tarinai/js/world_pathfinding_system.js

"use strict";

// Layer: world/pathfinding
// Throttled actor-local obstacle-aware routing for creature movement.
(function (global) {
  const World = global.World;
  if (!World) return;

  const ROUTE_TARGET_CELL = 56;

  const routeHash = (value) => {
    const s = String(value ?? "");
    let h = 2166136261 >>> 0;
    for (let i = 0; i < s.length; i++) h = Math.imul(h ^ s.charCodeAt(i), 16777619) >>> 0;
    return h >>> 0;
  };
  const routeBias = (seed, x, y, amplitude = 14) => {
    let h = seed ^ Math.imul((Math.round(x) | 0) + 0x9e37, 0x85ebca6b) ^ Math.imul((Math.round(y) | 0) + 0x7f4a, 0xc2b2ae35);
    h ^= h >>> 16;
    h = Math.imul(h, 0x7feb352d);
    h ^= h >>> 15;
    return (((h >>> 0) / 4294967295) * 2 - 1) * amplitude;
  };
  const cellKey = (x, y, size) => `${Math.floor(x / size)},${Math.floor(y / size)}`;
  const routingContext = (world, actor, target, opts = {}) => {
    if (!actor || !target) return null;
    const ax = Number(actor.x), ay = Number(actor.y), tx = Number(target.x), ty = Number(target.y);
    if (![ax, ay, tx, ty].every(Number.isFinite)) return null;
    const targetItem = opts.targetItem || target.hostItem || (target.isStructure || target.type ? target : null);
    const exclude = opts.exclude || targetItem || null;
    const radius = Math.max(8, Number(actor.radius || 20) || 20);
    const requestedPadding = Number(opts.padding || 0) || radius * 0.78;
    const padding = Math.max(20, requestedPadding, radius * 0.95);
    const targetId = targetItem?.id || target.id || `pos:${Math.round(tx)},${Math.round(ty)}`;
    const spatialVersion = world.routingObstacleVersion || 0;
    return {
      ax, ay, tx, ty, targetItem, exclude, radius, padding,
      pointClearance: Math.max(10, padding * 0.72),
      targetId,
      targetBucket: cellKey(tx, ty, ROUTE_TARGET_CELL),
      spatialVersion,
      seed: routeHash(actor.id ?? actor.uid ?? actor.name ?? ""),
    };
  };
  const routeCheckInterval = (ctx, opts = {}) => {
    const state = String(opts.state || "");
    const base = state === "fight" || state === "seek_enemy" || state === "ant_attack"
      ? 0.18
      : state === "follow_parent"
        ? 0.24
        : Math.hypot(ctx.tx - ctx.ax, ctx.ty - ctx.ay) > 900 ? 0.58 : 0.42;
    return base * (0.9 + ((ctx.seed & 255) / 255) * 0.2);
  };
  const cacheIdentityValid = (cache, ctx) => Boolean(cache
    && cache.targetId === ctx.targetId
    && cache.targetBucket === ctx.targetBucket
    && cache.spatialVersion === ctx.spatialVersion);
  const cacheResult = (cache, targetId) => {
    if (!cache || cache.mode === "direct" || cache.mode === "none") return null;
    if (!Number.isFinite(cache.x) || !Number.isFinite(cache.y)) return null;
    return {
      x: cache.x, y: cache.y, dead: false, detour: true, routeTargetId: targetId,
      ...(cache.mode === "grid" ? { gridPath: true } : null),
    };
  };
  const cacheGeometryValid = (world, cache, ctx) => {
    if (cache.mode === "direct") return !world.pathBlockedByFence?.(ctx.ax, ctx.ay, ctx.tx, ctx.ty, ctx.padding, { exclude: ctx.exclude });
    if (cache.mode === "none") return false;
    return Number.isFinite(cache.x) && Number.isFinite(cache.y)
      && !world.pointBlockedByObstacle?.(cache.x, cache.y, ctx.pointClearance, { exclude: ctx.exclude, maxChecks: 20, directionalOneWay: true })
      && !world.pathBlockedByFence?.(ctx.ax, ctx.ay, cache.x, cache.y, ctx.padding, { exclude: ctx.exclude });
  };
  const setActorRouteCache = (world, actor, ctx, opts, route, ttl = 1.1) => {
    const now = world.time || 0;
    actor._routeCache = {
      mode: route.mode,
      x: route.x,
      y: route.y,
      targetId: ctx.targetId,
      targetBucket: ctx.targetBucket,
      spatialVersion: ctx.spatialVersion,
      nextCheckAt: now + routeCheckInterval(ctx, opts),
      expiresAt: now + ttl,
    };
    return cacheResult(actor._routeCache, ctx.targetId);
  };
  const reuseActorRoute = (world, actor, ctx, opts) => {
    const cache = actor._routeCache;
    if (!cacheIdentityValid(cache, ctx)) return undefined;
    const now = world.time || 0;
    if (now < (cache.nextCheckAt || 0)) return cacheResult(cache, ctx.targetId);
    if (now < (cache.expiresAt || 0) && cacheGeometryValid(world, cache, ctx)) {
      cache.nextCheckAt = now + routeCheckInterval(ctx, opts);
      return cacheResult(cache, ctx.targetId);
    }
    return undefined;
  };

  Object.defineProperties(World.prototype, Object.getOwnPropertyDescriptors({
  findTarinaiPathWaypoint(actor, target, opts = {}) {
    const ctx = routingContext(this, actor, target, opts);
    if (!ctx) return null;
    const { ax, ay, tx, ty, targetItem, exclude, radius: rr, padding, pointClearance, targetId, spatialVersion, seed } = ctx;

    const ownRoute = reuseActorRoute(this, actor, ctx, opts);
    if (ownRoute !== undefined) return ownRoute;

    if (!this.pathBlockedByFence?.(ax, ay, tx, ty, padding, { exclude })) {
      const route = { mode: "direct" };
      return setActorRouteCache(this, actor, ctx, opts, route, 0.72);
    }

    const midX = (ax + tx) * 0.5;
    const midY = (ay + ty) * 0.5;
    const totalD = Math.max(1, Math.hypot(tx - ax, ty - ay));
    const rects = this.nearbySolidObstacleRects?.(midX, midY, totalD * 0.5 + padding + 190, { exclude, maxChecks: Math.max(32, Number(opts.maxChecks || 0) || 46), maxRects: 80 }) || [];
    const worldPad = (typeof CONFIG !== "undefined" ? CONFIG.worldPadding : 28) + rr * 0.45;
    const candidates = [];
    const add = (x, y, sourceRect, grade = 0) => {
      if (!Number.isFinite(x) || !Number.isFinite(y) || x < worldPad || y < worldPad || x > this.w - worldPad || y > this.h - worldPad) return;
      candidates.push({ x, y, sourceRect, grade });
    };
    const worldPoint = (r, lx, ly) => {
      const c = Number.isFinite(r.cos) ? r.cos : Math.cos(r.angle || 0);
      const sn = Number.isFinite(r.sin) ? r.sin : Math.sin(r.angle || 0);
      const cx = Number(r.cx ?? ((Number(r.left || 0) + Number(r.right || 0)) * 0.5)) || 0;
      const cy = Number(r.cy ?? ((Number(r.top || 0) + Number(r.bottom || 0)) * 0.5)) || 0;
      return { x: cx + lx * c - ly * sn, y: cy + lx * sn + ly * c };
    };
    const addRectCandidates = (r, index = 0) => {
      const pad = Math.max(34, padding + rr * 1.45 + 18 + Math.min(18, index * 3));
      if (r.oriented) {
        const hw = Math.max(1, Number(r.halfW || 0) || 1) + pad;
        const hh = Math.max(1, Number(r.halfH || 0) || 1) + pad;
        for (const [lx, ly, grade] of [[-hw,-hh,0],[hw,-hh,0],[hw,hh,0],[-hw,hh,0],[0,-hh,1],[hw,0,1],[0,hh,1],[-hw,0,1]]) {
          const p = worldPoint(r, lx, ly);
          add(p.x, p.y, r, grade);
        }
      } else {
        const left = Number(r.left || 0) - pad, right = Number(r.right || 0) + pad;
        const top = Number(r.top || 0) - pad, bottom = Number(r.bottom || 0) + pad;
        const cx = (left + right) * 0.5, cy = (top + bottom) * 0.5;
        for (const [x, y, grade] of [[left,top,0],[right,top,0],[right,bottom,0],[left,bottom,0],[cx,top,1],[right,cy,1],[cx,bottom,1],[left,cy,1]]) add(x, y, r, grade);
      }
    };

    let blockers = 0;
    for (const rect of rects) {
      if (!this.isFenceRoutingRect?.(rect)) continue;
      const inflated = rect?.oriented
        ? { ...rect, halfW: (rect.halfW || 0) + padding, halfH: (rect.halfH || 0) + padding }
        : { left: (rect.left || 0) - padding, right: (rect.right || 0) + padding, top: (rect.top || 0) - padding, bottom: (rect.bottom || 0) + padding };
      if (!this.segmentIntersectsRect?.(ax, ay, tx, ty, inflated)) continue;
      addRectCandidates(rect, blockers++);
      if (blockers >= 4) break;
    }
    if (!candidates.length) {
      const route = { mode: "none" };
      return setActorRouteCache(this, actor, ctx, opts, route, 0.35);
    }

    let best = null, bestScore = Infinity;
    const old = actor._routeCache && Number.isFinite(actor._routeCache.x) && Number.isFinite(actor._routeCache.y) ? actor._routeCache : null;
    for (const c of candidates) {
      if (this.pointBlockedByObstacle(c.x, c.y, pointClearance, { exclude, maxChecks: 20, directionalOneWay: true })) continue;
      if (this.pathBlockedByFence?.(ax, ay, c.x, c.y, padding, { exclude })) continue;
      const secondBlocked = this.pathBlockedByFence?.(c.x, c.y, tx, ty, padding, { exclude });
      const d1 = Math.hypot(c.x - ax, c.y - ay), d2 = Math.hypot(tx - c.x, ty - c.y);
      const progress = totalD - d2;
      const cacheBias = old ? Math.min(90, Math.hypot(c.x - old.x, c.y - old.y) * 0.35) : 0;
      const score = d1 + d2 + (secondBlocked ? 780 - progress * 0.45 : 0) + (c.grade || 0) * 26 + cacheBias + routeBias(seed, c.x, c.y);
      if (score < bestScore) { best = { ...c, secondBlocked }; bestScore = score; }
    }
    if (!best || (best.secondBlocked && opts.preferFullPath)) {
      const grid = this.findGridPathWaypoint?.(actor, target, { ...opts, targetItem, exclude, padding, targetId, skipRouteReuse: true });
      if (grid) return grid;
      if (!best) {
        const route = { mode: "none" };
        return setActorRouteCache(this, actor, ctx, opts, route, 0.35);
      }
    }
    const route = { mode: "detour", x: best.x, y: best.y };
    return setActorRouteCache(this, actor, ctx, opts, route);
  },

  findGridPathWaypoint(actor, target, opts = {}) {
    const ctx = routingContext(this, actor, target, opts);
    if (!ctx) return null;
    const { ax, ay, tx, ty, targetId, padding, pointClearance, exclude, radius: actorRadius, seed } = ctx;
    if (!opts.skipRouteReuse) {
      const ownRoute = reuseActorRoute(this, actor, ctx, opts);
      if (ownRoute !== undefined) return ownRoute;
    }

    const dTotal = Math.max(1, Math.hypot(tx - ax, ty - ay));
    const step = Math.max(42, Math.min(72, Number(opts.gridStep || 0) || dTotal / 7));
    const padWorld = (CONFIG.worldPadding || 28) + Math.max(8, actorRadius * 0.45);
    const margin = Math.max(190, step * 3.2);
    const minX = Math.max(padWorld, Math.min(ax, tx) - margin), maxX = Math.min(this.w - padWorld, Math.max(ax, tx) + margin);
    const minY = Math.max(padWorld, Math.min(ay, ty) - margin), maxY = Math.min(this.h - padWorld, Math.max(ay, ty) + margin);
    const cols = Math.max(2, Math.min(18, Math.ceil((maxX - minX) / step) + 1));
    const rows = Math.max(2, Math.min(18, Math.ceil((maxY - minY) / step) + 1));
    const count = cols * rows;
    const xs = new Float64Array(cols), ys = new Float64Array(rows);
    for (let i = 0; i < cols; i++) xs[i] = cols <= 1 ? minX : minX + (maxX - minX) * i / (cols - 1);
    for (let i = 0; i < rows; i++) ys[i] = rows <= 1 ? minY : minY + (maxY - minY) * i / (rows - 1);
    const nearest = (x, y) => ({
      ix: clamp(Math.round((x - minX) / Math.max(1, maxX - minX) * (cols - 1)), 0, cols - 1),
      iy: clamp(Math.round((y - minY) / Math.max(1, maxY - minY) * (rows - 1)), 0, rows - 1),
    });
    const start = nearest(ax, ay), goal = nearest(tx, ty);
    const startId = start.iy * cols + start.ix, goalId = goal.iy * cols + goal.ix;
    const pointCache = new Int8Array(count); pointCache.fill(-1);
    const edgeCache = new Int8Array(count * 8); edgeCache.fill(-1);
    const bestG = new Float64Array(count); bestG.fill(Infinity);
    const scoreF = new Float64Array(count); scoreF.fill(Infinity);
    const parent = new Int16Array(count); parent.fill(-1);
    const inOpen = new Uint8Array(count);
    const open = [];
    const dirs = [[1,0],[-1,0],[0,1],[0,-1],[1,1],[1,-1],[-1,1],[-1,-1]];
    const idOf = (ix, iy) => iy * cols + ix;
    const pointOpen = (ix, iy) => {
      if (ix < 0 || iy < 0 || ix >= cols || iy >= rows) return false;
      const id = idOf(ix, iy);
      if (id === startId || id === goalId) return true;
      if (pointCache[id] >= 0) return pointCache[id] === 1;
      const ok = !this.pointBlockedByObstacle?.(xs[ix], ys[iy], pointClearance, { exclude, maxChecks: 18, directionalOneWay: true });
      pointCache[id] = ok ? 1 : 0;
      return ok;
    };
    const edgeOpen = (aId, bId) => {
      const aix = aId % cols, aiy = (aId / cols) | 0, bix = bId % cols, biy = (bId / cols) | 0;
      const dx = bix - aix, dy = biy - aiy;
      const dir = dx === 1 ? (dy === 0 ? 0 : dy === 1 ? 4 : dy === -1 ? 5 : -1)
        : dx === -1 ? (dy === 0 ? 1 : dy === 1 ? 6 : dy === -1 ? 7 : -1)
        : dx === 0 ? (dy === 1 ? 2 : dy === -1 ? 3 : -1) : -1;
      if (dir < 0) return !this.pathBlockedByFence?.(xs[aix], ys[aiy], xs[bix], ys[biy], padding, { exclude });
      const ci = aId * 8 + dir;
      if (edgeCache[ci] >= 0) return edgeCache[ci] === 1;
      const ok = !this.pathBlockedByFence?.(xs[aix], ys[aiy], xs[bix], ys[biy], padding, { exclude });
      edgeCache[ci] = ok ? 1 : 0;
      return ok;
    };
    const heuristic = (id) => {
      const ix = id % cols, iy = (id / cols) | 0;
      return Math.hypot(xs[ix] - tx, ys[iy] - ty) + routeBias(seed, xs[ix], ys[iy], 8);
    };
    const pushOpen = (id) => {
      if (!inOpen[id]) { inOpen[id] = 1; open.push(id); }
    };
    bestG[startId] = 0;
    scoreF[startId] = heuristic(startId);
    pushOpen(startId);
    let foundId = -1, guard = 0;
    while (open.length && guard++ < 420) {
      let bestAt = 0;
      for (let i = 1; i < open.length; i++) if (scoreF[open[i]] < scoreF[open[bestAt]]) bestAt = i;
      const curId = open[bestAt];
      open[bestAt] = open[open.length - 1];
      open.pop();
      inOpen[curId] = 0;
      if (curId === goalId) { foundId = curId; break; }
      const cix = curId % cols, ciy = (curId / cols) | 0;
      for (let dir = 0; dir < dirs.length; dir++) {
        const [dx, dy] = dirs[dir], nx = cix + dx, ny = ciy + dy;
        if (!pointOpen(nx, ny)) continue;
        const nbId = idOf(nx, ny), diagonal = dx && dy;
        if (diagonal) {
          const sideAId = idOf(cix + dx, ciy), sideBId = idOf(cix, ciy + dy);
          if (!pointOpen(cix + dx, ciy) || !pointOpen(cix, ciy + dy)) continue;
          if (!edgeOpen(curId, sideAId) || !edgeOpen(curId, sideBId) || !edgeOpen(sideAId, nbId) || !edgeOpen(sideBId, nbId)) continue;
        }
        if (!edgeOpen(curId, nbId)) continue;
        const ng = bestG[curId] + (diagonal ? 1.42 : 1) * step;
        if (bestG[nbId] <= ng) continue;
        bestG[nbId] = ng;
        parent[nbId] = curId;
        scoreF[nbId] = ng + heuristic(nbId);
        pushOpen(nbId);
      }
    }
    if (foundId < 0) return null;
    const path = [];
    for (let id = foundId; id >= 0; id = parent[id]) path.push(id);
    path.reverse();
    const chosenId = path[Math.min(path.length - 1, Math.max(1, path.length > 3 ? 2 : 1))];
    if (!Number.isInteger(chosenId)) return null;
    const route = { mode: "grid", x: xs[chosenId % cols], y: ys[(chosenId / cols) | 0] };
    return setActorRouteCache(this, actor, ctx, opts, route, 1.2);
  },
  }));
})(typeof window !== "undefined" ? window : globalThis);