tilemap-parser 0.1.0

package/dist/core/runtime/navigation/nav_grid.js

@@ -0,0 +1,245 @@
+import { flippedData, iterCellEntries } from "../world.js";
+import { TilesetCollision, } from "../../parser/collision.js";
+import { tileKey } from "../../vec.js";
+const identityIds = new WeakMap();
+let nextIdentityId = 1;
+function identityId(obj) {
+    const existing = identityIds.get(obj);
+    if (existing !== undefined)
+        return existing;
+    const id = nextIdentityId;
+    nextIdentityId += 1;
+    identityIds.set(obj, id);
+    return id;
+}
+export class NavGrid {
+    tileMap;
+    tilesetCollision;
+    tileSize;
+    collisionMask;
+    effTw;
+    effTh;
+    width;
+    height;
+    walkable;
+    gidResolver;
+    constructor(tileMap, tilesetCollision, tileSize, options = {}) {
+        const renderScale = options.renderScale ?? 1.0;
+        this.tileMap = tileMap;
+        this.tilesetCollision = tilesetCollision;
+        this.gidResolver = options.gidResolver ?? null;
+        this.collisionMask = options.collisionMask ?? 0xffffffff;
+        this.tileSize = tileSize;
+        this.effTw = tileSize[0] * renderScale;
+        this.effTh = tileSize[1] * renderScale;
+        if (options.mapSize !== null && options.mapSize !== undefined) {
+            this.width = options.mapSize[0];
+            this.height = options.mapSize[1];
+        }
+        else {
+            let w = 0;
+            let h = 0;
+            for (const key of tileMap.keys()) {
+                const sep = key.indexOf(";");
+                const tx = Number(key.slice(0, sep));
+                const ty = Number(key.slice(sep + 1));
+                if (tx >= w)
+                    w = tx + 1;
+                if (ty >= h)
+                    h = ty + 1;
+            }
+            this.width = w;
+            this.height = h;
+        }
+        this.walkable = [];
+        for (let y = 0; y < this.height; y += 1) {
+            const row = [];
+            for (let x = 0; x < this.width; x += 1) {
+                row.push(this.isTileWalkable(x, y));
+            }
+            this.walkable.push(row);
+        }
+    }
+    resolve(tileId) {
+        if (this.gidResolver !== null)
+            return this.gidResolver(tileId);
+        return this.tilesetCollision.tiles.get(tileId) ?? null;
+    }
+    *iterDatas(cell) {
+        for (const [gid, flags] of iterCellEntries(cell)) {
+            let data = this.resolve(gid);
+            if (data === null)
+                continue;
+            if (flags !== 0)
+                data = flippedData(data, flags, this.tileSize);
+            if ((this.collisionMask & data.collisionLayer) === 0)
+                continue;
+            yield data;
+        }
+    }
+    isTileWalkable(tx, ty) {
+        for (const tileData of this.iterDatas(this.tileMap.get(tileKey(tx, ty)))) {
+            for (const poly of tileData.shapes) {
+                if (poly.isValid() && !poly.oneWay)
+                    return false;
+            }
+        }
+        return true;
+    }
+    inBounds(tx, ty) {
+        return tx >= 0 && tx < this.width && ty >= 0 && ty < this.height;
+    }
+    isSolid(tx, ty) {
+        if (!this.inBounds(tx, ty))
+            return true;
+        return !(this.walkable[ty]?.[tx] ?? false);
+    }
+    isWalkable(tx, ty) {
+        if (!this.inBounds(tx, ty))
+            return false;
+        return this.walkable[ty]?.[tx] ?? false;
+    }
+    isOneWay(tx, ty) {
+        let hasOneWay = false;
+        for (const tileData of this.iterDatas(this.tileMap.get(tileKey(tx, ty)))) {
+            for (const poly of tileData.shapes) {
+                if (!poly.isValid())
+                    continue;
+                if (poly.oneWay)
+                    hasOneWay = true;
+                else
+                    return false;
+            }
+        }
+        return hasOneWay;
+    }
+    copy() {
+        const clone = Object.create(NavGrid.prototype);
+        clone.tileMap = this.tileMap;
+        clone.tilesetCollision =
+            this.tilesetCollision;
+        clone.tileSize = this.tileSize;
+        clone.effTw = this.effTw;
+        clone.effTh = this.effTh;
+        clone.width = this.width;
+        clone.height = this.height;
+        clone.walkable = this.walkable.map((row) => [
+            ...row,
+        ]);
+        clone.gidResolver =
+            this.gidResolver;
+        clone.collisionMask = this.collisionMask;
+        return clone;
+    }
+    erode(margin) {
+        const next = this.copy();
+        next.erodeInPlace(margin);
+        return next;
+    }
+    erodeInPlace(margin) {
+        const original = this.walkable.map((row) => [...row]);
+        const r = Math.ceil(margin + 0.5);
+        for (let sy = 0; sy < this.height; sy += 1) {
+            for (let sx = 0; sx < this.width; sx += 1) {
+                if (!original[sy]?.[sx])
+                    continue;
+                const minTx = Math.max(0, sx - r);
+                const maxTx = Math.min(this.width - 1, sx + r);
+                const minTy = Math.max(0, sy - r);
+                const maxTy = Math.min(this.height - 1, sy + r);
+                for (let ty = minTy; ty <= maxTy && (this.walkable[sy]?.[sx] ?? false); ty += 1) {
+                    for (let tx = minTx; tx <= maxTx; tx += 1) {
+                        if (original[ty]?.[tx])
+                            continue;
+                        const dx = Math.abs(tx - sx);
+                        const dy = Math.abs(ty - sy);
+                        const distX = Math.max(0.0, dx - 0.5);
+                        const distY = Math.max(0.0, dy - 0.5);
+                        let dist;
+                        if (distX === 0 && distY === 0)
+                            dist = 0.0;
+                        else if (distX === 0)
+                            dist = distY;
+                        else if (distY === 0)
+                            dist = distX;
+                        else
+                            dist = Math.hypot(distX, distY);
+                        if (dist <= margin) {
+                            const row = this.walkable[sy];
+                            if (row !== undefined)
+                                row[sx] = false;
+                            break;
+                        }
+                    }
+                }
+            }
+        }
+    }
+    static forEntity(tileMap, tilesetCollision, tileSize, spriteWidth, spriteHeight = null, renderScale = 1.0, mapSize = null, cache = null, gidResolver = null, collisionMask = 0xffffffff) {
+        const tw = tileSize[0] * renderScale;
+        const size = Math.max(spriteWidth, spriteHeight ?? spriteWidth);
+        const margin = size / 2.0 / tw;
+        // Cache key includes every input by identity/value: grids must never be
+        // reused across different tile maps, tileset collision data, tile sizes,
+        // render scales, map sizes, or gidResolver identities. Each cache is
+        // therefore owned by the exact combination that populated it.
+        const mapId = identityId(tileMap);
+        const collisionId = identityId(tilesetCollision);
+        const resolverId = gidResolver === null ? "null" : `fn:${identityId(gidResolver)}`;
+        const mapSizeKey = mapSize === null ? "auto" : `${mapSize[0]}x${mapSize[1]}`;
+        const key = [
+            mapId,
+            collisionId,
+            `${tileSize[0]}x${tileSize[1]}`,
+            renderScale,
+            mapSizeKey,
+            margin,
+            resolverId,
+            collisionMask,
+        ].join("|");
+        if (cache !== null) {
+            const hit = cache.get(key);
+            if (hit !== undefined)
+                return hit;
+        }
+        const nav = new NavGrid(tileMap, tilesetCollision, tileSize, {
+            renderScale,
+            mapSize,
+            gidResolver,
+            collisionMask,
+        }).erode(margin);
+        if (cache !== null)
+            cache.set(key, nav);
+        return nav;
+    }
+    getNeighbors(tx, ty, diagonals = false) {
+        const neighbors = [];
+        const orthogonal = [
+            [0, -1],
+            [0, 1],
+            [-1, 0],
+            [1, 0],
+        ];
+        for (const [dx, dy] of orthogonal) {
+            if (this.isWalkable(tx + dx, ty + dy))
+                neighbors.push([tx + dx, ty + dy]);
+        }
+        if (diagonals) {
+            const diagonal = [
+                [-1, -1],
+                [1, -1],
+                [-1, 1],
+                [1, 1],
+            ];
+            for (const [dx, dy] of diagonal) {
+                if (!this.isWalkable(tx + dx, ty + dy))
+                    continue;
+                if (!this.isWalkable(tx + dx, ty) || !this.isWalkable(tx, ty + dy))
+                    continue;
+                neighbors.push([tx + dx, ty + dy]);
+            }
+        }
+        return neighbors;
+    }
+}
+//# sourceMappingURL=nav_grid.js.map

package/dist/core/runtime/navigation/nav_grid.js.map

@@ -0,0 +1 @@
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package/dist/core/runtime/navigation/path_follower.d.ts

@@ -0,0 +1,19 @@
+import type { TilesetCollision } from "../../parser/collision.js";
+import type { Vec2 } from "../../vec.js";
+import type { ICollidable } from "../protocols.js";
+import type { CollisionRunner } from "../movement/runner.js";
+import type { TileMap } from "../world.js";
+export interface FollowResult {
+    readonly waypointIndex: number;
+    readonly done: boolean;
+    readonly hitWallX: boolean;
+    readonly hitWallY: boolean;
+}
+export declare class PathFollower {
+    readonly arrivalDistance: number;
+    private readonly effTw;
+    private readonly effTh;
+    constructor(effectiveTileSize: Vec2, arrivalDistance?: number | null);
+    updateRpg(sprite: ICollidable, path: readonly Vec2[], waypointIndex: number, runner: CollisionRunner, tilesetCollision: TilesetCollision | null, tileMap: TileMap | null, speed?: number, dt?: number): FollowResult;
+}
+//# sourceMappingURL=path_follower.d.ts.map

package/dist/core/runtime/navigation/path_follower.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"path_follower.d.ts","sourceRoot":"","sources":["../../../../src/core/runtime/navigation/path_follower.ts"],"names":[],"mappings":"AAAA,OAAO,KAAK,EAAE,gBAAgB,EAAE,MAAM,2BAA2B,CAAC;AAClE,OAAO,KAAK,EAAE,IAAI,EAAE,MAAM,cAAc,CAAC;AACzC,OAAO,KAAK,EAAE,WAAW,EAAE,MAAM,iBAAiB,CAAC;AACnD,OAAO,KAAK,EAAE,eAAe,EAAE,MAAM,uBAAuB,CAAC;AAC7D,OAAO,KAAK,EAAE,OAAO,EAAE,MAAM,aAAa,CAAC;AAE3C,MAAM,WAAW,YAAY;IAC3B,QAAQ,CAAC,aAAa,EAAE,MAAM,CAAC;IAC/B,QAAQ,CAAC,IAAI,EAAE,OAAO,CAAC;IACvB,QAAQ,CAAC,QAAQ,EAAE,OAAO,CAAC;IAC3B,QAAQ,CAAC,QAAQ,EAAE,OAAO,CAAC;CAC5B;AAED,qBAAa,YAAY;IACvB,QAAQ,CAAC,eAAe,EAAE,MAAM,CAAC;IACjC,OAAO,CAAC,QAAQ,CAAC,KAAK,CAAS;IAC/B,OAAO,CAAC,QAAQ,CAAC,KAAK,CAAS;gBAEnB,iBAAiB,EAAE,IAAI,EAAE,eAAe,GAAE,MAAM,GAAG,IAAW;IAO1E,SAAS,CACP,MAAM,EAAE,WAAW,EACnB,IAAI,EAAE,SAAS,IAAI,EAAE,EACrB,aAAa,EAAE,MAAM,EACrB,MAAM,EAAE,eAAe,EACvB,gBAAgB,EAAE,gBAAgB,GAAG,IAAI,EACzC,OAAO,EAAE,OAAO,GAAG,IAAI,EACvB,KAAK,SAAQ,EACb,EAAE,SAAQ,GACT,YAAY;CAsDhB"}

package/dist/core/runtime/navigation/path_follower.js

@@ -0,0 +1,59 @@
+export class PathFollower {
+    arrivalDistance;
+    effTw;
+    effTh;
+    constructor(effectiveTileSize, arrivalDistance = null) {
+        this.effTw = effectiveTileSize[0];
+        this.effTh = effectiveTileSize[1];
+        this.arrivalDistance =
+            arrivalDistance ?? Math.hypot(this.effTw, this.effTh) * 0.2;
+    }
+    updateRpg(sprite, path, waypointIndex, runner, tilesetCollision, tileMap, speed = 200.0, dt = 0.016) {
+        if (path.length === 0 || waypointIndex >= path.length) {
+            return { waypointIndex, done: true, hitWallX: false, hitWallY: false };
+        }
+        while (waypointIndex < path.length) {
+            const wp = path[waypointIndex];
+            if (wp === undefined)
+                break;
+            const tx = wp[0] * this.effTw + this.effTw * 0.5;
+            const ty = wp[1] * this.effTh + this.effTh * 0.5;
+            if (Math.hypot(tx - sprite.x, ty - sprite.y) < this.arrivalDistance) {
+                waypointIndex += 1;
+            }
+            else {
+                break;
+            }
+        }
+        if (waypointIndex >= path.length) {
+            return { waypointIndex, done: true, hitWallX: false, hitWallY: false };
+        }
+        const wp = path[waypointIndex];
+        if (wp === undefined) {
+            return { waypointIndex, done: true, hitWallX: false, hitWallY: false };
+        }
+        const tx = wp[0] * this.effTw + this.effTw * 0.5;
+        const ty = wp[1] * this.effTh + this.effTh * 0.5;
+        const dx = tx - sprite.x;
+        const dy = ty - sprite.y;
+        const dist = Math.hypot(dx, dy);
+        let deltaX = 0.0;
+        let deltaY = 0.0;
+        if (dist >= 0.01) {
+            const step = Math.min(speed * dt, dist);
+            deltaX = (dx / dist) * step;
+            deltaY = (dy / dist) * step;
+        }
+        const result = runner.moveRpg(sprite, tilesetCollision, tileMap, deltaX, deltaY);
+        if (Math.hypot(tx - sprite.x, ty - sprite.y) < this.arrivalDistance) {
+            waypointIndex += 1;
+        }
+        return {
+            waypointIndex,
+            done: waypointIndex >= path.length,
+            hitWallX: result.hitWallX,
+            hitWallY: result.hitWallY,
+        };
+    }
+}
+//# sourceMappingURL=path_follower.js.map

package/dist/core/runtime/navigation/path_follower.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"path_follower.js","sourceRoot":"","sources":["../../../../src/core/runtime/navigation/path_follower.ts"],"names":[],"mappings":"AAaA,MAAM,OAAO,YAAY;IACd,eAAe,CAAS;IAChB,KAAK,CAAS;IACd,KAAK,CAAS;IAE/B,YAAY,iBAAuB,EAAE,kBAAiC,IAAI;QACxE,IAAI,CAAC,KAAK,GAAG,iBAAiB,CAAC,CAAC,CAAC,CAAC;QAClC,IAAI,CAAC,KAAK,GAAG,iBAAiB,CAAC,CAAC,CAAC,CAAC;QAClC,IAAI,CAAC,eAAe;YAClB,eAAe,IAAI,IAAI,CAAC,KAAK,CAAC,IAAI,CAAC,KAAK,EAAE,IAAI,CAAC,KAAK,CAAC,GAAG,GAAG,CAAC;IAChE,CAAC;IAED,SAAS,CACP,MAAmB,EACnB,IAAqB,EACrB,aAAqB,EACrB,MAAuB,EACvB,gBAAyC,EACzC,OAAuB,EACvB,KAAK,GAAG,KAAK,EACb,EAAE,GAAG,KAAK;QAEV,IAAI,IAAI,CAAC,MAAM,KAAK,CAAC,IAAI,aAAa,IAAI,IAAI,CAAC,MAAM,EAAE,CAAC;YACtD,OAAO,EAAE,aAAa,EAAE,IAAI,EAAE,IAAI,EAAE,QAAQ,EAAE,KAAK,EAAE,QAAQ,EAAE,KAAK,EAAE,CAAC;QACzE,CAAC;QAED,OAAO,aAAa,GAAG,IAAI,CAAC,MAAM,EAAE,CAAC;YACnC,MAAM,EAAE,GAAG,IAAI,CAAC,aAAa,CAAC,CAAC;YAC/B,IAAI,EAAE,KAAK,SAAS;gBAAE,MAAM;YAC5B,MAAM,EAAE,GAAG,EAAE,CAAC,CAAC,CAAC,GAAG,IAAI,CAAC,KAAK,GAAG,IAAI,CAAC,KAAK,GAAG,GAAG,CAAC;YACjD,MAAM,EAAE,GAAG,EAAE,CAAC,CAAC,CAAC,GAAG,IAAI,CAAC,KAAK,GAAG,IAAI,CAAC,KAAK,GAAG,GAAG,CAAC;YACjD,IAAI,IAAI,CAAC,KAAK,CAAC,EAAE,GAAG,MAAM,CAAC,CAAC,EAAE,EAAE,GAAG,MAAM,CAAC,CAAC,CAAC,GAAG,IAAI,CAAC,eAAe,EAAE,CAAC;gBACpE,aAAa,IAAI,CAAC,CAAC;YACrB,CAAC;iBAAM,CAAC;gBACN,MAAM;YACR,CAAC;QACH,CAAC;QACD,IAAI,aAAa,IAAI,IAAI,CAAC,MAAM,EAAE,CAAC;YACjC,OAAO,EAAE,aAAa,EAAE,IAAI,EAAE,IAAI,EAAE,QAAQ,EAAE,KAAK,EAAE,QAAQ,EAAE,KAAK,EAAE,CAAC;QACzE,CAAC;QAED,MAAM,EAAE,GAAG,IAAI,CAAC,aAAa,CAAC,CAAC;QAC/B,IAAI,EAAE,KAAK,SAAS,EAAE,CAAC;YACrB,OAAO,EAAE,aAAa,EAAE,IAAI,EAAE,IAAI,EAAE,QAAQ,EAAE,KAAK,EAAE,QAAQ,EAAE,KAAK,EAAE,CAAC;QACzE,CAAC;QACD,MAAM,EAAE,GAAG,EAAE,CAAC,CAAC,CAAC,GAAG,IAAI,CAAC,KAAK,GAAG,IAAI,CAAC,KAAK,GAAG,GAAG,CAAC;QACjD,MAAM,EAAE,GAAG,EAAE,CAAC,CAAC,CAAC,GAAG,IAAI,CAAC,KAAK,GAAG,IAAI,CAAC,KAAK,GAAG,GAAG,CAAC;QACjD,MAAM,EAAE,GAAG,EAAE,GAAG,MAAM,CAAC,CAAC,CAAC;QACzB,MAAM,EAAE,GAAG,EAAE,GAAG,MAAM,CAAC,CAAC,CAAC;QACzB,MAAM,IAAI,GAAG,IAAI,CAAC,KAAK,CAAC,EAAE,EAAE,EAAE,CAAC,CAAC;QAChC,IAAI,MAAM,GAAG,GAAG,CAAC;QACjB,IAAI,MAAM,GAAG,GAAG,CAAC;QACjB,IAAI,IAAI,IAAI,IAAI,EAAE,CAAC;YACjB,MAAM,IAAI,GAAG,IAAI,CAAC,GAAG,CAAC,KAAK,GAAG,EAAE,EAAE,IAAI,CAAC,CAAC;YACxC,MAAM,GAAG,CAAC,EAAE,GAAG,IAAI,CAAC,GAAG,IAAI,CAAC;YAC5B,MAAM,GAAG,CAAC,EAAE,GAAG,IAAI,CAAC,GAAG,IAAI,CAAC;QAC9B,CAAC;QAED,MAAM,MAAM,GAAG,MAAM,CAAC,OAAO,CAC3B,MAAM,EACN,gBAAgB,EAChB,OAAO,EACP,MAAM,EACN,MAAM,CACP,CAAC;QACF,IAAI,IAAI,CAAC,KAAK,CAAC,EAAE,GAAG,MAAM,CAAC,CAAC,EAAE,EAAE,GAAG,MAAM,CAAC,CAAC,CAAC,GAAG,IAAI,CAAC,eAAe,EAAE,CAAC;YACpE,aAAa,IAAI,CAAC,CAAC;QACrB,CAAC;QACD,OAAO;YACL,aAAa;YACb,IAAI,EAAE,aAAa,IAAI,IAAI,CAAC,MAAM;YAClC,QAAQ,EAAE,MAAM,CAAC,QAAQ;YACzB,QAAQ,EAAE,MAAM,CAAC,QAAQ;SAC1B,CAAC;IACJ,CAAC;CACF"}

package/dist/core/runtime/navigation/pathfinder.d.ts

@@ -0,0 +1,8 @@
+import type { Vec2 } from "../../vec.js";
+import type { NavGrid } from "./nav_grid.js";
+export declare class Pathfinder {
+    readonly navGrid: NavGrid;
+    constructor(navGrid: NavGrid);
+    findPath(start: Vec2, end: Vec2, maxSteps?: number): Vec2[] | null;
+}
+//# sourceMappingURL=pathfinder.d.ts.map

package/dist/core/runtime/navigation/pathfinder.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"pathfinder.d.ts","sourceRoot":"","sources":["../../../../src/core/runtime/navigation/pathfinder.ts"],"names":[],"mappings":"AAAA,OAAO,KAAK,EAAE,IAAI,EAAE,MAAM,cAAc,CAAC;AACzC,OAAO,KAAK,EAAE,OAAO,EAAE,MAAM,eAAe,CAAC;AAoE7C,qBAAa,UAAU;IACrB,QAAQ,CAAC,OAAO,EAAE,OAAO,CAAC;gBAEd,OAAO,EAAE,OAAO;IAI5B,QAAQ,CAAC,KAAK,EAAE,IAAI,EAAE,GAAG,EAAE,IAAI,EAAE,QAAQ,SAAO,GAAG,IAAI,EAAE,GAAG,IAAI;CAiDjE"}

package/dist/core/runtime/navigation/pathfinder.js

@@ -0,0 +1,114 @@
+function heapPush(heap, entry) {
+    heap.push(entry);
+    let i = heap.length - 1;
+    while (i > 0) {
+        const parent = Math.floor((i - 1) / 2);
+        const parentEntry = heap[parent];
+        if (parentEntry === undefined || parentEntry.f <= entry.f)
+            break;
+        const current = heap[i];
+        if (current === undefined)
+            break;
+        heap[i] = parentEntry;
+        heap[parent] = current;
+        i = parent;
+    }
+}
+function heapPop(heap) {
+    const top = heap[0];
+    if (top === undefined)
+        return null;
+    const last = heap.pop();
+    if (heap.length > 0 && last !== undefined) {
+        heap[0] = last;
+        let i = 0;
+        for (;;) {
+            const left = 2 * i + 1;
+            const right = 2 * i + 2;
+            let smallest = i;
+            const current = heap[i];
+            const leftEntry = heap[left];
+            const rightEntry = heap[right];
+            if (leftEntry !== undefined &&
+                current !== undefined &&
+                leftEntry.f < current.f) {
+                smallest = left;
+            }
+            const smallestEntry = heap[smallest];
+            if (rightEntry !== undefined &&
+                smallestEntry !== undefined &&
+                rightEntry.f < smallestEntry.f) {
+                smallest = right;
+            }
+            if (smallest === i)
+                break;
+            const a = heap[i];
+            const b = heap[smallest];
+            if (a === undefined || b === undefined)
+                break;
+            heap[i] = b;
+            heap[smallest] = a;
+            i = smallest;
+        }
+    }
+    return top;
+}
+function manhattan(ax, ay, bx, by) {
+    return Math.abs(ax - bx) + Math.abs(ay - by);
+}
+export class Pathfinder {
+    navGrid;
+    constructor(navGrid) {
+        this.navGrid = navGrid;
+    }
+    findPath(start, end, maxSteps = 2000) {
+        const [sx, sy] = start;
+        const [ex, ey] = end;
+        if (!this.navGrid.isWalkable(ex, ey))
+            return null;
+        const key = (x, y) => `${x},${y}`;
+        const open = [{ f: 0.0, x: sx, y: sy }];
+        const cameFrom = new Map();
+        const gScore = new Map([[key(sx, sy), 0.0]]);
+        const closed = new Set();
+        let steps = 0;
+        while (open.length > 0 && steps < maxSteps) {
+            const current = heapPop(open);
+            if (current === null)
+                break;
+            const currentKey = key(current.x, current.y);
+            if (closed.has(currentKey))
+                continue;
+            closed.add(currentKey);
+            steps += 1;
+            if (current.x === ex && current.y === ey) {
+                const path = [[current.x, current.y]];
+                let cursor = currentKey;
+                while (cameFrom.has(cursor)) {
+                    const prev = cameFrom.get(cursor);
+                    if (prev === undefined)
+                        break;
+                    cursor = prev;
+                    const [px, py] = prev.split(",").map(Number);
+                    path.push([px, py]);
+                }
+                return path.reverse();
+            }
+            for (const [nx, ny] of this.navGrid.getNeighbors(current.x, current.y)) {
+                const tentative = (gScore.get(currentKey) ?? Infinity) + 1.0;
+                const nKey = key(nx, ny);
+                if (tentative < (gScore.get(nKey) ?? Infinity)) {
+                    cameFrom.set(nKey, currentKey);
+                    gScore.set(nKey, tentative);
+                    heapPush(open, {
+                        f: tentative + manhattan(nx, ny, ex, ey),
+                        x: nx,
+                        y: ny,
+                    });
+                }
+            }
+        }
+        return null;
+    }
+}
+//# sourceMappingURL=pathfinder.js.map

package/dist/core/runtime/navigation/pathfinder.js.map

@@ -0,0 +1 @@
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package/dist/core/runtime/polygon_query.d.ts

@@ -0,0 +1,13 @@
+import { CollisionPolygon, TilesetCollision, type TileCollisionData } from "../parser/collision.js";
+import type { Vec2 } from "../vec.js";
+import type { ICollidable } from "./protocols.js";
+import { type TileMap } from "./world.js";
+export declare function pointInPolygon(point: Vec2, vertices: readonly Vec2[]): boolean;
+export declare function rectPolygonCollision(rectX: number, rectY: number, rectW: number, rectH: number, vertices: readonly Vec2[]): boolean;
+export declare function circlePolygonCollision(center: Vec2, radius: number, vertices: readonly Vec2[]): boolean;
+export declare function getSpriteBounds(sprite: ICollidable): [number, number, number, number];
+export declare function checkSpritePolygonCollision(sprite: ICollidable, polygon: CollisionPolygon): boolean;
+export declare function checkSpritePolygonOffset(sprite: ICollidable, polygon: CollisionPolygon, ox: number, oy: number, scale?: number): boolean;
+export declare function rectVsTilemap(left: number, top: number, right: number, bottom: number, tileMap: TileMap, tilesetCollision: TilesetCollision, tileSize: Vec2, renderScale?: number, collisionMask?: number | null): boolean;
+export declare function iterCellDatas(tilesetCollision: TilesetCollision, cell: unknown): TileCollisionData[];
+//# sourceMappingURL=polygon_query.d.ts.map

package/dist/core/runtime/polygon_query.d.ts.map

@@ -0,0 +1 @@
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