\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\r\n                    .clone()\r\n                    .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(\r\n                    target.x + newX,\r\n                    target.y + newY,\r\n                    target.z + newZ,\r\n                );\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(\r\n                    this.camera.rotation.y + yaw,\r\n                    Math.PI * (3 / 4),\r\n                    Math.PI * (5 / 4),\r\n                );\r\n                this.camera.rotation.x = THREE.MathUtils.clamp(\r\n                    this.camera.rotation.x + pitch,\r\n                    0,\r\n                    Math.PI * (1 / 3),\r\n                );\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\r\n                    .clone()\r\n                    .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(\r\n                    target.x + newX,\r\n                    target.y + newY,\r\n                    target.z + newZ,\r\n                );\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 = (\r\n        geom: THREE.BufferGeometry,\r\n    ): 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, {\r\n                        itemSize,\r\n                        arrayCtor: ctor,\r\n                        examples: 1,\r\n                        normalized,\r\n                    });\r\n                } else {\r\n                    const m = attrMap.get(name)!;\r\n                    if (\r\n                        m.itemSize !== itemSize ||\r\n                        m.arrayCtor !== ctor ||\r\n                        m.normalized !== normalized\r\n                    ) {\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(\r\n                        name,\r\n                        new THREE.BufferAttribute(\r\n                            array,\r\n                            meta.itemSize,\r\n                            meta.normalized,\r\n                        ),\r\n                    );\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            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 obj = gltf.scene.children[0] as any;\r\n            if (obj && obj?.geometry) {\r\n                const mesh = obj;\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            } else {\r\n                obj.traverse((c: any) => {\r\n                    const mesh = c;\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            }\r\n        }\r\n\r\n        const merged = BufferGeometryUtils.mergeGeometries(\r\n            this.collected,\r\n            false,\r\n        );\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 = (\r\n                            mesh.geometry as THREE.BufferGeometry\r\n                        ).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(\r\n            this.dynamicCollected,\r\n            false,\r\n        );\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 =\r\n            normal.x * yAxis.x + normal.y * yAxis.y + normal.z * yAxis.z;\r\n        const normalMagnitude = Math.sqrt(\r\n            normal.x * normal.x + normal.y * normal.y + normal.z * normal.z,\r\n        );\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        // 先加一次碰撞体\r\n        let vGroups: THREE.Group[] = [];\r\n        for (const v of this.vehicles) {\r\n            vGroups.push(v.vehicleGroup);\r\n        }\r\n        this.createDynamicBVH(vGroups);\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            for (const v of this.vehicles) {\r\n                this.clearVehicleVelocity(v);\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 / 40);\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)\r\n                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(\r\n            rotation.x,\r\n            rotation.y,\r\n            rotation.z,\r\n            rotation.w,\r\n        );\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) factor = -Math.sin(slopeAngle) * 10;\r\n\r\n        const accelerateForce = this.vehicleParams.power.accelerateForce * v.speedMultiplier;\r\n        const maxSpeed = this.vehicleParams.power.maxSpeed * v.speedMultiplier;\r\n        const engineForce = (Number(this.fwdPressed) * accelerateForce - Number(this.bkdPressed) * accelerateForce) * factor;\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 =\r\n            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 =\r\n            this.vehicleParams.steering.maxSteerAngle * steerDirection;\r\n        const steering = THREE.MathUtils.lerp(\r\n            currentSteering,\r\n            targetSteering,\r\n            steerLerpFactor,\r\n        );\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            // 将相机跟随目标平移到车辆位置\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            // 根据速度比例动态调整相机距离\r\n            const velocity = chassisBody.linvel();\r\n            const currentSpeed = Math.sqrt(\r\n                velocity.x * velocity.x +\r\n                velocity.y * velocity.y +\r\n                velocity.z * velocity.z,\r\n            );\r\n\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(\r\n                baseCamDistance,\r\n                maxCamDistanceLimit,\r\n                speedRatio,\r\n            );\r\n\r\n            // 射线检测：防止相机穿入碰撞体\r\n            this._personToCam.subVectors(\r\n                this.camera.position,\r\n                vehicleGroup.position,\r\n            );\r\n            const origin = vehicleGroup.position\r\n                .clone()\r\n                .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(\r\n                this.collider as THREE.Object3D,\r\n                false,\r\n            );\r\n            if (intersects.length > 0) {\r\n                // 有遮挡：缩短到碰撞点前方安全距离\r\n                const hit = intersects[0];\r\n                const safeDist = Math.max(\r\n                    hit.distance - this._camEpsilon,\r\n                    this.minCamDistance,\r\n                );\r\n                const targetCamPos = origin\r\n                    .clone()\r\n                    .add(direction.clone().multiplyScalar(safeDist));\r\n                this.camera.position.lerp(targetCamPos, this._camCollisionLerp);\r\n            } else {\r\n                // 无遮挡：扩展到最大距离再做一次检测\r\n                this._raycasterPersonToCam.far = maxCamDistanceLimit;\r\n                const intersectsMaxDis =\r\n                    this._raycasterPersonToCam.intersectObject(\r\n                        this.collider as THREE.Object3D,\r\n                        false,\r\n                    );\r\n                let safeDist = desiredDist;\r\n                if (intersectsMaxDis.length) {\r\n                    const hitMax = intersectsMaxDis[0];\r\n                    safeDist = Math.min(\r\n                        desiredDist,\r\n                        hitMax.distance - this._camEpsilon,\r\n                    );\r\n                }\r\n                const targetCamPos = origin\r\n                    .clone()\r\n                    .add(direction.clone().multiplyScalar(safeDist));\r\n                this.camera.position.lerp(targetCamPos, this._camCollisionLerp);\r\n            }\r\n\r\n            // 行驶且跟随车辆参数开启时：相机跟随速度方向平滑移到车辆正后方\r\n            if (\r\n                (this.fwdPressed || this.bkdPressed) &&\r\n                this.vehicleParams.followVehicleDirection\r\n            ) {\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\r\n                        .clone()\r\n                        .normalize()\r\n                        .negate();\r\n                    this.camBehindDir\r\n                        .lerp(targetBehindDir, this._camCollisionLerp)\r\n                        .normalize();\r\n                    const camHeightOffset = v.size.h;\r\n                    const targetCamPos = lookTarget\r\n                        .clone()\r\n                        .add(\r\n                            this.camBehindDir\r\n                                .clone()\r\n                                .multiplyScalar(desiredDist),\r\n                        )\r\n                        .add(new THREE.Vector3(0, camHeightOffset, 0));\r\n                    this.camera.position.lerp(\r\n                        targetCamPos,\r\n                        this._camCollisionLerp,\r\n                    );\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\r\n            .clone()\r\n            .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(\r\n                new this.RAPIER.Vector3(\r\n                    translation2.x,\r\n                    translation2.y + size.y,\r\n                    translation2.z,\r\n                ),\r\n                true,\r\n            );\r\n            chassisBody.setRotation(\r\n                new this.RAPIER.Quaternion(0, 0, 0, 1),\r\n                true,\r\n            );\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            if (chassisBody.isSleeping()) continue;\r\n\r\n            const velocity = chassisBody.linvel();\r\n            const currentSpeed = Math.sqrt(\r\n                velocity.x * velocity.x +\r\n                velocity.y * velocity.y +\r\n                velocity.z * velocity.z,\r\n            );\r\n            const maxSpeed = this.vehicleParams.power.maxSpeed * v.speedMultiplier;\r\n            if (currentSpeed > maxSpeed) {\r\n                const s = maxSpeed / currentSpeed;\r\n                chassisBody.setLinvel(\r\n                    new this.RAPIER.Vector3(\r\n                        velocity.x * s,\r\n                        velocity.y * s,\r\n                        velocity.z * s,\r\n                    ),\r\n                    true,\r\n                );\r\n            }\r\n\r\n            const translation = chassisBody.translation();\r\n            const rotationSync = chassisBody.rotation();\r\n            vehicleGroup.position.set(\r\n                translation.x,\r\n                translation.y,\r\n                translation.z,\r\n            );\r\n            vehicleGroup.quaternion.set(\r\n                rotationSync.x,\r\n                rotationSync.y,\r\n                rotationSync.z,\r\n                rotationSync.w,\r\n            );\r\n\r\n            if (updateWheelVisuals) updateWheelVisuals();\r\n        }\r\n    }\r\n\r\n    /**\r\n     * 设置人物缩放\r\n     */\r\n    setPlayerScale(newScale: number) {\r\n        if (newScale <= 0) return;\r\n        const ratio = newScale / this.playerModel.scale;\r\n\r\n        this.playerModel.scale = newScale;\r\n        this.gravity *= ratio;\r\n        this.jumpHeight *= ratio;\r\n        this.playerSpeed *= ratio;\r\n        this.playerFlySpeed *= ratio;\r\n        this.curPlayerSpeed *= ratio;\r\n        this._camEpsilon *= ratio;\r\n        this.minCamDistance *= ratio;\r\n        this.maxCamDistance *= ratio;\r\n        this.orginMaxCamDistance *= ratio;\r\n\r\n        if (this.isFirstPerson) this.scene.attach(this.camera);\r\n        this.player?.scale.multiplyScalar(ratio);\r\n        if (this.player?.capsuleInfo) this.player.capsuleInfo.radius *= ratio;\r\n        if (this.isFirstPerson) this.setFirstPersonCamera();\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        // 上车衔接关门动画\r\n        if (this.isBoardingAnimPlaying) {\r\n            const action = this.personActions?.get(\"enterCar\");\r\n            const duration = action.getClip().duration;\r\n            const timeScale = action.getEffectiveTimeScale();\r\n            const remaining = ((duration - action.time) / timeScale) * 1000;\r\n\r\n            // 剩余500ms执行关门动画\r\n            if (!this.closeDoorTriggered && remaining <= 500) {\r\n                this.closeDoorTriggered = true;\r\n                this.openVehicleDoor(false);\r\n            }\r\n\r\n            // 动画结束\r\n            if (action.time >= duration) {\r\n                this.isBoardingAnimPlaying = false;\r\n                this.closeDoorTriggered = false;\r\n                this.onEnterCarAnimFinished();\r\n                return;\r\n            }\r\n        }\r\n        // 下车衔接关门动画\r\n        if (this.isExitAnimPlaying) {\r\n            const action = this.personActions?.get(\"exitCar\");\r\n            if (action) {\r\n                const duration = action.getClip().duration;\r\n                const timeScale = action.getEffectiveTimeScale();\r\n                const remaining = ((duration - action.time) / timeScale) * 1000;\r\n\r\n                // 剩余 500ms 时关门\r\n                if (!this.closeExitDoorTriggered && remaining <= 500) {\r\n                    this.closeExitDoorTriggered = true;\r\n                    this.openVehicleDoor(false);\r\n                }\r\n\r\n                // 动画结束\r\n                if (action.time >= duration) {\r\n                    this.isExitAnimPlaying = false;\r\n                    this.closeExitDoorTriggered = false;\r\n                }\r\n            }\r\n        }\r\n\r\n        this.updateMixers(delta);\r\n        if (this.controllerMode === 1) return;\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.curPlayerSpeed = this.shiftPressed ? this.playerFlySpeed * 2 : this.playerFlySpeed\r\n        } else {\r\n            this.curPlayerSpeed = this.shiftPressed ? this.playerSpeed * 2 : this.playerSpeed;\r\n        }\r\n\r\n        this.moveDir.normalize().applyAxisAngle(this.upVector, angle);\r\n        this.player.position.addScaledVector(\r\n            this.moveDir,\r\n            this.curPlayerSpeed * delta,\r\n        );\r\n\r\n        // 向下射线检测地面\r\n        let playerDistanceFromGround = Infinity;\r\n        this._originTmp.set(\r\n            this.player.position.x,\r\n            this.player.position.y,\r\n            this.player.position.z,\r\n        );\r\n        this._raycaster.ray.origin.copy(this._originTmp);\r\n        const intersects = this._raycaster.intersectObject(\r\n            this.collider as THREE.Object3D,\r\n            false,\r\n        );\r\n\r\n        if (intersects.length > 0) {\r\n            playerDistanceFromGround =\r\n                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(\r\n                        this.playerVelocity,\r\n                        delta,\r\n                    );\r\n                    this.playerIsOnGround = false;\r\n                } else if (\r\n                    playerDistanceFromGround >= h &&\r\n                    playerDistanceFromGround < maxH\r\n                ) {\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 (\r\n                    playerDistanceFromGround >= minH &&\r\n                    playerDistanceFromGround < h\r\n                ) {\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(\r\n                        this.player.position.x,\r\n                        intersects[0].point.y + h,\r\n                        this.player.position.z,\r\n                    );\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\r\n            .applyMatrix4(this.player.matrixWorld)\r\n            .applyMatrix4(this.tempMat);\r\n        this.tempSegment.end\r\n            .applyMatrix4(this.player.matrixWorld)\r\n            .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) =>\r\n                    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(\r\n                        this.tempSegment,\r\n                        triPoint,\r\n                        capsulePoint,\r\n                    );\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\r\n                            .sub(triPoint)\r\n                            .normalize();\r\n                        this.tempSegment.start.addScaledVector(\r\n                            direction,\r\n                            depth,\r\n                        );\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) =>\r\n                    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(\r\n                        this.tempSegment,\r\n                        triPoint,\r\n                        capsulePoint,\r\n                    );\r\n                    if (distance < capsuleInfo.radius) {\r\n                        const depth = capsuleInfo.radius - distance;\r\n                        const direction = capsulePoint\r\n                            .sub(triPoint)\r\n                            .normalize();\r\n                        this.tempSegment.start.addScaledVector(\r\n                            direction,\r\n                            depth,\r\n                        );\r\n                        this.tempSegment.end.addScaledVector(direction, depth);\r\n                    }\r\n                },\r\n            });\r\n        }\r\n\r\n        const newPosition = this.tempVector\r\n            .copy(this.tempSegment.start)\r\n            .applyMatrix4(this.collider!.matrixWorld);\r\n        const deltaVector = this.tempVector2.subVectors(\r\n            newPosition,\r\n            this.player.position,\r\n        );\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(\r\n                    this.player.position,\r\n                    lookTarget,\r\n                    this.player.up,\r\n                );\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 (\r\n                (this.thirdMouseMode === 1 || this.thirdMouseMode === 3) &&\r\n                this.moveDir.lengthSq() > 0\r\n            ) {\r\n                lookTarget = this.player.position.clone().add(this.moveDir);\r\n                this.targetMat.lookAt(\r\n                    this.player.position,\r\n                    lookTarget,\r\n                    this.player.up,\r\n                );\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\r\n                    .clone()\r\n                    .add(this.fwdPressed ? this.moveDir : this.camDir);\r\n                this.targetMat.lookAt(\r\n                    this.player.position,\r\n                    lookTarget,\r\n                    this.player.up,\r\n                );\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 / 8) * 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(\r\n                    this.camera.position,\r\n                    this.player.position,\r\n                );\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 =\r\n                    this._raycasterPersonToCam.intersectObject(\r\n                        this.collider as THREE.Object3D,\r\n                        false,\r\n                    );\r\n\r\n                if (intersectsCamera.length > 0) {\r\n                    const hit = intersectsCamera[0];\r\n                    const safeDist = Math.max(\r\n                        hit.distance - this._camEpsilon,\r\n                        this.minCamDistance,\r\n                    );\r\n                    const targetCamPos = origin\r\n                        .clone()\r\n                        .add(direction.clone().multiplyScalar(safeDist));\r\n                    this.camera.position.lerp(\r\n                        targetCamPos,\r\n                        this._camCollisionLerp,\r\n                    );\r\n                } else {\r\n                    this._raycasterPersonToCam.far = this.maxCamDistance;\r\n                    const intersectsMaxDis =\r\n                        this._raycasterPersonToCam.intersectObject(\r\n                            this.collider as THREE.Object3D,\r\n                            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\r\n                        .clone()\r\n                        .add(direction.clone().multiplyScalar(safeDist));\r\n                    this.camera.position.lerp(\r\n                        targetCamPos,\r\n                        this._camCollisionLerp,\r\n                    );\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(\r\n                this.player.position.x,\r\n                10000,\r\n                this.player.position.z,\r\n            );\r\n            this._raycaster.ray.origin.copy(this._originTmp);\r\n            const intersectsFall = this._raycaster.intersectObject(\r\n                this.collider as THREE.Object3D,\r\n                false,\r\n            );\r\n\r\n            if (intersectsFall.length > 0) {\r\n                console.log(\"玩家为bug意外掉落\");\r\n                this.reset(\r\n                    new THREE.Vector3(\r\n                        this.player.position.x,\r\n                        intersectsFall[0].point.y + 5,\r\n                        this.player.position.z,\r\n                    ),\r\n                );\r\n            } else {\r\n                console.log(\"玩家正常掉落\");\r\n                this.reset(\r\n                    new THREE.Vector3(\r\n                        this.player.position.x,\r\n                        this.player.position.y + 15,\r\n                        this.player.position.z,\r\n                    ),\r\n                );\r\n            }\r\n        }\r\n\r\n        // 显示移动端按钮时检测\r\n        if (this.isShowMobileControls) {\r\n            if (this.vehicles.length) {\r\n                let near = false;\r\n                for (const v of this.vehicles) {\r\n                    this.nearCheckLocal\r\n                        .copy(v.boardingPoint)\r\n                        .multiplyScalar(v.scale);\r\n                    v.vehicleGroup.localToWorld(\r\n                        this.nearCheckWorld.copy(this.nearCheckLocal),\r\n                    );\r\n\r\n                    if (\r\n                        this.player.position.distanceTo(this.nearCheckWorld) <\r\n                        800 * this.playerModel.scale\r\n                    ) {\r\n                        near = true;\r\n                        this.syncVehicleBtnEl(near);\r\n                        break;\r\n                    }\r\n                }\r\n                if (near !== this.isNearVehicle) {\r\n                    this.isNearVehicle = near;\r\n                    this.syncVehicleBtnEl(near);\r\n                }\r\n            } else {\r\n                this.isNearVehicle = false;\r\n                this.syncVehicleBtnEl(false);\r\n            }\r\n        }\r\n    }\r\n\r\n    /**\r\n     * 获取屏幕中心点向前射线与碰撞体的交点\r\n     */\r\n    getCenterScreenRaycastHit(): THREE.Intersection | undefined {\r\n        this.camera.updateMatrixWorld();\r\n        this.centerRay.setFromCamera(this.centerMouse, this.camera);\r\n        const intersects = this.centerRay.intersectObject(this.collider, false);\r\n        return intersects[0];\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            toggleVehicle: 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 (\r\n            typeof input.lookDeltaX === \"number\" &&\r\n            typeof input.lookDeltaY === \"number\"\r\n        ) {\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                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                this.spacePressed = true;\r\n                if (this.controllerMode == 1) return;\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 && this.playerFlyEnabled && this.controllerMode == 0) {\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        if (input.toggleVehicle) {\r\n            if (this.controllerMode == 0) {\r\n                this.enterVehicle();\r\n            } else {\r\n                this.exitVehicle();\r\n            }\r\n        }\r\n    }\r\n\r\n    private setAnimationByPressed = () => {\r\n        this.maxCamDistance = this.orginMaxCamDistance;\r\n        // 重置标志位\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        if (this.isExitAnimPlaying) {\r\n            this.isExitAnimPlaying = false;\r\n            this.closeExitDoorTriggered = false;\r\n        }\r\n        if (this.isBoardingAnimPlaying) {\r\n            this.isBoardingAnimPlaying = false;\r\n            this.closeDoorTriggered = false;\r\n        }\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 (\r\n                !this.fwdPressed &&\r\n                !this.bkdPressed &&\r\n                !this.lftPressed &&\r\n                !this.rgtPressed\r\n            ) {\r\n                this.playPersonAnimationByName(\"idle\");\r\n                return;\r\n            }\r\n\r\n            if (this.fwdPressed) {\r\n                this.playPersonAnimationByName(\r\n                    this.shiftPressed ? \"running\" : \"walking\",\r\n                );\r\n                return;\r\n            }\r\n\r\n            if (\r\n                !this.isFirstPerson &&\r\n                (this.lftPressed || this.rgtPressed || this.bkdPressed)\r\n            ) {\r\n                this.playPersonAnimationByName(\r\n                    this.shiftPressed ? \"running\" : \"walking\",\r\n                );\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                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                this.spacePressed = true;\r\n                if (this.controllerMode == 1) return;\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 == 0 && this.playerFlyEnabled) {\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                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: `${JOY_SIZE + 40}px`,\r\n            touchAction: \"none\",\r\n            zIndex: \"999\",\r\n            pointerEvents: \"auto\",\r\n            WebkitUserSelect: \"none\",\r\n            userSelect: \"none\",\r\n        });\r\n        container.appendChild(this.joystickZoneEl);\r\n\r\n        [\"touchstart\", \"touchmove\", \"touchend\", \"touchcancel\"].forEach(\r\n            (evtName) => {\r\n                this.joystickZoneEl?.addEventListener(\r\n                    evtName,\r\n                    (e) => e.preventDefault(),\r\n                    {\r\n                        passive: false,\r\n                    },\r\n                );\r\n            },\r\n        );\r\n\r\n        this.joystickManager = nipple.create({\r\n            zone: this.joystickZoneEl,\r\n            mode: \"static\",\r\n            position: {\r\n                left: `${(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 || {\r\n                dirX: 0,\r\n                dirY: 0,\r\n                shift: false,\r\n            };\r\n            if (\r\n                dirX === prev.dirX &&\r\n                dirY === prev.dirY &&\r\n                isSprinting === prev.shift\r\n            )\r\n                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 || {\r\n                dirX: 0,\r\n                dirY: 0,\r\n                shift: false,\r\n            };\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(\r\n            (evtName) => {\r\n                this.lookAreaEl?.addEventListener(\r\n                    evtName,\r\n                    (e) => e.preventDefault(),\r\n                    {\r\n                        passive: false,\r\n                    },\r\n                );\r\n            },\r\n        );\r\n\r\n        this.lookAreaEl.addEventListener(\"pointerdown\", this.onPointerDown, {\r\n            passive: false,\r\n        });\r\n        this.lookAreaEl.addEventListener(\"pointermove\", this.onPointerMove, {\r\n            passive: false,\r\n        });\r\n        this.lookAreaEl.addEventListener(\"pointerup\", this.onPointerUp, {\r\n            passive: false,\r\n        });\r\n        this.lookAreaEl.addEventListener(\"pointercancel\", this.onPointerUp, {\r\n            passive: false,\r\n        });\r\n\r\n        const createBtn = (\r\n            rightPx: number,\r\n            bottomPx: number,\r\n            bgUrl?: string,\r\n        ) => {\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(), {\r\n                    passive: false,\r\n                });\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        this.vehicleBtnEl = createBtn(14 + 100, 14 + 120, vehicleIconModule);\r\n        this.vehicleBtnEl.addEventListener(\r\n            \"touchstart\",\r\n            (e) => {\r\n                e.preventDefault();\r\n                this.setInput({ toggleVehicle: 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(\r\n                    this.joystickZoneEl,\r\n                );\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            if (this.vehicleBtnEl?.parentElement) {\r\n                this.vehicleBtnEl.parentElement.removeChild(this.vehicleBtnEl);\r\n                this.vehicleBtnEl = null;\r\n            }\r\n            this.lookAreaEl?.removeEventListener(\r\n                \"pointerdown\",\r\n                this.onPointerDown,\r\n            );\r\n            this.lookAreaEl?.removeEventListener(\r\n                \"pointermove\",\r\n                this.onPointerMove,\r\n            );\r\n            this.lookAreaEl?.removeEventListener(\"pointerup\", this.onPointerUp);\r\n            this.lookAreaEl?.removeEventListener(\r\n                \"pointercancel\",\r\n                this.onPointerUp,\r\n            );\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    syncVehicleBtnEl(show: boolean) {\r\n        if (!this.vehicleBtnEl) return;\r\n        this.vehicleBtnEl.style.display = show ? \"block\" : \"none\";\r\n    }\r\n\r\n    syncControllerModeBtnEl() {\r\n        if (!this.isShowMobileControls) return;\r\n        if (this.controllerMode == 0) {\r\n            // 人物控制\r\n            this.flyBtnEl.style.display = \"block\";\r\n            const overlayColor = \"rgba(0,0,0,0.5)\";\r\n            this.jumpBtnEl.style.backgroundImage = `linear-gradient(${overlayColor}, ${overlayColor}), url(\"${jumpIconModule}\")`;\r\n        } else {\r\n            // 车辆控制\r\n            this.flyBtnEl.style.display = \"none\";\r\n            const overlayColor = \"rgba(0,0,0,0.5)\";\r\n            this.jumpBtnEl.style.backgroundImage = `linear-gradient(${overlayColor}, ${overlayColor}), url(\"${breakIconModule}\")`;\r\n            this.jumpBtnEl.style.backgroundImage = `url(${breakIconModule})`;\r\n        }\r\n    }\r\n\r\n    // ==================== 更新参数 ====================\r\n\r\n    setMouseSensitivity(mouseSensity: number) {\r\n        this.mouseSensity = mouseSensity;\r\n        this.controls.rotateSpeed = this.mouseSensity * 0.05;\r\n    }\r\n\r\n    setGravity(gravity: number) {\r\n        this.gravity = gravity * this.playerModel.scale;\r\n    }\r\n\r\n    setJumpHeight(jumpHeight: number) {\r\n        this.jumpHeight = jumpHeight * this.playerModel.scale;\r\n    }\r\n\r\n    setPlayerSpeed(playerSpeed: number) {\r\n        this.playerSpeed = playerSpeed * this.playerModel.scale;\r\n        this.curPlayerSpeed = this.playerSpeed;\r\n    }\r\n\r\n    setPlayerFlySpeed(playerFlySpeed: number) {\r\n        this.playerFlySpeed = playerFlySpeed * this.playerModel.scale;\r\n    }\r\n\r\n    setMinCamDistance(minCamDistance: number) {\r\n        this.minCamDistance = minCamDistance * this.playerModel.scale;\r\n    }\r\n\r\n    setMaxCamDistance(maxCamDistance: number) {\r\n        this.maxCamDistance = maxCamDistance * this.playerModel.scale;\r\n        this.orginMaxCamDistance = this.maxCamDistance;\r\n    }\r\n\r\n    setThirdMouseMode(thirdMouseMode: 0 | 1 | 2 | 3) {\r\n        this.thirdMouseMode = thirdMouseMode;\r\n        this.setPointerLock();\r\n    }\r\n\r\n    setEnableZoom(enableZoom: boolean) {\r\n        this.enableZoom = enableZoom;\r\n        this.controls.enableZoom = this.enableZoom;\r\n    }\r\n\r\n    setDebug(debug: boolean) {\r\n        if (this.collider) this.scene.remove(this.collider);\r\n        if (debug) {\r\n            this.scene.add(this.collider);\r\n            (this.player.material as THREE.Material).opacity = 0.5;\r\n        } else {\r\n            (this.player.material as THREE.Material).opacity = 0;\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        getCenterScreenRaycastHit: () => c.getCenterScreenRaycastHit(),\r\n        getPerson: () => c.person,\r\n        getActiveVehicle: () => c.activeVehicle,\r\n        getAllVehicles: () => c.vehicles,\r\n        switchPlayerModel: (model: PlayerControllerOptions[\"playerModel\"]) => c.switchPlayerModel(model),\r\n        setMouseSensitivity: (mouseSensity: number) => c.setMouseSensitivity(mouseSensity),\r\n        setGravity: (gravity: number) => c.setGravity(gravity),\r\n        setJumpHeight: (jumpHeight: number) => c.setJumpHeight(jumpHeight),\r\n        setPlayerSpeed: (playerSpeed: number) => c.setPlayerSpeed(playerSpeed),\r\n        setPlayerFlySpeed: (playerFlySpeed: number) => c.setPlayerFlySpeed(playerFlySpeed),\r\n        setMinCamDistance: (minCamDistance: number) => c.setMinCamDistance(minCamDistance),\r\n        setMaxCamDistance: (maxCamDistance: number) => c.setMaxCamDistance(maxCamDistance),\r\n        setThirdMouseMode: (thirdMouseMode: 0 | 1 | 2 | 3) => c.setThirdMouseMode(thirdMouseMode),\r\n        setEnableZoom: (enableZoom: boolean) => c.setEnableZoom(enableZoom),\r\n        setDebug: (debug: boolean) => c.setDebug(debug),\r\n        setOverShoulderView: (enable: boolean) => c.setOverShoulderView(enable),\r\n        setPlayerScale: (scale: number) => c.setPlayerScale(scale),\r\n    };\r\n}\r\n\r\nexport type playerController = ReturnType<typeof playerController>;\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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+{"version":3,"sources":["../src/index.ts","../src/playerController.ts","../src/utils/mobileControls.ts","../src/utils/vehicleLoader.ts","../src/utils/pathPlanner.ts","../src/utils/useVehicleController.ts"],"sourcesContent":["export * from \"./playerController\";\r\n","import * as THREE from \"three\";\nimport { acceleratedRaycast, MeshBVH, MeshBVHHelper } from \"three-mesh-bvh\";\nimport type { GLTF } from \"three/examples/jsm/Addons.js\";\nimport { OrbitControls } from \"three/examples/jsm/controls/OrbitControls.js\";\nimport { RoundedBoxGeometry } from \"three/examples/jsm/geometries/RoundedBoxGeometry.js\";\nimport { DRACOLoader } from \"three/examples/jsm/loaders/DRACOLoader.js\";\nimport { GLTFLoader } from \"three/examples/jsm/loaders/GLTFLoader.js\";\nimport * as BufferGeometryUtils from \"three/examples/jsm/utils/BufferGeometryUtils.js\";\nimport type { World } from \"@dimforge/rapier3d-compat\";\n\nimport { MobileControls } from \"./utils/mobileControls\";\nimport { loadVehicleModel } from \"./utils/vehicleLoader\";\nimport type { PlayerControllerOptions, PlayerModelOptions, VehicleOptions, VehicleInstance } from \"./types\";\n\nTHREE.Mesh.prototype.raycast = acceleratedRaycast;\n\nlet controllerInstance: PlayerController | null = null;\nconst clock = new THREE.Clock();\n\nfunction isMobileDevice() {\n    return /Android|iPhone|iPad|iPod|Mobile/i.test(navigator.userAgent);\n}\n\nclass PlayerController {\n\n    // ==================== 场景引用 ====================\n    loader: GLTFLoader = new GLTFLoader();\n    scene!: THREE.Scene;\n    camera!: THREE.PerspectiveCamera;\n    controls!: OrbitControls;\n\n    // ==================== 玩家配置 ====================\n    // 基础引用（由 init 注入）\n    playerModel!: PlayerModelOptions;\n    initPos!: THREE.Vector3;\n    // 物理参数\n    gravity: number = -2400;\n    jumpHeight: number = 600;\n    playerSpeed: number = 300;\n    playerFlySpeed: number = 2100;\n    curPlayerSpeed: number = 0;\n    // 交互参数\n    mouseSensitivity: number = 5;\n    thirdMouseMode: 0 | 1 | 2 | 3 = 1;\n    enableZoom: boolean = false;\n    playerFlyEnabled: boolean = true;\n    isShowMobileControls: boolean = true;\n    enableOverShoulderView: boolean = false;\n\n    // ==================== 玩家胶囊体 ====================\n    playerCapsuleRadius: number = 45;\n    playerCapsuleHeight: number = 180;\n    playerCapsuleRadiusRatio: number = 1;\n    isFirstPerson: boolean = false;\n    boundingBoxMinY: number = 0;\n\n    // ==================== 运行状态 ====================\n    controllerMode: 0 | 1 = 0;   // 0:人物  1:车辆\n    playerIsOnGround: boolean = false;\n    isupdate: boolean = true;\n    isFlying: boolean = false;\n    isChangeControllerTransitionTimer: any = null;\n\n    // ==================== 输入按键 ====================\n    fwdPressed: boolean = false;\n    bkdPressed: boolean = false;\n    lftPressed: boolean = false;\n    rgtPressed: boolean = false;\n    spacePressed: boolean = false;\n    ctPressed: boolean = false;\n    shiftPressed: boolean = false;\n\n    // ==================== 相机参数 ====================\n    camCollisionLerp: number = 0.18;\n    camEpsilon: number = 35;\n    minCamDistance: number = 100;\n    maxCamDistance: number = 440;\n    orginMaxCamDistance: number = 440;\n\n    // ==================== 场景碰撞体 ====================\n    collider: THREE.Mesh | null = null;\n    visualizer: MeshBVHHelper | null = null;\n    player!: THREE.Mesh & { capsuleInfo?: any };\n    person: THREE.Object3D | null = null;\n    personHead: THREE.Object3D | null = null;\n    collected: THREE.BufferGeometry[] = [];\n    dynamicCollider: THREE.Mesh | null = null;\n    dynamicCollected: THREE.BufferGeometry[] = [];\n\n    // ==================== 车辆系统 ====================\n    vehicles: VehicleInstance[] = [];\n    activeVehicle: VehicleInstance | null = null;\n    vehicleLength: number = 6;\n    RAPIER: any | null = null;\n    world: World | null = null;\n    wheelSteeringQuat = new THREE.Quaternion();\n    wheelRotationQuat = new THREE.Quaternion();\n    camBehindDir = new THREE.Vector3(0, 0, 1);\n    vehicleParams = {\n        debug: { showPhysicsBox: false },\n        chassis: { linearDamping: 0.5, angularDamping: 0.5 },\n        model: { rotation: -Math.PI / 2 },\n        power: { accelerateForce: 50, brakeForce: 200, maxSpeed: 10000 },\n        steering: { maxSteerAngle: Math.PI / 4, steerSpeed: 0.5, steerReturnSpeed: 1 },\n        followVehicleDirection: true,\n    };\n\n    // ==================== 上车流程 ====================\n    isMovingToBoardingPoint: boolean = false;\n    boardingWaypoints: THREE.Vector3[] = [];\n    currentWaypointIndex: number = 0;\n    boardingTargetDir: THREE.Vector3 | null = null;\n    boardingMoveSpeed: number = 300;\n    boardingRotateSpeed: number = 10;\n    boardingPointWorld: THREE.Vector3 | null = null;\n    isBoardingAnimPlaying: boolean = false;\n    closeDoorTriggered: boolean = false;\n    isExitAnimPlaying: boolean = false;\n    closeExitDoorTriggered: boolean = false;\n    closeVehicleDoorTimer: any | null = null;\n    flip180Quat = new THREE.Quaternion().setFromAxisAngle(new THREE.Vector3(0, 1, 0), Math.PI);\n\n    // ==================== 动画系统 ====================\n    personMixer?: THREE.AnimationMixer;\n    personActions?: Map<string, THREE.AnimationAction>;\n    actionState!: THREE.AnimationAction;\n    recheckAnimTimer: any | null = null;\n    allAnimations: THREE.AnimationClip[] = [];\n\n    // ==================== 移动端控制 ====================\n    mobileControls: MobileControls | null = null;\n    nearCheckLocal = new THREE.Vector3();\n    nearCheckWorld = new THREE.Vector3();\n    isNearVehicle = false;\n\n    // ==================== 调试显示 ====================\n    displayPlayer: boolean = false;\n    displayCollider: boolean = false;\n    displayVisualizer: boolean = false;\n\n    // ==================== 方向常量 ====================\n    rotationSpeed = 10;\n    DIR_FWD = new THREE.Vector3(0, 0, -1);\n    DIR_BKD = new THREE.Vector3(0, 0, 1);\n    DIR_LFT = new THREE.Vector3(-1, 0, 0);\n    DIR_RGT = new THREE.Vector3(1, 0, 0);\n    DIR_UP = new THREE.Vector3(0, 1, 0);\n\n    // ==================== 复用向量 ====================\n    upVector = new THREE.Vector3(0, 1, 0);\n    playerVelocity = new THREE.Vector3();\n    camDir = new THREE.Vector3();\n    moveDir = new THREE.Vector3();\n    targetQuat = new THREE.Quaternion();\n    targetMat = new THREE.Matrix4();\n    tempVector = new THREE.Vector3();\n    tempVector2 = new THREE.Vector3();\n    tempBox = new THREE.Box3();\n    tempMat = new THREE.Matrix4();\n    tempSegment = new THREE.Line3();\n\n    // ==================== 射线检测 ====================\n    personToCam = new THREE.Vector3();\n    originTmp = new THREE.Vector3();\n    raycaster = new THREE.Raycaster(new THREE.Vector3(), new THREE.Vector3(0, -1, 0));\n    raycasterPersonToCam = new THREE.Raycaster(new THREE.Vector3(), new THREE.Vector3());\n    centerRay = new THREE.Raycaster();\n    centerMouse = new THREE.Vector2();\n\n    constructor() {\n        (this.raycaster as any).firstHitOnly = true;\n        (this.raycasterPersonToCam as any).firstHitOnly = true;\n    }\n\n    // ==================== 初始化 ====================\n\n    // 初始化控制器\n    async init(opts: PlayerControllerOptions, callback?: () => void) {\n        const m = opts.playerModel;\n        const s = m.scale ?? 1;\n\n        // 场景引用赋值\n        this.scene = opts.scene;\n        this.camera = opts.camera;\n        this.camera.rotation.order = \"YXZ\";\n        this.controls = opts.controls;\n\n        // 玩家模型配置\n        this.playerModel = m;\n        this.initPos = opts.initPos\n            ? new THREE.Vector3(opts.initPos.x, opts.initPos.y, opts.initPos.z)\n            : new THREE.Vector3(0, 0, 0);\n\n        // 物理运行时值  传入值/字段默认值 * scale\n        const pm = this.playerModel;\n        this.gravity = (pm.gravity ?? this.gravity) * s;\n        this.jumpHeight = (pm.jumpHeight ?? this.jumpHeight) * s;\n        this.playerSpeed = (pm.speed ?? this.playerSpeed) * s;\n        this.playerFlySpeed = (pm.flySpeed ?? this.playerFlySpeed) * s;\n        this.curPlayerSpeed = this.playerSpeed;\n        this.playerFlyEnabled = pm.flyEnabled ?? this.playerFlyEnabled;\n        this.playerCapsuleRadiusRatio = pm.capsuleRadiusRatio ?? this.playerCapsuleRadiusRatio;\n\n        // 相机参数\n        this.mouseSensitivity = opts.mouseSensitivity ?? this.mouseSensitivity;\n        this.thirdMouseMode = opts.thirdMouseMode ?? this.thirdMouseMode;\n        this.enableZoom = opts.enableZoom ?? this.enableZoom;\n        this.minCamDistance = (opts.minCamDistance ?? this.minCamDistance) * s;\n        this.maxCamDistance = (opts.maxCamDistance ?? this.maxCamDistance) * s;\n        this.orginMaxCamDistance = this.maxCamDistance;\n        this.camEpsilon = this.camEpsilon * s;\n\n        // UI 参数\n        this.isShowMobileControls = (opts.isShowMobileControls ?? this.isShowMobileControls) && isMobileDevice();\n        this.enableOverShoulderView = opts.enableOverShoulderView ?? this.enableOverShoulderView;\n\n        // 移动端控制\n        if (this.isShowMobileControls) {\n            this.mobileControls = new MobileControls(i => this.setInput(i), this.controls);\n            await this.mobileControls.init();\n        }\n\n        await this.createBVH(opts.colliderMeshUrl);\n        await this.loadPersonGLB();\n\n        this.onAllEvent();\n        this.setCameraPos();\n        this.setControls();\n        this.setOverShoulderView(this.enableOverShoulderView);\n        callback?.();\n    }\n\n    // 过肩视角切换\n    setOverShoulderView(enable: boolean) {\n        if (!enable || this.controllerMode === 1) { this.camera.clearViewOffset(); return; }\n        const w = window.innerWidth;\n        const h = window.innerHeight;\n        this.camera.setViewOffset(w, h, -w * -0.15, 0, w, h);\n    }\n\n    // 初始化加载器\n    async initLoader() {\n        const dracoLoader = new DRACOLoader();\n        dracoLoader.setDecoderPath(\"https://unpkg.com/three@0.180.0/examples/jsm/libs/draco/gltf/\");\n        dracoLoader.setDecoderConfig({ type: \"js\" });\n        this.loader.setDRACOLoader(dracoLoader);\n    }\n\n    // 初始化物理引擎\n    async initRapier() {\n        if (this.RAPIER) return;\n        this.RAPIER = await import(\"@dimforge/rapier3d-compat\");\n        await this.RAPIER.init();\n\n        this.world = new this.RAPIER.World(new this.RAPIER.Vector3(0, -9.81, 0)) as World;\n        (this.world as any).maxCcdSubsteps = 2;\n\n        const addTrimesh = (RAPIER: any, world: any, geom: THREE.BufferGeometry) => {\n            let g = geom.index ? geom.clone().toNonIndexed() : geom.clone();\n            const pos = g.attributes.position;\n            const count = pos.count;\n            const verts = new Float32Array(count * 3);\n            const tmp = new THREE.Vector3();\n            for (let i = 0; i < count; i++) {\n                tmp.fromBufferAttribute(pos, i);\n                verts[i * 3] = tmp.x; verts[i * 3 + 1] = tmp.y; verts[i * 3 + 2] = tmp.z;\n            }\n            const indices = count > 65535 ? new Uint32Array(count) : new Uint16Array(count);\n            for (let i = 0; i < count; i++) indices[i] = i;\n\n            const body = world.createRigidBody(RAPIER.RigidBodyDesc.fixed());\n            world.createCollider(\n                RAPIER.ColliderDesc.trimesh(verts, indices).setRestitution(0).setFriction(0.8),\n                body,\n            );\n        };\n\n        for (const g of this.collected) addTrimesh(this.RAPIER, this.world, g);\n\n        const groundBody = this.world.createRigidBody(this.RAPIER.RigidBodyDesc.fixed());\n        groundBody.userData = { outOfBounds: true };\n    }\n\n    // ==================== 玩家模型 ====================\n\n    // 加载玩家模型\n    async loadPersonGLB() {\n        try {\n            const gltf = await this.loader.loadAsync(this.playerModel.url) as GLTF;\n            this.person = gltf.scene;\n\n            // 绑定动画\n            this.personMixer = new THREE.AnimationMixer(this.person);\n            const animations = gltf.animations ?? [];\n            // console.log('animations', animations)\n            this.allAnimations = animations;\n            this.personActions = new Map();\n\n            const mappings: [string, string][] = [\n                [this.playerModel.idleAnim, \"idle\"],\n                [this.playerModel.walkAnim, \"walking\"],\n                [this.playerModel.leftWalkAnim || this.playerModel.walkAnim, \"left_walking\"],\n                [this.playerModel.rightWalkAnim || this.playerModel.walkAnim, \"right_walking\"],\n                [this.playerModel.backwardAnim || this.playerModel.walkAnim, \"walking_backward\"],\n                [this.playerModel.jumpAnim, \"jumping\"],\n                [this.playerModel.runAnim, \"running\"],\n                [this.playerModel.flyIdleAnim || this.playerModel.idleAnim, \"flyidle\"],\n                [this.playerModel.flyAnim || this.playerModel.idleAnim, \"flying\"],\n                [this.playerModel.enterCarAnim || this.playerModel.idleAnim, \"enterCar\"],\n                [this.playerModel.exitCarAnim || this.playerModel.idleAnim, \"exitCar\"],\n            ];\n\n            for (const [clipName, actionName] of mappings) {\n                const clip = animations.find(a => a.name === clipName);\n                if (!clip) continue;\n                const action = this.personMixer.clipAction(clip);\n                if (actionName === \"jumping\") {\n                    action.setLoop(THREE.LoopOnce, 1);\n                    action.clampWhenFinished = true;\n                    action.setEffectiveTimeScale(1.2);\n                } else {\n                    action.setLoop(THREE.LoopRepeat, Infinity);\n                    action.setEffectiveTimeScale(1);\n                }\n                action.enabled = true;\n                action.setEffectiveWeight(0);\n                this.personActions.set(actionName, action);\n            }\n\n            // 执行idle动画\n            this.personActions.get(\"idle\").setEffectiveWeight(1);\n            this.personActions.get(\"idle\").play();\n            this.actionState = this.personActions.get(\"idle\");\n\n            // 动画结束回调\n            this.personMixer.addEventListener(\"finished\", (ev: any) => {\n                const done: THREE.AnimationAction = ev.action;\n                if (done === this.personActions.get(\"jumping\")) {\n                    if (this.fwdPressed) { this.playPersonAnimationByName(this.shiftPressed ? \"running\" : \"walking\"); return; }\n                    if (this.bkdPressed) { this.playPersonAnimationByName(\"walking_backward\"); return; }\n                    if (this.rgtPressed || this.lftPressed) { this.playPersonAnimationByName(\"walking\"); return; }\n                    this.playPersonAnimationByName(\"idle\");\n                }\n                if (done === this.personActions?.get(\"enterCar\")) this.onEnterCarAnimFinished();\n            });\n\n            // 步进到第一帧，让骨骼更新到idle姿态\n            this.personMixer.update(0);\n            // 强制更新世界矩阵\n            this.person.updateMatrixWorld(true);\n\n            // 计算胶囊体尺寸\n            const { size } = this.getBbox(this.person);\n            const modelScale = this.playerCapsuleHeight / size.y;\n            this.playerCapsuleRadius = Number(Math.min(size.x, size.z).toFixed(0)) * modelScale * this.playerCapsuleRadiusRatio;\n            this.playerCapsuleHeight = Number(size.y.toFixed(0)) * modelScale;\n\n            const s = this.playerModel.scale;\n            const r = this.playerCapsuleRadius * s;\n            const h = this.playerCapsuleHeight * s;\n\n            // 创建碰撞胶囊体\n            this.player = new THREE.Mesh(\n                new RoundedBoxGeometry(r * 2, h, r * 2, 1, 75),\n                new THREE.MeshStandardMaterial({\n                    color: new THREE.Color(1, 0, 0),\n                    shadowSide: THREE.DoubleSide,\n                    depthTest: false, transparent: true,\n                    opacity: this.displayPlayer ? 0.5 : 0,\n                    wireframe: true, depthWrite: false,\n                }),\n            );\n            this.player.geometry.translate(0, -h * 0.25, 0);\n            this.player.capsuleInfo = {\n                radius: r,\n                segment: new THREE.Line3(new THREE.Vector3(), new THREE.Vector3(0, -h * 0.5, 0)),\n            };\n            this.player.name = \"capsule\";\n            this.scene.add(this.player);\n            this.reset();\n            this.player.rotateY(this.playerModel.rotateY ?? 0);\n\n            // 摆放视觉模型\n            this.person.scale.multiplyScalar(modelScale * s);\n            this.person.position.set(0, -h * 0.75, 0);\n            this.person.traverse((child: any) => {\n                if (child.name === this.playerModel?.headObjName) this.personHead = child;\n            });\n            this.player.add(this.person);\n            this.reset();\n\n\n        } catch (e) {\n            console.error(\"加载玩家模型失败:\", e);\n        }\n    }\n\n    // 切换玩家模型\n    async switchPlayerModel(newPlayerModel: PlayerModelOptions) {\n        const savedPos = this.player.position.clone();\n        const savedQuat = this.player.quaternion.clone();\n        const wasFirstPerson = this.isFirstPerson;\n\n        // 清理旧模型\n        if (wasFirstPerson) this.scene.attach(this.camera);\n        if (this.player) this.scene.remove(this.player);\n        if (this.person) { this.player.remove(this.person); this.person = null; this.personHead = null; }\n\n        if (this.personMixer) {\n            this.personMixer.stopAllAction();\n            this.personMixer.uncacheRoot(this.personMixer.getRoot());\n            this.personMixer = undefined;\n            this.personActions = undefined;\n        }\n\n        // 等比缩放物理参数\n        const ratio = newPlayerModel.scale / this.playerModel.scale;\n        this.playerModel = { ...this.playerModel, ...newPlayerModel };\n\n        this.gravity *= ratio;\n        this.jumpHeight *= ratio;\n        this.playerSpeed *= ratio;\n        this.playerFlySpeed *= ratio;\n        this.curPlayerSpeed *= ratio;\n        this.camEpsilon *= ratio;\n        this.minCamDistance *= ratio;\n        this.maxCamDistance *= ratio;\n        this.orginMaxCamDistance *= ratio;\n\n        // 重新加载\n        await this.loadPersonGLB();\n        this.player.position.copy(savedPos);\n        this.player.quaternion.copy(savedQuat);\n        if (wasFirstPerson) this.setFirstPersonCamera();\n        this.setDebug(this.displayCollider);\n    }\n\n    // 播放动画\n    playPersonAnimationByName(name: string, fade = 0.18) {\n        if (!this.personActions || this.ctPressed) return;\n        const next = this.personActions.get(name);\n        if (!next || this.actionState === next) return;\n\n        const prev = this.actionState;\n        next.reset();\n        next.setEffectiveWeight(1);\n\n        // 上下车动画单次播放\n        if (name === \"enterCar\" || name === \"exitCar\") {\n            const duration = next.getClip().duration;\n            const enterTime = this.activeVehicle?.enterVehicleTime ?? 1.5;\n            next.setEffectiveTimeScale(duration / enterTime);\n            next.setLoop(THREE.LoopOnce, 1);\n            next.clampWhenFinished = true;\n        }\n\n        next.play();\n        if (prev && prev !== next) { prev.fadeOut(fade); next.fadeIn(fade); }\n        else next.fadeIn(fade);\n\n        this.actionState = next;\n    }\n\n    // 注册自定义动画\n    registerAnimation(key: string, clipName: string, opts?: {\n        loop?: boolean;\n        timeScale?: number;\n        duration?: number;\n        clampWhenFinished?: boolean;\n        onFinished?: () => void; // 播完回调\n    }) {\n        if (!this.personMixer || !this.personActions) return;\n\n        const mixer = this.personMixer;\n        const clip = this.allAnimations.find(c => c.name === clipName);\n        if (!clip) { console.warn(`找不到 \"${clipName}\" 动画`); return; }\n\n        const action = mixer.clipAction(clip);\n\n        const timeScale = opts?.duration\n            ? clip.duration / opts.duration\n            : (opts?.timeScale ?? 1);\n        action.setLoop(opts?.loop === false ? THREE.LoopOnce : THREE.LoopRepeat, Infinity);\n        action.clampWhenFinished = opts?.clampWhenFinished ?? false;\n        action.setEffectiveTimeScale(timeScale);\n        action.enabled = true;\n        action.setEffectiveWeight(0);\n\n        this.personActions.set(key, action);\n\n        // 注册回调\n        if (opts?.onFinished) {\n            this.personMixer.addEventListener(\"finished\", (ev: any) => {\n                if (ev.action === action) opts.onFinished!();\n            });\n        }\n    }\n\n    // 外部播放动画\n    playAnimation(key: string, opts?: {\n        fade?: number;           // 过渡时间\n        force?: boolean;         // 强制重置重播\n    }) {\n        if (!this.personActions) return;\n        if (!this.personActions.has(key)) {\n            console.warn(`playAnimation: \"${key}\" 未注册`); return;\n        }\n        if (opts?.force) {\n            const action = this.personActions.get(key)!;\n            action.reset();\n        }\n        this.playPersonAnimationByName(key, opts?.fade ?? 0.18);\n    }\n\n    // ==================== 车辆 ====================\n\n    // 加载车辆模型\n    async loadVehicleModel(opts: VehicleOptions) {\n        try {\n            if (!this.playerModel.enterCarAnim) {\n                return console.warn(\"未配置上车动画，不执行车辆相关逻辑\");\n            }\n            await this.initRapier();\n            if (!this.world) return;\n\n            const instance = await loadVehicleModel(opts, {\n                loader: this.loader,\n                scene: this.scene,\n                world: this.world,\n                RAPIER: this.RAPIER,\n                vehicleParams: this.vehicleParams,\n                vehicleLength: this.vehicleLength,\n                playerScale: this.playerModel.scale,\n            });\n\n            this.vehicles.push(instance);\n            this.setControllerTransition();\n        } catch (e) {\n            console.error(\"加载车辆模型失败:\", e);\n        }\n    }\n\n    // 获取包围盒\n    getBbox(object: THREE.Object3D) {\n        const bbox = new THREE.Box3().setFromObject(object);\n        const center = new THREE.Vector3();\n        const size = new THREE.Vector3();\n        bbox.getCenter(center);\n        bbox.getSize(size);\n        return { bbox, center, size };\n    }\n\n    // 开关车门动画\n    openVehicleDoor(isOpen = true) {\n        const v = this.activeVehicle;\n        if (!v?.vehicleActions) return;\n        const next = v.vehicleActions.get(\"openDoor\");\n        if (!next) return;\n\n        const duration = next.getClip().duration;\n        next.reset();\n        next.setEffectiveWeight(1);\n\n        if (isOpen) {\n            next.setEffectiveTimeScale(duration * 2);\n            next.time = 0;\n            v.vehiclIsOpenDoor = true;\n        } else {\n            next.setEffectiveTimeScale(-duration * 2);\n            next.time = duration;\n            v.vehiclIsOpenDoor = false;\n        }\n\n        next.setLoop(THREE.LoopOnce, 1);\n        next.clampWhenFinished = true;\n        next.play();\n    }\n\n    // 触发上车流程\n    enterVehicle() {\n        if (!this.vehicles.length || this.isMovingToBoardingPoint) return;\n\n        // 寻找最近可上车辆\n        let nearestVehicle: VehicleInstance | null = null;\n        let nearestDist = Infinity;\n        let nearBoardingPointWorld: THREE.Vector3 | null = null;\n\n        for (const v of this.vehicles) {\n            const boardingLocal = v.boardingPoint.clone().multiplyScalar(v.scale);\n            const boardingWorld = v.vehicleGroup.localToWorld(boardingLocal);\n            const dist = this.player.position.distanceTo(boardingWorld);\n            if (dist < 800 * this.playerModel.scale && dist < nearestDist) {\n                nearestDist = dist;\n                nearestVehicle = v;\n                nearBoardingPointWorld = boardingWorld;\n            }\n        }\n\n        if (!nearestVehicle || !nearBoardingPointWorld) return;\n\n        this.activeVehicle = nearestVehicle;\n        const v = nearestVehicle;\n        const vel = v.chassisBody.linvel();\n        if (Math.sqrt(vel.x ** 2 + vel.z ** 2) > 0.1) return;\n\n        // 启动寻路\n        this.boardingPointWorld = nearBoardingPointWorld;\n        this.boardingWaypoints = v.pathPlanner.findPath(this.player.position.clone(), nearBoardingPointWorld);\n        this.currentWaypointIndex = 0;\n        this.boardingTargetDir = new THREE.Vector3(0, 0, 1).applyQuaternion(v.vehicleGroup.quaternion).normalize();\n        this.isMovingToBoardingPoint = true;\n        this.playPersonAnimationByName(\"walking\");\n    }\n\n    // 寻路移动到上车点\n    updateMoveToBoardingPoint(delta: number) {\n        if (!this.isMovingToBoardingPoint || !this.boardingTargetDir || !this.boardingWaypoints.length) return;\n\n        if (this.currentWaypointIndex >= this.boardingWaypoints.length) {\n            this.finalizeBoarding(delta);\n            return;\n        }\n\n        const waypoint = this.boardingWaypoints[this.currentWaypointIndex];\n        const currentPos = this.player.position.clone();\n        const isLast = this.currentWaypointIndex === this.boardingWaypoints.length - 1;\n        const threshold = isLast ? 0 : 10 * this.playerModel.scale;\n        const horizDist = new THREE.Vector2(waypoint.x - currentPos.x, waypoint.z - currentPos.z).length();\n\n        if (horizDist > threshold) {\n            const moveDir = new THREE.Vector3(waypoint.x - currentPos.x, 0, waypoint.z - currentPos.z).normalize();\n            this.player.position.add(moveDir.clone().multiplyScalar(Math.min(this.boardingMoveSpeed * this.playerModel.scale * delta, horizDist)));\n            this.targetMat.lookAt(this.player.position, this.player.position.clone().add(moveDir), this.player.up);\n            this.targetQuat.setFromRotationMatrix(this.targetMat).multiply(this.flip180Quat);\n            this.player.quaternion.slerp(this.targetQuat, Math.min(1, this.boardingRotateSpeed * delta));\n        } else {\n            this.currentWaypointIndex++;\n        }\n    }\n\n    // 最终对齐朝向\n    finalizeBoarding(delta: number) {\n        const v = this.activeVehicle;\n        if (!this.boardingTargetDir || !v || !this.isMovingToBoardingPoint) return;\n\n        const currentDir = new THREE.Vector3(0, 0, -1).applyQuaternion(this.player.quaternion).normalize();\n        if (currentDir.angleTo(this.boardingTargetDir) > 0.01) {\n            // 持续旋转对齐\n            const lookTarget = this.player.position.clone().add(this.boardingTargetDir);\n            this.targetMat.lookAt(this.player.position, lookTarget, this.player.up);\n            this.targetQuat.setFromRotationMatrix(this.targetMat);\n            this.player.quaternion.slerp(this.targetQuat, Math.min(1, this.boardingRotateSpeed * delta));\n        } else {\n            // 对齐完成，播放上车动画\n            this.boardingWaypoints = [];\n            this.currentWaypointIndex = 0;\n            this.boardingTargetDir = null;\n            v.pathPlanner?.clearVisualization();\n\n            this.playPersonAnimationByName(\"enterCar\");\n            this.isBoardingAnimPlaying = true;\n            this.closeDoorTriggered = false;\n            if (!v.vehiclIsOpenDoor) this.openVehicleDoor();\n            this.player.rotation.copy(v.vehicleGroup.rotation);\n            this.player.quaternion.multiply(this.flip180Quat);\n        }\n    }\n\n    // 上车动画完成\n    onEnterCarAnimFinished() {\n        const v = this.activeVehicle;\n        if (!v || !this.isMovingToBoardingPoint) return;\n        this.player.updateMatrixWorld(true);\n        const offsetY = this.boardingPointWorld!.y - this.player.position.y;\n        this.controllerMode = 1;\n        this.syncMobileControllerMode();\n        this.setOverShoulderView(false);\n        v.vehicleGroup.attach(this.player);\n        this.player.position.add(v.seatOffset.clone().multiplyScalar(v.scale).add(new THREE.Vector3(0, offsetY, 0)));\n        this.isMovingToBoardingPoint = false;\n    }\n\n    // 触发下车流程\n    exitVehicle() {\n        const v = this.activeVehicle;\n        if (!v) return;\n\n        // 重置上车状态\n        this.isMovingToBoardingPoint = false;\n        this.boardingWaypoints = [];\n        this.currentWaypointIndex = 0;\n        this.boardingTargetDir = null;\n\n        // 播放下车动画\n        const vel = v.chassisBody.linvel();\n        if (Math.sqrt(vel.x ** 2 + vel.z ** 2) < 0.1) {\n            this.playPersonAnimationByName(\"exitCar\");\n            this.isExitAnimPlaying = true;\n            this.closeExitDoorTriggered = false;\n        } else {\n            this.playPersonAnimationByName(\"idle\");\n        }\n\n        this.openVehicleDoor(true);\n        this.controllerMode = 0;\n        this.syncMobileControllerMode();\n        this.setOverShoulderView(this.enableOverShoulderView);\n        this.scene.attach(this.player);\n        if (this.isFirstPerson) this.setFirstPersonCamera();\n        this.setControllerTransition();\n    }\n\n    // ==================== 相机与视角 ====================\n\n    // 切换第一/三人称\n    changeView() {\n        this.isFirstPerson = !this.isFirstPerson;\n        if (this.isFirstPerson) {\n            // 读取相机当前世界朝向，对齐到第一人称控制轴\n            const camWorldDir = new THREE.Vector3();\n            this.camera.getWorldDirection(camWorldDir);\n\n            // 水平分量\n            const flatDir = new THREE.Vector3(camWorldDir.x, 0, camWorldDir.z).normalize();\n            if (flatDir.lengthSq() > 0.001) {\n                const yAngle = Math.atan2(flatDir.x, flatDir.z);\n                this.player.rotation.set(0, yAngle + Math.PI, 0);\n            }\n            // 垂直分量\n            const vertAngle = Math.asin(THREE.MathUtils.clamp(-camWorldDir.y, -1, 1));\n\n            this.setFirstPersonCamera(vertAngle);\n            this.setOverShoulderView(false);\n        } else {\n            this.controls.enabled = true;\n            this.scene.attach(this.camera);\n            const dir = new THREE.Vector3(0, 0, -1).applyQuaternion(this.player.quaternion);\n            const angle = Math.atan2(dir.z, dir.x);\n            const s = this.playerModel.scale;\n            this.camera.position.copy(this.player.position).add(new THREE.Vector3(Math.cos(angle) * 400 * s, 200 * s, Math.sin(angle) * 400 * s));\n            this.controls.target.copy(this.player.position);\n            this.controls.enableZoom = this.enableZoom;\n            this.setOverShoulderView(this.enableOverShoulderView);\n        }\n        this.setPointerLock();\n    }\n\n    // 设置第一人称相机\n    setFirstPersonCamera(vertAngle = 0) {\n        this.controls.enabled = false;\n        if (this.personHead) {\n            this.personHead.attach(this.camera);\n            this.camera.position.set(0, 10, 20);\n        } else {\n            this.player.attach(this.camera);\n            this.camera.position.set(0, 40 * this.playerModel.scale, 30 * this.playerModel.scale);\n        }\n        // Y固定π，X保留垂直角度\n        this.camera.rotation.set(\n            THREE.MathUtils.clamp(vertAngle, -1.1, 1.4),\n            Math.PI,\n            0,\n        );\n        this.controls.enableZoom = false;\n    }\n\n    // 设置鼠标锁定\n    setPointerLock() {\n        if (!document.body.requestPointerLock) return;\n        if (((this.thirdMouseMode === 0 || this.thirdMouseMode === 1) && !this.isFirstPerson) || this.isFirstPerson) {\n            document.body.requestPointerLock();\n        } else {\n            document.exitPointerLock();\n        }\n    }\n\n    // 初始相机位置\n    setCameraPos() {\n        requestAnimationFrame(() => {\n            if (!this.isFirstPerson) {\n                const dir = new THREE.Vector3(0, 0, -1).applyQuaternion(this.player.quaternion);\n                const angle = Math.atan2(dir.z, dir.x);\n                const s = this.playerModel.scale;\n                this.camera.position.copy(this.player.position)\n                    .add(new THREE.Vector3(Math.cos(angle) * 400 * s, 200 * s, Math.sin(angle) * 400 * s));\n                this.controls.enableZoom = this.enableZoom;\n            } else {\n                this.person!.add(this.camera);\n                this.camera.position.set(0, 40 * this.playerModel.scale, 30 * this.playerModel.scale);\n            }\n            this.camera.updateProjectionMatrix();\n        });\n    }\n\n    // 初始化轨道控制\n    setControls() {\n        this.controls.enableZoom = this.enableZoom;\n        this.controls.rotateSpeed = this.mouseSensitivity * 0.05;\n        this.controls.maxPolarAngle = Math.PI * (300 / 360);\n        this.controls.mouseButtons = { LEFT: 0, MIDDLE: 1, RIGHT: 2 };\n    }\n\n    // 重置轨道控制\n    resetControls() {\n        if (!this.controls) return;\n        this.controls.enabled = true;\n        this.controls.enablePan = true;\n        this.controls.maxPolarAngle = Math.PI / 2;\n        this.controls.rotateSpeed = 1;\n        this.controls.enableZoom = true;\n        this.controls.mouseButtons = { LEFT: 0, MIDDLE: 1, RIGHT: 2 };\n    }\n\n    // 视角旋转处理\n    setToward(dx: number, dy: number, speed: number) {\n        const sens = this.mouseSensitivity;\n        if (this.controllerMode === 0) {\n        // 人物模式\n            if (this.isFirstPerson) {\n                if (this.isMovingToBoardingPoint) return;\n                this.player.rotateY(-dx * speed * sens);\n                this.camera.rotation.x = THREE.MathUtils.clamp(this.camera.rotation.x + (-dy * speed * sens), -1.1, 1.4);\n            } else {\n                this.orbitCamera(this.player.position, -dx * speed * sens, -dy * speed * sens);\n            }\n        } else {\n            // 车辆模式\n            const v = this.activeVehicle;\n            if (!v) return;\n            if (this.isFirstPerson) {\n                this.camera.rotation.y = THREE.MathUtils.clamp(this.camera.rotation.y + (-dx * speed * sens), Math.PI * (3 / 4), Math.PI * (5 / 4));\n                this.camera.rotation.x = THREE.MathUtils.clamp(this.camera.rotation.x + (-dy * speed * sens), 0, Math.PI * (1 / 3));\n            } else {\n                this.orbitCamera(v.vehicleGroup.position, -dx * speed * sens, -dy * speed * sens);\n            }\n        }\n    }\n\n    // 球面轨道旋转\n    private orbitCamera(target: THREE.Vector3, deltaX: number, deltaY: number) {\n        const distance = this.camera.position.distanceTo(target);\n        const cur = this.camera.position.clone().sub(target);\n        let theta = Math.atan2(cur.x, cur.z) + deltaX;\n        let phi = Math.acos(THREE.MathUtils.clamp(cur.y / distance, -1, 1)) + deltaY;\n        phi = Math.max(0.1, Math.min(Math.PI - 0.1, phi));\n        this.camera.position.set(\n            target.x + distance * Math.sin(phi) * Math.sin(theta),\n            target.y + distance * Math.cos(phi),\n            target.z + distance * Math.sin(phi) * Math.cos(theta),\n        );\n        this.camera.lookAt(target);\n    }\n\n    // ==================== 碰撞体构建 ====================\n\n    // 补全几何属性\n    ensureAttributesMinimal(geom: THREE.BufferGeometry): THREE.BufferGeometry | null {\n        if (!geom.attributes.position) return null;\n        if (!geom.attributes.normal) geom.computeVertexNormals();\n        if (!geom.attributes.uv) {\n            const count = geom.attributes.position.count;\n            geom.setAttribute(\"uv\", new THREE.BufferAttribute(new Float32Array(count * 2), 2));\n        }\n        return geom;\n    }\n\n    // 统一几何属性格式\n    unifiedAttribute(collected: THREE.BufferGeometry[]) {\n        type AttrMeta = { itemSize: number; arrayCtor: any; examples: number; normalized: boolean };\n        const attrMap = new Map<string, AttrMeta>();\n        const attrConflict = new Set<string>();\n        const required = new Set([\"position\", \"normal\", \"uv\"]);\n\n        // 剔除非必要属性\n        for (const g of collected)\n            for (const name of Object.keys(g.attributes))\n                if (!required.has(name)) g.deleteAttribute(name);\n\n        // 统计属性元信息\n        for (const g of collected) {\n            for (const name of Object.keys(g.attributes)) {\n                const attr = g.attributes[name] as THREE.BufferAttribute;\n                const ctor = (attr.array as any).constructor;\n                if (!attrMap.has(name)) {\n                    attrMap.set(name, { itemSize: attr.itemSize, arrayCtor: ctor, examples: 1, normalized: attr.normalized });\n                } else {\n                    const m = attrMap.get(name)!;\n                    if (m.itemSize !== attr.itemSize || m.arrayCtor !== ctor || m.normalized !== attr.normalized) attrConflict.add(name);\n                    else m.examples++;\n                }\n            }\n        }\n\n        // 移除冲突属性\n        for (const name of attrConflict) {\n            for (const g of collected) if (g.attributes[name]) g.deleteAttribute(name);\n            attrMap.delete(name);\n        }\n\n        // 补全缺失属性\n        for (const [name, meta] of attrMap) {\n            for (const g of collected) {\n                if (!g.attributes[name]) {\n                    const count = g.attributes.position.count;\n                    g.setAttribute(name, new THREE.BufferAttribute(new meta.arrayCtor(count * meta.itemSize), meta.itemSize, meta.normalized));\n                }\n            }\n        }\n\n        return collected;\n    }\n\n    // 构建静态 BVH\n    async createBVH(meshUrl = \"\"): Promise<void> {\n        await this.initLoader();\n\n        const collectMesh = (mesh: THREE.Mesh) => {\n            try {\n                let geom = (mesh.geometry as THREE.BufferGeometry).clone();\n                geom.applyMatrix4(mesh.matrixWorld);\n                if (geom.index) geom = geom.toNonIndexed();\n                const safe = this.ensureAttributesMinimal(geom);\n                if (safe) this.collected.push(safe);\n            } catch (e) {\n                console.warn(\"处理网格时出错：\", mesh, e);\n            }\n        };\n\n        // 收集网格\n        if (meshUrl === \"\") {\n            if (this.collider) { this.scene.remove(this.collider); this.collider = null; }\n            this.scene.traverse(c => {\n                const m = c as THREE.Mesh;\n                if (m?.isMesh && m.geometry && c.name !== \"capsule\") collectMesh(m);\n            });\n        } else {\n            const gltf = await this.loader.loadAsync(meshUrl);\n            const root = gltf.scene.children[0] as any;\n            if (root?.geometry) {\n                collectMesh(root);\n            } else {\n                root?.traverse((c: any) => {\n                    if (c?.isMesh && c.geometry && c.name !== \"capsule\") collectMesh(c);\n                });\n            }\n        }\n\n        if (!this.collected.length) return;\n        this.collected = this.unifiedAttribute(this.collected);\n\n        // 合并并生成 BVH\n        const merged = BufferGeometryUtils.mergeGeometries(this.collected, false);\n        if (!merged) { console.error(\"合并几何失败\"); return; }\n\n        (merged as any).boundsTree = new MeshBVH(merged, { maxDepth: 100 });\n        this.collider = new THREE.Mesh(merged, new THREE.MeshBasicMaterial({ opacity: 0.5, transparent: true, wireframe: true, depthTest: true }));\n\n        if (this.displayCollider) this.scene.add(this.collider);\n        if (this.displayVisualizer) {\n            if (this.visualizer) this.scene.remove(this.visualizer);\n            this.visualizer = new MeshBVHHelper(this.collider, 0);\n            this.scene.add(this.visualizer);\n        }\n        this.boundingBoxMinY = (this.collider as any).geometry.boundingBox.min.y;\n    }\n\n    // 构建动态 BVH\n    createDynamicBVH(objects: THREE.Object3D[] = []) {\n        if (this.dynamicCollider) { this.scene.remove(this.dynamicCollider); this.dynamicCollider = null; }\n        this.dynamicCollected = [];\n\n        objects.forEach(obj => obj.traverse(c => {\n            const m = c as THREE.Mesh;\n            if (m?.isMesh && m.geometry && c.name !== \"capsule\") {\n                try {\n                    let geom = (m.geometry as THREE.BufferGeometry).clone();\n                    geom.applyMatrix4(m.matrixWorld);\n                    if (geom.index) geom = geom.toNonIndexed();\n                    const safe = this.ensureAttributesMinimal(geom);\n                    if (safe) this.dynamicCollected.push(safe);\n                } catch (e) {\n                    console.warn(\"处理网格时出错：\", m, e);\n                }\n            }\n        }));\n\n        if (!this.dynamicCollected.length) return;\n        this.dynamicCollected = this.unifiedAttribute(this.dynamicCollected);\n        const merged = BufferGeometryUtils.mergeGeometries(this.dynamicCollected, false);\n        if (!merged) { console.error(\"合并几何失败\"); return; }\n        (merged as any).boundsTree = new MeshBVH(merged);\n        this.dynamicCollider = new THREE.Mesh(merged, new THREE.MeshBasicMaterial({ opacity: 0.5, transparent: true, wireframe: true, depthTest: true }));\n        if (this.displayCollider) this.scene.add(this.dynamicCollider);\n    }\n\n    // ==================== 控制器过渡 ====================\n\n    // 车辆切换过渡\n    setControllerTransition() {\n        if (this.isChangeControllerTransitionTimer) {\n            clearTimeout(this.isChangeControllerTransitionTimer);\n            this.isChangeControllerTransitionTimer = null;\n        }\n        const vGroups = this.vehicles.map(v => v.vehicleGroup);\n        this.createDynamicBVH(vGroups);\n        this.isChangeControllerTransitionTimer = setTimeout(() => {\n            this.isChangeControllerTransitionTimer = null;\n            this.vehicles.forEach(v => this.clearVehicleVelocity(v));\n            this.createDynamicBVH(vGroups);\n        }, 3000);\n    }\n\n    // 清零车辆速度\n    private clearVehicleVelocity(v: VehicleInstance) {\n        if (!v || !this.world || !this.RAPIER) return;\n        const { chassisBody, vehicleController } = v;\n        const ZERO = new this.RAPIER.Vector3(0, 0, 0);\n        chassisBody.setLinvel(ZERO, true);\n        chassisBody.setAngvel(ZERO, true);\n        for (let i = 0; i < 4; i++) { vehicleController.setWheelEngineForce(i, 0); vehicleController.setWheelBrake(i, 1e6); }\n        vehicleController.updateVehicle(1 / 60);\n        this.world.timestep = 1 / 60;\n        this.world.step();\n        chassisBody.setLinvel(ZERO, true);\n        chassisBody.setAngvel(ZERO, true);\n        for (let i = 0; i < 4; i++) vehicleController.setWheelBrake(i, 0);\n    }\n\n    // ==================== 循环更新 ====================\n\n    // 主循环更新\n    async update(delta: number = clock.getDelta()) {\n        if (!this.isupdate || !this.player || !this.collider) return;\n        delta = Math.min(delta, 1 / 40);\n        if (this.controllerMode === 1) {\n            this.updateVehicle(delta);\n        } else {\n            this.updatePlayer(delta);\n            if (this.isChangeControllerTransitionTimer) this.updateVehicleInertia(delta);\n        }\n    }\n\n    // 车辆帧更新\n    updateVehicle(delta: number) {\n        const v = this.activeVehicle;\n        if (!v || !this.world) return;\n        const { vehicleController, chassisBody, vehicleGroup } = v;\n\n        // 上坡补偿\n        const rotation = chassisBody.rotation();\n        const quat = new THREE.Quaternion(rotation.x, rotation.y, rotation.z, rotation.w);\n        const forward = new THREE.Vector3(1, 0, 0).applyQuaternion(quat);\n        const slopeAngle = Math.asin(forward.y);\n        const factor = (slopeAngle < -0.05 && this.fwdPressed) ? -Math.sin(slopeAngle) * 10 : 1;\n\n        // 驱动力\n        const accelerateForce = this.vehicleParams.power.accelerateForce * v.speedMultiplier;\n        const maxSpeed = this.vehicleParams.power.maxSpeed * v.speedMultiplier;\n        const engineForce = (Number(this.fwdPressed) - Number(this.bkdPressed)) * accelerateForce * factor;\n        for (let i = 0; i < 4; i++) vehicleController.setWheelEngineForce(i, engineForce);\n\n        // 刹车\n        const wheelBrake = Number(this.spacePressed) * this.vehicleParams.power.brakeForce * delta;\n        for (let i = 0; i < 4; i++) vehicleController.setWheelBrake(i, wheelBrake);\n\n        // 转向\n        const currentSteering = vehicleController.wheelSteering(0) || 0;\n        const steerDir = Number(this.lftPressed) - Number(this.rgtPressed);\n        const steerSpeed = steerDir === 0 ? this.vehicleParams.steering.steerReturnSpeed : this.vehicleParams.steering.steerSpeed;\n        const steering = THREE.MathUtils.lerp(currentSteering, this.vehicleParams.steering.maxSteerAngle * steerDir, 1 - Math.pow(1 - steerSpeed, delta));\n        vehicleController.setWheelSteering(0, steering);\n        vehicleController.setWheelSteering(1, steering);\n\n        // 漂移\n        const driftFriction = ((this.rgtPressed || this.lftPressed) && this.shiftPressed) ? 0.5 : 2;\n        vehicleController.setWheelSideFrictionStiffness(2, driftFriction);\n        vehicleController.setWheelSideFrictionStiffness(3, driftFriction);\n\n        this.updateVehicleInertia(delta);\n\n        // 第三人称相机\n        if (!this.isFirstPerson) {\n            const lookTarget = vehicleGroup.position.clone();\n            this.camera.position.sub(this.controls.target);\n            this.controls.target.copy(lookTarget);\n            this.camera.position.add(lookTarget);\n            this.controls.update();\n\n            // 以车辆包围盒为基准计算相机距离\n            const velocity = chassisBody.linvel();\n            const currentSpeed = new THREE.Vector3(velocity.x, velocity.y, velocity.z).length();\n            const speedRatio = Math.min(currentSpeed / maxSpeed, 1);\n            const baseDist = v.size.l * 0.8;\n            const maxDist = v.size.l * 5;\n            const desiredDist = THREE.MathUtils.lerp(baseDist, maxDist, speedRatio);\n            const minSafeDist = baseDist;\n\n            // 相机碰撞检测\n            this.personToCam.subVectors(this.camera.position, vehicleGroup.position);\n            const direction = this.personToCam.clone().normalize();\n            this.raycasterPersonToCam.set(vehicleGroup.position, direction);\n            this.raycasterPersonToCam.far = desiredDist;\n\n            const hits = this.raycasterPersonToCam.intersectObject(this.collider!, false);\n            if (hits.length > 0) {\n                const safeDist = Math.max(hits[0].distance - this.camEpsilon, minSafeDist);\n                this.camera.position.lerp(vehicleGroup.position.clone().add(direction.clone().multiplyScalar(safeDist)), this.camCollisionLerp);\n            } else {\n                this.raycasterPersonToCam.far = maxDist;\n                const maxHits = this.raycasterPersonToCam.intersectObject(this.collider!, false);\n                const safeDist = maxHits.length > 0\n                    ? Math.min(desiredDist, maxHits[0].distance - this.camEpsilon)\n                    : desiredDist;\n                this.camera.position.lerp(vehicleGroup.position.clone().add(direction.clone().multiplyScalar(safeDist)), this.camCollisionLerp);\n            }\n\n            // 行驶时跟随车辆后方\n            if ((this.fwdPressed || this.bkdPressed) && this.vehicleParams.followVehicleDirection) {\n                const vel = chassisBody.linvel();\n                const velVec = new THREE.Vector3(vel.x, vel.y, vel.z);\n                if (velVec.length() > 0.3) {\n                    this.camBehindDir.lerp(velVec.normalize().negate(), this.camCollisionLerp).normalize();\n                    const targetCamPos = lookTarget.clone()\n                        .add(this.camBehindDir.clone().multiplyScalar(desiredDist))\n                        .add(new THREE.Vector3(0, v.size.h, 0));\n                    this.camera.position.lerp(targetCamPos, this.camCollisionLerp);\n                    this.controls.update();\n                }\n            }\n        }\n\n        // 翻车检测\n        const vehicleUp = this.upVector.clone().applyQuaternion(vehicleGroup.quaternion);\n        if (vehicleUp.angleTo(this.upVector) > Math.PI / 2) {\n            const size = new THREE.Vector3();\n            v.vehicleBBox?.getSize(size);\n            const t = chassisBody.translation();\n            chassisBody.setTranslation(new this.RAPIER.Vector3(t.x, t.y + size.y, t.z), true);\n            chassisBody.setRotation(new this.RAPIER.Quaternion(0, 0, 0, 1), true);\n            chassisBody.setLinvel(new this.RAPIER.Vector3(0, 0, 0), true);\n            chassisBody.setAngvel(new this.RAPIER.Vector3(0, 0, 0), true);\n        }\n    }\n\n    // 物理步进 & 同步\n    updateVehicleInertia(delta: number) {\n        if (!this.world) return;\n        this.world.timestep = delta;\n        this.world.step();\n\n        for (const v of this.vehicles) {\n            const { vehicleController, chassisBody, vehicleGroup, updateWheelVisuals } = v;\n            vehicleController.updateVehicle(delta);\n            if (chassisBody.isSleeping()) continue;\n\n            // 限速\n            const vel = chassisBody.linvel();\n            const speed = new THREE.Vector3(vel.x, vel.y, vel.z).length();\n            const max = this.vehicleParams.power.maxSpeed * v.speedMultiplier;\n            if (speed > max) {\n                const s = max / speed;\n                chassisBody.setLinvel(new this.RAPIER.Vector3(vel.x * s, vel.y * s, vel.z * s), true);\n            }\n\n            // 同步视觉位置\n            const t = chassisBody.translation();\n            const r = chassisBody.rotation();\n            vehicleGroup.position.set(t.x, t.y, t.z);\n            vehicleGroup.quaternion.set(r.x, r.y, r.z, r.w);\n            updateWheelVisuals?.();\n        }\n    }\n\n    // 缩放玩家比例\n    setPlayerScale(newScale: number) {\n        if (newScale <= 0) return;\n        const ratio = newScale / this.playerModel.scale;\n        this.playerModel.scale = newScale;\n\n        // 等比缩放所有物理参数\n        this.gravity *= ratio;\n        this.jumpHeight *= ratio;\n        this.playerSpeed *= ratio;\n        this.playerFlySpeed *= ratio;\n        this.curPlayerSpeed *= ratio;\n        this.camEpsilon *= ratio;\n        this.minCamDistance *= ratio;\n        this.maxCamDistance *= ratio;\n        this.orginMaxCamDistance *= ratio;\n\n        // 缩放碰撞体\n        if (this.isFirstPerson) this.scene.attach(this.camera);\n        this.player?.scale.multiplyScalar(ratio);\n        if (this.player?.capsuleInfo) this.player.capsuleInfo.radius *= ratio;\n        if (this.isFirstPerson) this.setFirstPersonCamera();\n    }\n\n    // 玩家帧更新\n    updatePlayer(delta: number) {\n        if (this.isMovingToBoardingPoint) this.updateMoveToBoardingPoint(delta);\n        if (!this.isFlying) this.player.position.addScaledVector(this.playerVelocity, delta);\n\n        // 上车关门计时\n        if (this.isBoardingAnimPlaying) {\n            const action = this.personActions?.get(\"enterCar\");\n            if (action) {\n                const duration = action.getClip().duration;\n                const remaining = ((duration - action.time) / action.getEffectiveTimeScale()) * 1000;\n                if (!this.closeDoorTriggered && remaining <= 500) { this.closeDoorTriggered = true; this.openVehicleDoor(false); }\n                if (action.time >= duration) {\n                    this.isBoardingAnimPlaying = false;\n                    this.closeDoorTriggered = false;\n                    this.onEnterCarAnimFinished();\n                    return;\n                }\n            }\n        }\n\n        // 下车关门计时\n        if (this.isExitAnimPlaying) {\n            const action = this.personActions?.get(\"exitCar\");\n            if (action) {\n                const duration = action.getClip().duration;\n                const remaining = ((duration - action.time) / action.getEffectiveTimeScale()) * 1000;\n                if (!this.closeExitDoorTriggered && remaining <= 500) { this.closeExitDoorTriggered = true; this.openVehicleDoor(false); }\n                if (action.time >= duration) { this.isExitAnimPlaying = false; this.closeExitDoorTriggered = false; }\n            }\n        }\n\n        this.updateMixers(delta);\n        if (this.controllerMode === 1) return;\n\n        // 计算移动方向\n        this.camera.getWorldDirection(this.camDir);\n        const angle = 2 * Math.PI - (Math.atan2(this.camDir.z, this.camDir.x) + Math.PI / 2);\n\n        this.moveDir.set(0, 0, 0);\n        if (this.fwdPressed) this.moveDir.add(this.DIR_FWD);\n        if (this.bkdPressed) this.moveDir.add(this.DIR_BKD);\n        if (this.lftPressed) this.moveDir.add(this.DIR_LFT);\n        if (this.rgtPressed) this.moveDir.add(this.DIR_RGT);\n\n        // 飞行 / 地面速度\n        if (this.isFlying) {\n            this.moveDir.y = this.fwdPressed ? this.camDir.y : 0;\n            if (this.spacePressed) this.moveDir.add(this.DIR_UP);\n            this.curPlayerSpeed = this.shiftPressed ? this.playerFlySpeed * 2 : this.playerFlySpeed;\n        } else {\n            this.curPlayerSpeed = this.shiftPressed ? this.playerSpeed * 2 : this.playerSpeed;\n        }\n\n        this.moveDir.normalize().applyAxisAngle(this.upVector, angle);\n        this.player.position.addScaledVector(this.moveDir, this.curPlayerSpeed * delta);\n\n        // 地面检测\n        this.raycaster.ray.origin.copy(this.player.position);\n        const hits = this.raycaster.intersectObject(this.collider!, false);\n        if (hits.length > 0 && !this.isFlying) {\n            const dist = this.player.position.y - hits[0].point.y;\n            const s = this.playerModel.scale;\n            const maxH = this.playerCapsuleHeight * s * 0.9;\n            const h = this.playerCapsuleHeight * s * 0.75;\n            const minH = this.playerCapsuleHeight * s * 0.7;\n\n            if (dist >= maxH) {\n                this.playerVelocity.y += delta * this.gravity;\n                this.player.position.addScaledVector(this.playerVelocity, delta);\n                this.playerIsOnGround = false;\n            } else if (dist >= h && dist < maxH) {\n                if (!this.spacePressed) { this.playerVelocity.set(0, 0, 0); this.playerIsOnGround = true; this.player.position.y = hits[0].point.y + h; }\n            } else if (dist >= minH) {\n                this.playerVelocity.set(0, 0, 0); this.playerIsOnGround = true; this.player.position.y = hits[0].point.y + h;\n            } else {\n                this.playerVelocity.set(0, 0, 0); this.player.position.y = hits[0].point.y + h; this.playerIsOnGround = true;\n            }\n        }\n\n        this.player.updateMatrixWorld();\n\n        // BVH 胶囊体碰撞\n        const capsuleInfo = this.player.capsuleInfo;\n        this.tempBox.makeEmpty();\n        this.tempMat.copy(this.collider!.matrixWorld).invert();\n        this.tempSegment.copy(capsuleInfo.segment);\n        this.tempSegment.start.applyMatrix4(this.player.matrixWorld).applyMatrix4(this.tempMat);\n        this.tempSegment.end.applyMatrix4(this.player.matrixWorld).applyMatrix4(this.tempMat);\n        this.tempBox.expandByPoint(this.tempSegment.start).expandByPoint(this.tempSegment.end);\n        this.tempBox.expandByScalar(capsuleInfo.radius);\n\n        if (!this.isMovingToBoardingPoint) {\n            const resolveCollision = (collider: THREE.Mesh | null) => {\n                if (!collider) return;\n                (collider.geometry as any)?.boundsTree?.shapecast({\n                    intersectsBounds: (box: THREE.Box3) => box.intersectsBox(this.tempBox),\n                    intersectsTriangle: (tri: any) => {\n                        const distance = tri.closestPointToSegment(this.tempSegment, this.tempVector, this.tempVector2);\n                        if (distance < capsuleInfo.radius) {\n                            const normal = tri.getNormal(new THREE.Vector3());\n                            if (normal.y > 0.5 && !this.isFlying) return;\n                            const dir = this.tempVector2.sub(this.tempVector).normalize();\n                            const depth = capsuleInfo.radius - distance;\n                            this.tempSegment.start.addScaledVector(dir, depth);\n                            this.tempSegment.end.addScaledVector(dir, depth);\n                        }\n                    },\n                });\n            };\n            resolveCollision(this.collider);\n            resolveCollision(this.dynamicCollider);\n        }\n\n        // 应用碰撞偏移\n        const newPos = this.tempVector.copy(this.tempSegment.start).applyMatrix4(this.collider!.matrixWorld);\n        const deltaVec = this.tempVector2.subVectors(newPos, this.player.position);\n        const offset = Math.max(0, deltaVec.length() - 1e-5);\n        this.player.position.add(deltaVec.normalize().multiplyScalar(offset));\n\n        // 玩家朝向\n        if (!this.isFirstPerson) {\n            const camDirFlat = this.camDir.clone().setY(0).normalize().negate();\n            const moveDirFlat = this.moveDir.clone().normalize().negate();\n\n            if (!this.isFlying) {\n                if (this.thirdMouseMode === 0 || this.thirdMouseMode === 2) {\n                    const lookTarget = this.player.position.clone().add(moveDirFlat.lengthSq() > 0 ? moveDirFlat : camDirFlat);\n                    this.targetMat.lookAt(this.player.position, lookTarget, this.player.up);\n                    this.player.quaternion.slerp(this.targetQuat.setFromRotationMatrix(this.targetMat), Math.min(1, this.rotationSpeed * delta));\n                } else if (moveDirFlat.lengthSq() > 0) {\n                    this.targetMat.lookAt(this.player.position, this.player.position.clone().add(moveDirFlat), this.player.up);\n                    this.player.quaternion.slerp(this.targetQuat.setFromRotationMatrix(this.targetMat), Math.min(1, this.rotationSpeed * delta));\n                }\n            } else {\n                const lookTarget = this.player.position.clone().add(this.fwdPressed ? moveDirFlat : camDirFlat);\n                this.targetMat.lookAt(this.player.position, lookTarget, this.player.up);\n                this.player.quaternion.slerp(this.targetQuat.setFromRotationMatrix(this.targetMat), Math.min(1, this.rotationSpeed * delta));\n            }\n        }\n\n        // 第三人称相机跟随\n        if (!this.isFirstPerson) {\n            const lookTarget = this.player.position.clone();\n            lookTarget.y += (this.playerCapsuleHeight / 8) * this.playerModel.scale;\n            this.camera.position.sub(this.controls.target);\n            this.controls.target.copy(lookTarget);\n            this.camera.position.add(lookTarget);\n            this.controls.update();\n\n            if (!this.enableZoom) {\n                this.updateCameraWithRaycast(\n                    this.player.position,\n                    this.personToCam.subVectors(this.camera.position, this.player.position).length(),\n                    this.maxCamDistance,\n                );\n            }\n        }\n\n        // 掉落重置\n        if (this.player.position.y < this.boundingBoxMinY - 1) {\n            this.raycaster.ray.origin.set(this.player.position.x, 10000, this.player.position.z);\n            const fallHits = this.raycaster.intersectObject(this.collider!, false);\n            this.reset(new THREE.Vector3(\n                this.player.position.x,\n                fallHits.length > 0 ? fallHits[0].point.y + 5 : this.player.position.y + 15,\n                this.player.position.z,\n            ));\n        }\n\n        // 移动端车辆按钮检测\n        if (this.isShowMobileControls && this.vehicles.length) {\n            let near = false;\n            for (const v of this.vehicles) {\n                this.nearCheckLocal.copy(v.boardingPoint).multiplyScalar(v.scale);\n                v.vehicleGroup.localToWorld(this.nearCheckWorld.copy(this.nearCheckLocal));\n                if (this.player.position.distanceTo(this.nearCheckWorld) < 800 * this.playerModel.scale) { near = true; break; }\n            }\n            if (near !== this.isNearVehicle) {\n                this.isNearVehicle = near;\n                this.mobileControls?.syncVehicleBtn(near);\n            }\n        }\n    }\n\n    // 相机碰撞射线\n    private updateCameraWithRaycast(origin: THREE.Vector3, desiredDist: number, maxDist: number) {\n        this.personToCam.subVectors(this.camera.position, origin);\n        const direction = this.personToCam.clone().normalize();\n        this.raycasterPersonToCam.set(origin, direction);\n        this.raycasterPersonToCam.far = desiredDist;\n\n        const hits = this.raycasterPersonToCam.intersectObject(this.collider!, false);\n        if (hits.length > 0) {\n            // 有遮挡，缩短距离\n            const safeDist = Math.max(hits[0].distance - this.camEpsilon, this.minCamDistance);\n            const targetCamPos = origin.clone().add(direction.multiplyScalar(safeDist));\n            this.camera.position.lerp(targetCamPos, this.camCollisionLerp);\n        } else {\n            // 无遮挡，推到最大距离\n            this.raycasterPersonToCam.far = maxDist;\n            const maxHits = this.raycasterPersonToCam.intersectObject(this.collider!, false);\n            const safeDist = maxHits.length > 0\n                ? Math.min(maxDist, maxHits[0].distance - this.camEpsilon)\n                : maxDist;\n            const targetCamPos = origin.clone().add(direction.multiplyScalar(safeDist));\n            this.camera.position.lerp(targetCamPos, this.camCollisionLerp);\n        }\n    }\n\n    // 屏幕中心射线\n    getCenterScreenRaycastHit(): THREE.Intersection | undefined {\n        this.camera.updateMatrixWorld();\n        this.centerRay.setFromCamera(this.centerMouse, this.camera);\n        return this.centerRay.intersectObject(this.collider!, false)[0];\n    }\n\n    // 获取当前人物动画名称\n    getCurrentPersonAnimationName(): string | null {\n        return (this.actionState as any)._clip.name;\n    }\n\n    // 更新动画混合器\n    private updateMixers(delta: number) {\n        this.personMixer?.update(delta);\n        for (const v of this.vehicles) v.vehicleMixer?.update(delta);\n    }\n\n    // 重置玩家位置\n    reset(position?: THREE.Vector3) {\n        if (!this.player) return;\n        this.playerVelocity.set(0, 0, 0);\n        this.player.position.copy(position ?? this.initPos);\n    }\n\n    // 获取玩家位置\n    getPosition() { return this.player?.position; }\n\n    // ==================== 输入处理 ====================\n\n    // 外部输入接口\n    setInput(input: Partial<{\n        moveX: 1 | 0 | -1; moveY: 1 | 0 | -1;\n        lookDeltaX: number; lookDeltaY: number;\n        jump: boolean; shift: boolean;\n        toggleView: boolean; toggleFly: boolean; toggleVehicle: boolean;\n    }>) {\n        // 移动方向\n        if (typeof input.moveX === \"number\") { this.lftPressed = input.moveX === -1; this.rgtPressed = input.moveX === 1; this.setAnimationByPressed(); }\n        if (typeof input.moveY === \"number\") { this.fwdPressed = input.moveY === 1; this.bkdPressed = input.moveY === -1; this.setAnimationByPressed(); }\n\n        // 视角旋转\n        if (typeof input.lookDeltaX === \"number\" && typeof input.lookDeltaY === \"number\") {\n            this.setToward(input.lookDeltaX, input.lookDeltaY, 0.002);\n        }\n\n        // 跳跃\n        if (typeof input.jump === \"boolean\") {\n            if (input.jump) {\n                this.cancelBoarding();\n                this.spacePressed = true;\n                if (this.controllerMode === 1) return;\n                if (!this.playerIsOnGround || this.isFlying) return;\n                this.playPersonAnimationByName(\"jumping\");\n                this.playerVelocity.y = this.jumpHeight;\n                this.playerIsOnGround = false;\n            } else {\n                this.spacePressed = false;\n            }\n        }\n\n        // 其他按键\n        if (typeof input.shift === \"boolean\") this.shiftPressed = input.shift;\n        if (input.toggleView) this.changeView();\n\n        if (input.toggleFly && this.playerFlyEnabled && this.controllerMode === 0) {\n            this.isFlying = !this.isFlying;\n            this.setAnimationByPressed();\n            if (!this.isFlying && !this.playerIsOnGround) this.playPersonAnimationByName(\"jumping\");\n        }\n\n        if (input.toggleVehicle) {\n            if (this.controllerMode === 0) this.enterVehicle(); else this.exitVehicle();\n        }\n    }\n\n    // 取消上车寻路\n    private cancelBoarding() {\n        this.isMovingToBoardingPoint = false;\n        this.boardingWaypoints = [];\n        this.currentWaypointIndex = 0;\n        this.boardingTargetDir = null;\n    }\n\n    // 按键动画同步\n    private setAnimationByPressed = () => {\n        this.maxCamDistance = this.orginMaxCamDistance;\n        this.cancelBoarding();\n\n        // 清理上下车动画状态\n        if (this.isExitAnimPlaying) { this.isExitAnimPlaying = false; this.closeExitDoorTriggered = false; }\n        if (this.isBoardingAnimPlaying) { this.isBoardingAnimPlaying = false; this.closeDoorTriggered = false; }\n        if (this.closeVehicleDoorTimer) { clearTimeout(this.closeVehicleDoorTimer); this.closeVehicleDoorTimer = null; }\n\n        // 飞行动画\n        if (this.isFlying) {\n            if (!this.fwdPressed) { this.playPersonAnimationByName(\"flyidle\"); return; }\n            this.playPersonAnimationByName(\"flying\");\n            this.maxCamDistance = this.orginMaxCamDistance * 2;\n            return;\n        }\n\n        // 地面动画\n        if (this.playerIsOnGround) {\n            if (!this.fwdPressed && !this.bkdPressed && !this.lftPressed && !this.rgtPressed) {\n                this.playPersonAnimationByName(\"idle\"); return;\n            }\n            if (this.fwdPressed) { this.playPersonAnimationByName(this.shiftPressed ? \"running\" : \"walking\"); return; }\n            if (!this.isFirstPerson && (this.lftPressed || this.rgtPressed || this.bkdPressed)) {\n                this.playPersonAnimationByName(this.shiftPressed ? \"running\" : \"walking\"); return;\n            }\n            if (this.lftPressed) { this.playPersonAnimationByName(\"left_walking\"); return; }\n            if (this.rgtPressed) { this.playPersonAnimationByName(\"right_walking\"); return; }\n            if (this.bkdPressed) { this.playPersonAnimationByName(\"walking_backward\"); return; }\n        }\n\n        if (this.recheckAnimTimer !== null) clearTimeout(this.recheckAnimTimer);\n        this.recheckAnimTimer = setTimeout(() => { this.setAnimationByPressed(); this.recheckAnimTimer = null; }, 200);\n    };\n\n    // ==================== 事件处理 ====================\n\n    // 键盘按下事件\n    private boundOnKeydown = async (e: KeyboardEvent) => {\n        if (e.ctrlKey && [\"KeyW\", \"KeyA\", \"KeyS\", \"KeyD\"].includes(e.code)) e.preventDefault();\n        switch (e.code) {\n            case \"KeyW\": case \"ArrowUp\": this.fwdPressed = true; this.setAnimationByPressed(); break;\n            case \"KeyS\": case \"ArrowDown\": this.bkdPressed = true; this.setAnimationByPressed(); break;\n            case \"KeyD\": case \"ArrowRight\": this.rgtPressed = true; this.setAnimationByPressed(); break;\n            case \"KeyA\": case \"ArrowLeft\": this.lftPressed = true; this.setAnimationByPressed(); break;\n            case \"ShiftLeft\": case \"ShiftRight\":\n                this.shiftPressed = true;\n                this.setAnimationByPressed();\n                this.controls.mouseButtons = { LEFT: 2, MIDDLE: 1, RIGHT: 0 };\n                break;\n            case \"Space\":\n                this.cancelBoarding();\n                this.spacePressed = true;\n                if (this.controllerMode === 1) return;\n                if (!this.playerIsOnGround || this.isFlying) return;\n                if (this.personActions?.get(\"jumping\") === this.actionState) return;\n                this.playPersonAnimationByName(\"jumping\");\n                this.playerVelocity.y = this.jumpHeight;\n                this.playerIsOnGround = false;\n                break;\n            case \"ControlLeft\": this.ctPressed = true; break;\n            case \"KeyV\": this.changeView(); break;\n            case \"KeyF\":\n                if (this.controllerMode === 0 && this.playerFlyEnabled) {\n                    this.isFlying = !this.isFlying;\n                    this.setAnimationByPressed();\n                    if (!this.isFlying && !this.playerIsOnGround) this.playPersonAnimationByName(\"jumping\");\n                }\n                break;\n            case \"KeyE\":\n                if (this.isFlying) return;\n                if (this.controllerMode === 0) this.enterVehicle(); else this.exitVehicle();\n                break;\n        }\n    };\n\n    // 键盘抬起事件\n    private boundOnKeyup = (e: KeyboardEvent) => {\n        switch (e.code) {\n            case \"KeyW\": case \"ArrowUp\": this.fwdPressed = false; this.setAnimationByPressed(); break;\n            case \"KeyS\": case \"ArrowDown\": this.bkdPressed = false; this.setAnimationByPressed(); break;\n            case \"KeyD\": case \"ArrowRight\": this.rgtPressed = false; this.setAnimationByPressed(); break;\n            case \"KeyA\": case \"ArrowLeft\": this.lftPressed = false; this.setAnimationByPressed(); break;\n            case \"ShiftLeft\": case \"ShiftRight\":\n                this.shiftPressed = false;\n                this.setAnimationByPressed();\n                this.controls.mouseButtons = { LEFT: 0, MIDDLE: 1, RIGHT: 2 };\n                break;\n            case \"Space\": this.spacePressed = false; break;\n            case \"ControlLeft\": this.ctPressed = false; break;\n        }\n    };\n\n    private mouseMove = (e: MouseEvent) => { if (document.pointerLockElement === document.body) this.setToward(e.movementX, e.movementY, 0.0001); };\n    private mouseClick = () => this.setPointerLock();\n\n    // 注册所有事件\n    onAllEvent() {\n        this.isupdate = true;\n        this.setPointerLock();\n        window.addEventListener(\"keydown\", this.boundOnKeydown);\n        window.addEventListener(\"keyup\", this.boundOnKeyup);\n        window.addEventListener(\"mousemove\", this.mouseMove);\n        window.addEventListener(\"click\", this.mouseClick);\n    }\n\n    // 注销所有事件\n    offAllEvent() {\n        this.isupdate = false;\n        document.exitPointerLock();\n        window.removeEventListener(\"keydown\", this.boundOnKeydown);\n        window.removeEventListener(\"keyup\", this.boundOnKeyup);\n        window.removeEventListener(\"mousemove\", this.mouseMove);\n        window.removeEventListener(\"click\", this.mouseClick);\n    }\n\n    // ==================== 移动端同步 ====================\n\n    // 同步移动端按钮\n    private syncMobileControllerMode() {\n        this.mobileControls?.syncControllerModeBtn(this.controllerMode);\n    }\n\n    // ==================== Setters ====================\n\n    // 设置鼠标灵敏度\n    setMouseSensitivity(value: number) {\n        this.mouseSensitivity = value;\n        this.controls.rotateSpeed = value * 0.05;\n    }\n\n    // 设置重力\n    setGravity(gravity: number) { this.gravity = gravity * this.playerModel.scale; }\n    // 设置跳跃高度\n    setJumpHeight(jumpHeight: number) { this.jumpHeight = jumpHeight * this.playerModel.scale; }\n    // 设置移动速度\n    setPlayerSpeed(speed: number) { this.playerSpeed = speed * this.playerModel.scale; this.curPlayerSpeed = this.playerSpeed; }\n    // 设置飞行速度\n    setPlayerFlySpeed(flySpeed: number) { this.playerFlySpeed = flySpeed * this.playerModel.scale; }\n    // 设置最小相机距离\n    setMinCamDistance(dist: number) { this.minCamDistance = dist * this.playerModel.scale; }\n    // 设置最大相机距离\n    setMaxCamDistance(dist: number) { this.maxCamDistance = dist * this.playerModel.scale; this.orginMaxCamDistance = this.maxCamDistance; }\n    // 设置鼠标模式\n    setThirdMouseMode(mode: 0 | 1 | 2 | 3) { this.thirdMouseMode = mode; this.setPointerLock(); }\n    // 设置滚轮缩放\n    setEnableZoom(enable: boolean) { this.enableZoom = enable; this.controls.enableZoom = enable; }\n\n    // 设置调试显示\n    setDebug(debug: boolean) {\n        if (this.collider) this.scene.remove(this.collider);\n        if (debug) {\n            this.scene.add(this.collider!);\n            (this.player.material as THREE.Material).opacity = 0.5;\n        } else {\n            (this.player.material as THREE.Material).opacity = 0;\n        }\n    }\n\n    // ==================== 销毁 ====================\n\n    // 销毁控制器\n    destroy() {\n        // 注销事件\n        this.offAllEvent();\n\n        // 清理玩家\n        if (this.player) { this.player.remove(this.camera); this.scene.remove(this.player); }\n        (this.player as any) = null;\n        if (this.person) { this.scene.remove(this.person); this.person = null; }\n\n        // 清理场景\n        this.resetControls();\n        if (this.visualizer) { this.scene.remove(this.visualizer); this.visualizer = null; }\n        if (this.collider) { this.scene.remove(this.collider); this.collider = null; }\n\n        // 清理移动端\n        this.mobileControls?.destroy();\n        this.mobileControls = null;\n\n        // 清理车辆\n        for (const v of this.vehicles) { this.scene.remove(v.vehicleGroup); v.pathPlanner?.dispose(); }\n        this.vehicles = [];\n        this.activeVehicle = null;\n\n        controllerInstance = null;\n    }\n}\n\n// ==================== 导出 API ====================\n\nexport function playerController() {\n    if (!controllerInstance) controllerInstance = new PlayerController();\n    const c = controllerInstance;\n    return {\n        init: (opts: PlayerControllerOptions, cb?: () => void) => c.init(opts, cb),\n        loadVehicleModel: (opts: VehicleOptions) => c.loadVehicleModel(opts),\n        update: (dt?: number) => c.update(dt),\n        destroy: () => c.destroy(),\n        reset: (pos?: THREE.Vector3) => c.reset(pos),\n        setInput: (i: any) => c.setInput(i),\n        changeView: () => c.changeView(),\n        getPosition: () => c.getPosition(),\n        getCenterScreenRaycastHit: () => c.getCenterScreenRaycastHit(),\n        getCurrentPersonAnimationName: () => c.getCurrentPersonAnimationName(),\n        getPerson: () => c.person,\n        getActiveVehicle: () => c.activeVehicle,\n        getAllVehicles: () => c.vehicles,\n        switchPlayerModel: (model: PlayerModelOptions) => c.switchPlayerModel(model),\n        setPlayerScale: (scale: number) => c.setPlayerScale(scale),\n        setMouseSensitivity: (v: number) => c.setMouseSensitivity(v),\n        setGravity: (v: number) => c.setGravity(v),\n        setJumpHeight: (v: number) => c.setJumpHeight(v),\n        setPlayerSpeed: (v: number) => c.setPlayerSpeed(v),\n        setPlayerFlySpeed: (v: number) => c.setPlayerFlySpeed(v),\n        setMinCamDistance: (v: number) => c.setMinCamDistance(v),\n        setMaxCamDistance: (v: number) => c.setMaxCamDistance(v),\n        setThirdMouseMode: (v: 0 | 1 | 2 | 3) => c.setThirdMouseMode(v),\n        setEnableZoom: (v: boolean) => c.setEnableZoom(v),\n        setDebug: (v: boolean) => c.setDebug(v),\n        setOverShoulderView: (v: boolean) => c.setOverShoulderView(v),\n        registerAnimation: (key: string, clipName: string, opts?: {\n            loop?: boolean;\n            timeScale?: number;\n            clampWhenFinished?: boolean;\n            onFinished?: () => void;\n        }) => c.registerAnimation(key, clipName, opts),\n        playAnimation: (key: string, opts?: {\n            fade?: number;\n            force?: boolean;\n        }) => c.playAnimation(key, opts),\n    };\n}\n\nexport type playerController = ReturnType<typeof playerController>;\n\nexport function onAllEvent(): void { if (!controllerInstance) controllerInstance = new PlayerController(); controllerInstance.onAllEvent(); }\nexport function offAllEvent(): void { controllerInstance?.offAllEvent(); }\n\nexport type { PlayerControllerOptions, PlayerModelOptions, VehicleOptions, VehicleInstance } from \"./types\";","import type { OrbitControls } from \"three/examples/jsm/controls/OrbitControls.js\";\nimport breakIconModule from \"../../assets/imgs/break.png\";\nimport flyIconModule from \"../../assets/imgs/fly.png\";\nimport jumpIconModule from \"../../assets/imgs/jump.png\";\nimport vehicleIconModule from \"../../assets/imgs/vehicle.png\";\nimport viewIconModule from \"../../assets/imgs/view.png\";\n\ntype SetInputFn = (input: Partial<{\n    moveX: 1 | 0 | -1;\n    moveY: 1 | 0 | -1;\n    lookDeltaX: number;\n    lookDeltaY: number;\n    jump: boolean;\n    shift: boolean;\n    toggleView: boolean;\n    toggleFly: boolean;\n    toggleVehicle: boolean;\n}>) => void;\n\nexport class MobileControls {\n    setInput: SetInputFn;\n    controls: OrbitControls;\n\n    // 摇杆状态\n    nippleModule: any = null;\n    joystickManager: any = null;\n    prevJoyState = { dirX: 0, dirY: 0, shift: false };\n\n    // DOM 元素\n    joystickZoneEl: HTMLDivElement | null = null;\n    lookAreaEl: HTMLDivElement | null = null;\n    jumpBtnEl: HTMLButtonElement | null = null;\n    flyBtnEl: HTMLButtonElement | null = null;\n    viewBtnEl: HTMLButtonElement | null = null;\n    vehicleBtnEl: HTMLButtonElement | null = null;\n\n    // 触摸状态\n    lookPointerId: number | null = null;\n    isLookDown = false;\n    lastTouchX = 0;\n    lastTouchY = 0;\n\n    constructor(setInput: SetInputFn, controls: OrbitControls) {\n        this.setInput = setInput;\n        this.controls = controls;\n    }\n\n    // 初始化移动端控制\n    async init() {\n        this.controls.maxPolarAngle = Math.PI * (300 / 360);\n        this.controls.touches = { ONE: null as any, TWO: null as any };\n\n        // 加载摇杆库\n        this.nippleModule = await import(\"nipplejs\");\n        const nipple = this.nippleModule?.default;\n        const JOY_SIZE = 120;\n        const container = document.body;\n\n        // 创建摇杆区域\n        this.joystickZoneEl = document.createElement(\"div\");\n        this.joystickZoneEl.id = \"joy-zone\";\n        Object.assign(this.joystickZoneEl.style, {\n            position: \"absolute\",\n            left: \"16px\",\n            bottom: \"16px\",\n            width: `${JOY_SIZE + 40}px`,\n            height: `${JOY_SIZE + 40}px`,\n            touchAction: \"none\",\n            zIndex: \"999\",\n            pointerEvents: \"auto\",\n            WebkitUserSelect: \"none\",\n            userSelect: \"none\",\n        });\n        container.appendChild(this.joystickZoneEl);\n        this.blockTouch(this.joystickZoneEl);\n\n        // 初始化摇杆\n        this.joystickManager = nipple.create({\n            zone: this.joystickZoneEl,\n            mode: \"static\",\n            position: { left: `${(JOY_SIZE + 40) / 2}px`, bottom: `${(JOY_SIZE + 40) / 2}px` },\n            color: \"#ffffff\",\n            size: JOY_SIZE,\n            multitouch: true,\n            maxNumberOfNipples: 1,\n        });\n\n        // 摇杆移动\n        this.joystickManager.on(\"move\", (_evt: any, data: any) => {\n            if (!data) return;\n            const rawX = data.vector?.x ?? 0;\n            const rawY = data.vector?.y ?? 0;\n            const distance = data.distance ?? 0;\n            // 死区过滤\n            const deadzone = 0.5;\n            const dirX = rawX > deadzone ? 1 : rawX < -deadzone ? -1 : 0;\n            const dirY = rawY > deadzone ? 1 : rawY < -deadzone ? -1 : 0;\n            // 推到边缘触发冲刺\n            const isSprinting = distance >= JOY_SIZE / 2;\n            const prev = this.prevJoyState;\n            if (dirX === prev.dirX && dirY === prev.dirY && isSprinting === prev.shift) return;\n            this.prevJoyState = { dirX, dirY, shift: isSprinting };\n            this.setInput({ moveX: dirX as any, moveY: dirY as any, shift: isSprinting });\n        });\n\n        // 摇杆抬起\n        this.joystickManager.on(\"end\", () => {\n            const prev = this.prevJoyState;\n            if (prev.dirX !== 0 || prev.dirY !== 0 || prev.shift) {\n                this.prevJoyState = { dirX: 0, dirY: 0, shift: false };\n                this.setInput({ moveX: 0, moveY: 0, shift: false });\n            }\n        });\n\n        // 创建视角区域\n        this.lookAreaEl = document.createElement(\"div\");\n        Object.assign(this.lookAreaEl.style, {\n            position: \"absolute\",\n            right: \"0\",\n            bottom: \"0\",\n            width: \"50%\",\n            height: \"100%\",\n            zIndex: \"998\",\n            touchAction: \"none\",\n            WebkitUserSelect: \"none\",\n            userSelect: \"none\",\n        });\n        container.appendChild(this.lookAreaEl);\n        this.blockTouch(this.lookAreaEl);\n\n        // 绑定视角触摸事件\n        this.lookAreaEl.addEventListener(\"pointerdown\", this.onPointerDown, { passive: false });\n        this.lookAreaEl.addEventListener(\"pointermove\", this.onPointerMove, { passive: false });\n        this.lookAreaEl.addEventListener(\"pointerup\", this.onPointerUp, { passive: false });\n        this.lookAreaEl.addEventListener(\"pointercancel\", this.onPointerUp, { passive: false });\n\n        // 创建操作按钮\n        this.jumpBtnEl = this.createBtn(container, 14, 14, jumpIconModule);\n        this.flyBtnEl = this.createBtn(container, 14, 14 + 80, flyIconModule);\n        this.viewBtnEl = this.createBtn(container, 14, 14 + 200, viewIconModule);\n        this.vehicleBtnEl = this.createBtn(container, 14 + 100, 14 + 120, vehicleIconModule);\n        this.vehicleBtnEl.style.display = \"none\";\n\n        // 绑定按钮事件\n        this.jumpBtnEl.addEventListener(\"touchstart\", (e) => { e.preventDefault(); this.setInput({ jump: true }); }, { passive: false });\n        this.jumpBtnEl.addEventListener(\"touchend\", (e) => { e.preventDefault(); this.setInput({ jump: false }); }, { passive: false });\n        this.jumpBtnEl.addEventListener(\"touchcancel\", (e) => { e.preventDefault(); this.setInput({ jump: false }); }, { passive: false });\n        this.flyBtnEl.addEventListener(\"touchstart\", (e) => { e.preventDefault(); this.setInput({ toggleFly: true }); }, { passive: false });\n        this.viewBtnEl.addEventListener(\"touchstart\", (e) => { e.preventDefault(); this.setInput({ toggleView: true }); }, { passive: false });\n        this.vehicleBtnEl.addEventListener(\"touchstart\", (e) => { e.preventDefault(); this.setInput({ toggleVehicle: true }); }, { passive: false });\n    }\n\n    // 销毁移动端控制\n    destroy() {\n        try {\n            this.joystickManager?.destroy?.();\n            this.joystickManager = null;\n\n            if (this.lookAreaEl) {\n                this.lookAreaEl.removeEventListener(\"pointerdown\", this.onPointerDown);\n                this.lookAreaEl.removeEventListener(\"pointermove\", this.onPointerMove);\n                this.lookAreaEl.removeEventListener(\"pointerup\", this.onPointerUp);\n                this.lookAreaEl.removeEventListener(\"pointercancel\", this.onPointerUp);\n            }\n\n            // 移除所有 DOM 元素\n            [this.joystickZoneEl, this.lookAreaEl, this.jumpBtnEl, this.flyBtnEl, this.viewBtnEl, this.vehicleBtnEl]\n                .forEach(el => el?.parentElement?.removeChild(el));\n\n            this.joystickZoneEl = this.lookAreaEl = this.jumpBtnEl =\n                this.flyBtnEl = this.viewBtnEl = this.vehicleBtnEl = null;\n        } catch (e) {\n            console.warn(\"销毁移动端控制时出错：\", e);\n        }\n    }\n\n    // 同步车辆按钮显隐\n    syncVehicleBtn(show: boolean) {\n        if (this.vehicleBtnEl) this.vehicleBtnEl.style.display = show ? \"block\" : \"none\";\n    }\n\n    // 同步控制模式按钮\n    syncControllerModeBtn(mode: 0 | 1) {\n        if (!this.flyBtnEl || !this.jumpBtnEl) return;\n        if (mode === 0) {\n            // 人物模式：恢复飞行键和跳跃键\n            this.flyBtnEl.style.display = \"block\";\n            this.jumpBtnEl.style.backgroundImage = `linear-gradient(rgba(0,0,0,0.5),rgba(0,0,0,0.5)),url(\"${jumpIconModule}\")`;\n        } else {\n            // 车辆模式：隐藏飞行键，跳跃键变刹车\n            this.flyBtnEl.style.display = \"none\";\n            this.jumpBtnEl.style.backgroundImage = `url(${breakIconModule})`;\n        }\n    }\n\n    // 触摸按下\n    private onPointerDown = (e: PointerEvent) => {\n        if (e.pointerType !== \"touch\") return;\n        this.isLookDown = true;\n        this.lookPointerId = e.pointerId;\n        this.lastTouchX = e.clientX;\n        this.lastTouchY = e.clientY;\n        this.lookAreaEl?.setPointerCapture?.(e.pointerId);\n        e.preventDefault();\n    };\n\n    // 触摸移动\n    private onPointerMove = (e: PointerEvent) => {\n        if (!this.isLookDown || e.pointerId !== this.lookPointerId) return;\n        const dx = e.clientX - this.lastTouchX;\n        const dy = e.clientY - this.lastTouchY;\n        this.lastTouchX = e.clientX;\n        this.lastTouchY = e.clientY;\n        this.setInput({ lookDeltaX: dx, lookDeltaY: dy });\n        e.preventDefault();\n    };\n\n    // 触摸抬起\n    private onPointerUp = (e: PointerEvent) => {\n        if (e.pointerId !== this.lookPointerId) return;\n        this.isLookDown = false;\n        this.lookPointerId = null;\n        this.lookAreaEl?.releasePointerCapture?.(e.pointerId);\n    };\n\n    // 阻止默认触摸\n    private blockTouch(el: HTMLElement) {\n        [\"touchstart\", \"touchmove\", \"touchend\", \"touchcancel\"].forEach(name => {\n            el.addEventListener(name, e => e.preventDefault(), { passive: false });\n        });\n    }\n\n    // 创建圆形按钮\n    private createBtn(container: HTMLElement, rightPx: number, bottomPx: number, bgUrl: string): HTMLButtonElement {\n        const btn = document.createElement(\"button\");\n        Object.assign(btn.style, {\n            position: \"absolute\",\n            right: `${rightPx}px`,\n            bottom: `${bottomPx}px`,\n            width: \"56px\",\n            height: \"56px\",\n            zIndex: \"1000\",\n            borderRadius: \"50%\",\n            border: \"2px solid black\",\n            padding: \"20px\",\n            opacity: \"0.95\",\n            touchAction: \"none\",\n            fontSize: \"14px\",\n            userSelect: \"none\",\n            overflow: \"hidden\",\n            boxSizing: \"border-box\",\n            backgroundColor: \"transparent\",\n            backgroundRepeat: \"no-repeat, no-repeat\",\n            backgroundPosition: \"center center, center center\",\n            backgroundSize: \"100% 100%, 80% 80%\",\n            backgroundImage: `linear-gradient(rgba(0,0,0,0.5),rgba(0,0,0,0.5)),url(\"${bgUrl}\")`,\n        });\n        container.appendChild(btn);\n        // 阻止按钮默认触摸行为\n        [\"touchstart\", \"touchend\", \"touchcancel\"].forEach(name => {\n            btn.addEventListener(name, e => e.preventDefault(), { passive: false });\n        });\n        return btn;\n    }\n}","import * as THREE from \"three\";\nimport type { GLTFLoader } from \"three/examples/jsm/loaders/GLTFLoader.js\";\nimport { PathPlanner, type ObstacleChecker } from \"./pathPlanner\";\nimport { createVehicleController } from \"./useVehicleController\";\nimport type { VehicleOptions, VehicleInstance } from \"../types\";\n\nexport type VehicleLoaderContext = {\n    loader: GLTFLoader;\n    scene: THREE.Scene;\n    world: any;\n    RAPIER: any;\n    vehicleParams: {\n        debug: { showPhysicsBox: boolean };\n        chassis: { linearDamping: number; angularDamping: number };\n        model: { rotation: number };\n        power: { accelerateForce: number; brakeForce: number; maxSpeed: number };\n        steering: { maxSteerAngle: number; steerSpeed: number; steerReturnSpeed: number };\n        followVehicleDirection: boolean;\n    };\n    vehicleLength: number;\n    playerScale: number;\n};\n\n// ==================== 工具函数 ====================\n\n// 获取包围盒\nfunction getBbox(object: THREE.Object3D) {\n    const bbox = new THREE.Box3().setFromObject(object);\n    const center = new THREE.Vector3();\n    const size = new THREE.Vector3();\n    bbox.getCenter(center);\n    bbox.getSize(size);\n    return { bbox, center, size };\n}\n\n// 创建障碍物检测器\nfunction createObstacleChecker(\n    vehicleGroup: THREE.Group,\n    bbox: THREE.Box3,\n    scale: number,\n    playerScale: number,\n): ObstacleChecker {\n    return {\n        // 射线检测路径是否被车辆遮挡\n        isBlocked(start: THREE.Vector3, end: THREE.Vector3): boolean {\n            const vehiclePos = vehicleGroup.position;\n            const vehicleQuat = vehicleGroup.quaternion;\n            const center = new THREE.Vector3();\n            const size = new THREE.Vector3();\n            bbox.getCenter(center);\n            bbox.getSize(size);\n            center.applyQuaternion(vehicleQuat).add(vehiclePos);\n\n            // 构建旋转后的包围盒角点\n            const halfSize = size.clone().multiplyScalar(0.5 * scale);\n            const corners: THREE.Vector3[] = [];\n            for (let x = -1; x <= 1; x += 2)\n                for (let y = -1; y <= 1; y += 2)\n                    for (let z = -1; z <= 1; z += 2)\n                        corners.push(\n                            new THREE.Vector3(halfSize.x * x, halfSize.y * y, halfSize.z * z)\n                                .applyQuaternion(vehicleQuat)\n                                .add(center),\n                        );\n\n            // 扩展包围盒并做射线检测\n            const expandedBBox = new THREE.Box3();\n            corners.forEach(c => expandedBBox.expandByPoint(c));\n            expandedBBox.expandByScalar(100 * playerScale);\n\n            const direction = new THREE.Vector3().subVectors(end, start);\n            const length = direction.length();\n            const ray = new THREE.Ray(start, direction.normalize());\n            const intersects = ray.intersectBox(expandedBBox, new THREE.Vector3());\n            return intersects !== null && start.distanceTo(intersects) < length;\n        },\n\n        // 生成绕行导航节点\n        getNavigationNodes(start: THREE.Vector3, _goal: THREE.Vector3): THREE.Vector3[] {\n            const nodes = [] as THREE.Vector3[];\n            const vehiclePos = vehicleGroup.position;\n            const vehicleQuat = vehicleGroup.quaternion;\n            const bboxSize = new THREE.Vector3();\n            bbox.getSize(bboxSize);\n\n            const fwd = new THREE.Vector3(0, 0, 1).applyQuaternion(vehicleQuat);\n            const right = new THREE.Vector3(1, 0, 0).applyQuaternion(vehicleQuat);\n            const halfLen = (bboxSize.z / 2) * scale;\n            const halfWidth = (bboxSize.x / 2) * scale;\n            const groundY = start.y;\n\n            // 两个距离层级各生成四个角点\n            for (const margin of [300 * playerScale, 500 * playerScale]) {\n                nodes.push(vehiclePos.clone().add(fwd.clone().multiplyScalar(halfLen + margin)).add(right.clone().multiplyScalar(-halfWidth - margin)).setY(groundY));\n                nodes.push(vehiclePos.clone().add(fwd.clone().multiplyScalar(halfLen + margin)).add(right.clone().multiplyScalar(halfWidth + margin)).setY(groundY));\n                nodes.push(vehiclePos.clone().add(fwd.clone().multiplyScalar(-halfLen - margin)).add(right.clone().multiplyScalar(-halfWidth - margin)).setY(groundY));\n                nodes.push(vehiclePos.clone().add(fwd.clone().multiplyScalar(-halfLen - margin)).add(right.clone().multiplyScalar(halfWidth + margin)).setY(groundY));\n            }\n            return nodes;\n        },\n    };\n}\n\n// ==================== 主函数 ====================\n\n// 加载车辆模型\nexport async function loadVehicleModel(\n    opts: VehicleOptions,\n    ctx: VehicleLoaderContext,\n): Promise<VehicleInstance> {\n    const { loader, scene, world, RAPIER, vehicleParams, vehicleLength, playerScale } = ctx;\n\n    const scale = opts.scale ?? 1;\n    const chassisRatio = opts.chassisRatio ?? 0.2;\n    const suspensionRestLengthRatio = opts.suspensionRestLengthRatio ?? 0.2;\n    const speedMultiplier = opts.speedMultiplier ?? 1;\n\n    // 更新车辆物理参数\n    vehicleParams.power.accelerateForce = 50 * scale;\n    vehicleParams.power.brakeForce = 200 * scale;\n    vehicleParams.power.maxSpeed = 10000 * scale;\n    vehicleParams.followVehicleDirection = opts.followVehicleDirection ?? true;\n\n    const vehicleModel = await loader.loadAsync(opts.url);\n\n    // 计算模型缩放比\n    const { size: originalSize } = getBbox(vehicleModel.scene);\n    const modelScale = vehicleLength / Math.max(originalSize.x, originalSize.y, originalSize.z);\n\n    // 绑定开门动画\n    const vehicleMixer = new THREE.AnimationMixer(vehicleModel.scene);\n    const vehicleActions = new Map<string, THREE.AnimationAction>();\n    const animations = vehicleModel.animations ?? [];\n    const openDoorClip = animations.find(a => a.name === (opts.animations?.openDoorAnim ?? \"\"));\n    if (openDoorClip) {\n        const action = vehicleMixer.clipAction(openDoorClip);\n        action.setLoop(THREE.LoopOnce, 1);\n        action.clampWhenFinished = true;\n        action.setEffectiveTimeScale(openDoorClip.duration);\n        action.enabled = true;\n        action.setEffectiveWeight(0);\n        vehicleActions.set(\"openDoor\", action);\n    }\n\n    // 查找轮子节点\n    const wheelObjects: THREE.Object3D[] = [];\n    for (const name of opts.wheelsNames) {\n        let found = false;\n        vehicleModel.scene.traverse(child => {\n            if (child.name === name && !found) { wheelObjects.push(child); found = true; }\n        });\n        if (!found) console.warn(`未找到轮子: ${name}`);\n    }\n\n    // 临时挂载获取世界坐标\n    const tempGroup = new THREE.Group();\n    scene.add(tempGroup);\n    vehicleModel.scene.scale.multiplyScalar(modelScale * scale);\n    vehicleModel.scene.rotateY(vehicleParams.model.rotation);\n    const { size, bbox, center } = getBbox(vehicleModel.scene);\n    vehicleModel.scene.position.set(-center.x, -center.y, -center.z);\n    tempGroup.add(vehicleModel.scene);\n    tempGroup.updateMatrixWorld(true);\n\n    // 收集轮子世界变换信息\n    let wheelRadius = 0, wheelWidth = 0, suspensionRestLength = 0, chassisHeight = 0, wheelSizeInit = false;\n    const wheelsInfo: any[] = [];\n\n    for (const wheel of wheelObjects) {\n        const worldPos = new THREE.Vector3();\n        const worldQuat = new THREE.Quaternion();\n        const worldScale = new THREE.Vector3();\n        wheel.getWorldPosition(worldPos);\n        wheel.getWorldQuaternion(worldQuat);\n        wheel.getWorldScale(worldScale);\n\n        // 只计算一次轮子尺寸\n        if (!wheelSizeInit) {\n            const { size: ws } = getBbox(wheel);\n            wheelRadius = Number((Math.max(ws.x, ws.y, ws.z) / 2).toFixed(2));\n            wheelWidth = Number(Math.min(ws.x, ws.y, ws.z).toFixed(2));\n            suspensionRestLength = Number((wheelRadius * 2 * suspensionRestLengthRatio).toFixed(2));\n            chassisHeight = Number((wheelRadius * 2 * chassisRatio).toFixed(2));\n            wheelSizeInit = true;\n        }\n\n        wheelsInfo.push({ axleCs: new THREE.Vector3(0, 0, -1), position: worldPos, quaternion: worldQuat, scale: worldScale, radius: wheelRadius, width: wheelWidth, suspensionRestLength, object: wheel });\n    }\n\n    tempGroup.remove(vehicleModel.scene);\n    scene.remove(tempGroup);\n\n    // 创建车辆根节点\n    const vehicleGroup = new THREE.Group();\n    scene.add(vehicleGroup);\n    vehicleGroup.add(vehicleModel.scene);\n    vehicleGroup.updateMatrixWorld(true);\n\n    // 轮子包装组（独立旋转）\n    const wheelWrappers: THREE.Group[] = [];\n    for (let i = 0; i < wheelsInfo.length; i++) {\n        const wheel = wheelsInfo[i];\n        const wheelWrapper = new THREE.Group();\n        wheelWrapper.position.copy(vehicleGroup.worldToLocal(wheel.position.clone()));\n\n        const wheelObj = wheel.object;\n        wheelObj.parent?.remove(wheelObj);\n        wheelObj.position.set(0, 0, 0);\n        wheelObj.quaternion.copy(wheel.quaternion);\n        wheelObj.scale.copy(wheel.scale);\n        wheelObj.updateMatrixWorld();\n\n        wheelWrapper.add(wheelObj);\n        vehicleGroup.add(wheelWrapper);\n        wheelWrappers.push(wheelWrapper);\n    }\n\n    // 创建车身物理碰撞体\n    const halfExtents = size.clone().multiplyScalar(0.5);\n    halfExtents.y -= chassisHeight / 2;\n    vehicleModel.scene.position.y -= chassisHeight / 2;\n    halfExtents.x *= 0.95;\n    halfExtents.z *= 0.95;\n\n    const chassisBody = world.createRigidBody(\n        RAPIER.RigidBodyDesc.dynamic()\n            .setTranslation(opts.position.x, opts.position.y, opts.position.z)\n            .setLinearDamping(vehicleParams.chassis.linearDamping)\n            .setAngularDamping(vehicleParams.chassis.angularDamping)\n            .setCanSleep(true)\n            .setAdditionalMass(10),\n    );\n    world.createCollider(RAPIER.ColliderDesc.cuboid(halfExtents.x, halfExtents.y, halfExtents.z), chassisBody);\n\n    // 调试模式显示物理盒\n    if (vehicleParams.debug.showPhysicsBox) {\n        vehicleGroup.add(new THREE.Mesh(\n            new THREE.BoxGeometry(halfExtents.x * 2, halfExtents.y * 2, halfExtents.z * 2),\n            new THREE.MeshBasicMaterial({ color: 0xff0000, wireframe: true, transparent: true, opacity: 0.3 }),\n        ));\n    }\n\n    vehicleGroup.position.copy(opts.position);\n    vehicleGroup.updateMatrixWorld(true);\n\n    const { vehicle, updateWheelVisuals } = createVehicleController(world, chassisBody, wheelWrappers, wheelsInfo);\n\n    return {\n        vehicleGroup,\n        chassisBody,\n        vehicleController: vehicle,\n        updateWheelVisuals,\n        vehicleMixer,\n        vehicleActions,\n        vehiclIsOpenDoor: false,\n        vehicleBBox: bbox.clone(),\n        pathPlanner: new PathPlanner(\n            createObstacleChecker(vehicleGroup, bbox, scale, playerScale),\n            { debugEnabled: false, scene, scale: playerScale },\n        ),\n        scale,\n        boardingPoint: opts.boardingPoint,\n        seatOffset: opts.seatOffset ?? new THREE.Vector3(),\n        enterVehicleTime: 1.5,\n        chassisRatio,\n        suspensionRestLengthRatio,\n        size: { l: Math.max(size.x, size.z), w: Math.min(size.x, size.z), h: size.y },\n        speedMultiplier,\n    };\n}","import * as THREE from \"three\";\r\n\r\n// ==================== 路径节点 ====================\r\n\r\n// A* 路径节点\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    // 判断节点相等\r\n    equals(other: PathNode): boolean {\r\n        return this.position.distanceTo(other.position) < 0.01;\r\n    }\r\n}\r\n\r\n// ==================== 优先队列 ====================\r\n\r\n// A* 开放列表用优先队列\r\nclass PriorityQueue<T> {\r\n    elements: Array<{ priority: number; item: T }> = [];\r\n\r\n    // 入队并排序\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    // 出队最小优先级\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    // 更新节点优先级\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// ==================== 接口定义 ====================\r\n\r\n// 障碍物检测接口\r\nexport interface ObstacleChecker {\r\n    // 检查两点间是否被障碍物阻挡\r\n    isBlocked(start: THREE.Vector3, end: THREE.Vector3): boolean;\r\n    // 获取障碍物周围导航节点\r\n    getNavigationNodes(start: THREE.Vector3, goal: THREE.Vector3): THREE.Vector3[];\r\n}\r\n\r\n// 路径规划器配置\r\nexport interface PathPlannerConfig {\r\n    debugEnabled?: boolean; // 路径可视化开关\r\n    scene?: THREE.Scene; // 用于可视化的场景\r\n    scale?: number;      // 缩放系数\r\n}\r\n\r\n// ==================== 路径规划器 ====================\r\n\r\n// A* 路径规划器\r\nexport class PathPlanner {\r\n    obstacleChecker: ObstacleChecker;\r\n    config: PathPlannerConfig;\r\n    debugLines: THREE.Line[] = [];\r\n    debugPoints: THREE.Mesh[] = [];\r\n\r\n    constructor(obstacleChecker: ObstacleChecker, config: PathPlannerConfig = {}) {\r\n        this.obstacleChecker = obstacleChecker;\r\n        this.config = { debugEnabled: false, scale: 1, ...config };\r\n    }\r\n\r\n    // 启发式距离\r\n    private heuristic(a: THREE.Vector3, b: THREE.Vector3): number {\r\n        return a.distanceTo(b);\r\n    }\r\n\r\n    // A* 寻路主入口\r\n    findPath(start: THREE.Vector3, goal: THREE.Vector3): THREE.Vector3[] {\r\n        // 直线可达则直接返回\r\n        if (!this.obstacleChecker.isBlocked(start, goal)) return [goal];\r\n\r\n        // 生成候选导航节点\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        // 初始化起点代价\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        const openList = new PriorityQueue<PathNode>();\r\n        const closedSet = new Set<PathNode>();\r\n        const nodeEquals = (a: PathNode, b: PathNode) => a.equals(b);\r\n        openList.enqueue(startNode, startNode.f);\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，重建路径\r\n            if (current.equals(goalNode)) {\r\n                const path = this.reconstructPath(current);\r\n                if (this.config.debugEnabled) this.visualizePath([start, ...path]);\r\n                return path;\r\n            }\r\n\r\n            closedSet.add(current);\r\n\r\n            // 遍历所有邻居节点\r\n            for (const neighbor of allNodes) {\r\n                if (closedSet.has(neighbor)) continue;\r\n                if (this.obstacleChecker.isBlocked(current.position, neighbor.position)) continue;\r\n\r\n                const tentativeG = current.g + current.position.distanceTo(neighbor.position);\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                    if (openList.contains(neighbor, nodeEquals)) openList.update(neighbor, neighbor.f, nodeEquals);\r\n                    else openList.enqueue(neighbor, neighbor.f);\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    // 重建路径\r\n    private reconstructPath(endNode: PathNode): THREE.Vector3[] {\r\n        const path: THREE.Vector3[] = [];\r\n        let current: PathNode | null = endNode;\r\n        while (current !== null) {\r\n            path.unshift(current.position.clone());\r\n            current = current.parent;\r\n        }\r\n        // 移除起点，再平滑\r\n        if (path.length > 0) path.shift();\r\n        return this.smoothPath(path);\r\n    }\r\n\r\n    // 路径平滑优化\r\n    private smoothPath(path: THREE.Vector3[]): THREE.Vector3[] {\r\n        if (path.length <= 2) return path;\r\n        const smoothed: THREE.Vector3[] = [path[0]];\r\n        let current = 0;\r\n        while (current < path.length - 1) {\r\n            // 尽量跳过中间节点\r\n            let farthest = current + 1;\r\n            for (let i = path.length - 1; i > current + 1; i--) {\r\n                if (!this.obstacleChecker.isBlocked(path[current], path[i])) { farthest = i; break; }\r\n            }\r\n            smoothed.push(path[farthest]);\r\n            current = farthest;\r\n        }\r\n        return smoothed;\r\n    }\r\n\r\n    // 可视化路径\r\n    private visualizePath(path: THREE.Vector3[]) {\r\n        if (!this.config.scene || !this.config.debugEnabled) return;\r\n        this.clearVisualization();\r\n        const scale = this.config.scale || 1;\r\n\r\n        // 绘制路径连线\r\n        if (path.length > 1) {\r\n            const geometry = new THREE.BufferGeometry().setFromPoints(path.map(p => p.clone()));\r\n            const line = new THREE.Line(geometry, new THREE.LineBasicMaterial({ color: 0x00ff00, linewidth: 3 }));\r\n            this.config.scene.add(line);\r\n            this.debugLines.push(line);\r\n        }\r\n\r\n        // 绘制路径节点球体\r\n        path.forEach((point, index) => {\r\n            const sphere = new THREE.Mesh(\r\n                new THREE.SphereGeometry(20 * scale),\r\n                new THREE.MeshBasicMaterial({ color: index === path.length - 1 ? 0xff0000 : 0x00ff00 }),\r\n            );\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    // 清除路径可视化\r\n    clearVisualization() {\r\n        if (!this.config.scene) return;\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        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    // 更新配置\r\n    updateConfig(config: Partial<PathPlannerConfig>) {\r\n        this.config = { ...this.config, ...config };\r\n    }\r\n\r\n    // 销毁规划器\r\n    dispose() {\r\n        this.clearVisualization();\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\n// 创建车辆控制器\r\nexport function createVehicleController(\r\n    world: World,\r\n    chassisBody: any,\r\n    wheels: (THREE.Object3D | null)[],\r\n    wheelsInfo: WheelInfo[],\r\n) {\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\r\n    // 注册每个轮子的物理参数\r\n    wheelsInfo.forEach((wheel, index) => {\r\n        vehicle.addWheel(wheel.position, suspensionDirection, wheel.axleCs, wheel.suspensionRestLength, wheel.radius);\r\n        vehicle.setWheelChassisConnectionPointCs(index, wheel.position); // 连接点\r\n        vehicle.setWheelDirectionCs(index, suspensionDirection); // 悬挂方向\r\n        vehicle.setWheelAxleCs(index, wheel.axleCs); // 轮轴方向\r\n        vehicle.setWheelSuspensionRestLength(index, wheel.suspensionRestLength); // 静止长度\r\n        vehicle.setWheelRadius(index, wheel.radius); // 轮胎半径\r\n        vehicle.setWheelMaxSuspensionTravel(index, wheel.suspensionRestLength); // 最大行程\r\n        vehicle.setWheelSuspensionStiffness(index, 250); // 悬挂刚度\r\n        vehicle.setWheelSuspensionCompression(index, 6); // 压缩阻尼\r\n        vehicle.setWheelSuspensionRelaxation(index, 6); // 回弹阻尼\r\n        vehicle.setWheelMaxSuspensionForce(index, 10000); // 最大作用力\r\n        vehicle.setWheelBrake(index, 0); // 制动\r\n        vehicle.setWheelSteering(index, 0); // 转向角\r\n        vehicle.setWheelEngineForce(index, 0); // 驱动力\r\n        vehicle.setWheelFrictionSlip(index, 20); // 纵向抓地\r\n        vehicle.setWheelSideFrictionStiffness(index, 2); // 侧向摩擦\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    // 同步轮子视觉旋转\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                // 悬挂压缩偏移\r\n                wheelObj.position.y = connection - suspension;\r\n                // 转向 * 自转\r\n                wheelSteeringQuat.setFromAxisAngle(up, steering);\r\n                wheelRotationQuat.setFromAxisAngle(wheelAxleCs, rotationRad);\r\n                wheelObj.quaternion.copy(wheelSteeringQuat).multiply(wheelRotationQuat);\r\n            } catch (e) {}\r\n        }\r\n    }\r\n\r\n    // 销毁车辆控制器\r\n    function destroy() {\r\n        try { world.removeVehicleController(vehicle); } catch { }\r\n    }\r\n\r\n    return { vehicle, updateWheelVisuals, destroy 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