refactor: reorganize package structure and decouple framework packages (#338)
* refactor: reorganize package structure and decouple framework packages ## Package Structure Reorganization - Reorganized 55 packages into categorized subdirectories: - packages/framework/ - Generic framework (Laya/Cocos compatible) - packages/engine/ - ESEngine core modules - packages/rendering/ - Rendering modules (WASM dependent) - packages/physics/ - Physics modules - packages/streaming/ - World streaming - packages/network-ext/ - Network extensions - packages/editor/ - Editor framework and plugins - packages/rust/ - Rust WASM engine - packages/tools/ - Build tools and SDK ## Framework Package Decoupling - Decoupled behavior-tree and blueprint packages from ESEngine dependencies - Created abstracted interfaces (IBTAssetManager, IBehaviorTreeAssetContent) - ESEngine-specific code moved to esengine/ subpath exports - Framework packages now usable with Cocos/Laya without ESEngine ## CI Configuration - Updated CI to only type-check and lint framework packages - Added type-check:framework and lint:framework scripts ## Breaking Changes - Package import paths changed due to directory reorganization - ESEngine integrations now use subpath imports (e.g., '@esengine/behavior-tree/esengine') * fix: update es-engine file path after directory reorganization * docs: update README to focus on framework over engine * ci: only build framework packages, remove Rust/WASM dependencies * fix: remove esengine subpath from behavior-tree and blueprint builds ESEngine integration code will only be available in full engine builds. Framework packages are now purely engine-agnostic. * fix: move network-protocols to framework, build both in CI * fix: update workflow paths from packages/core to packages/framework/core * fix: exclude esengine folder from type-check in behavior-tree and blueprint * fix: update network tsconfig references to new paths * fix: add test:ci:framework to only test framework packages in CI * fix: only build core and math npm packages in CI * fix: exclude test files from CodeQL and fix string escaping security issue
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YHH
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364
packages/framework/pathfinding/src/grid/GridMap.ts
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364
packages/framework/pathfinding/src/grid/GridMap.ts
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/**
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* @zh 网格地图实现
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* @en Grid Map Implementation
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*/
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import type {
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IPathfindingMap,
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IPathNode,
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IPoint,
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HeuristicFunction
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} from '../core/IPathfinding';
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import { createPoint, octileDistance } from '../core/IPathfinding';
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// =============================================================================
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// 网格节点 | Grid Node
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// =============================================================================
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/**
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* @zh 网格节点
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* @en Grid node
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*/
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export class GridNode implements IPathNode {
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readonly id: string;
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readonly position: IPoint;
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readonly x: number;
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readonly y: number;
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cost: number;
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walkable: boolean;
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constructor(x: number, y: number, walkable: boolean = true, cost: number = 1) {
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this.x = x;
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this.y = y;
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this.id = `${x},${y}`;
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this.position = createPoint(x, y);
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this.walkable = walkable;
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this.cost = cost;
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}
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}
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// =============================================================================
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// 移动方向 | Movement Directions
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// =============================================================================
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/**
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* @zh 4方向偏移 (上下左右)
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* @en 4-directional offsets (up, down, left, right)
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*/
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export const DIRECTIONS_4 = [
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{ dx: 0, dy: -1 }, // Up
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{ dx: 1, dy: 0 }, // Right
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{ dx: 0, dy: 1 }, // Down
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{ dx: -1, dy: 0 } // Left
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] as const;
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/**
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* @zh 8方向偏移 (含对角线)
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* @en 8-directional offsets (including diagonals)
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*/
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export const DIRECTIONS_8 = [
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{ dx: 0, dy: -1 }, // Up
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{ dx: 1, dy: -1 }, // Up-Right
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{ dx: 1, dy: 0 }, // Right
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{ dx: 1, dy: 1 }, // Down-Right
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{ dx: 0, dy: 1 }, // Down
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{ dx: -1, dy: 1 }, // Down-Left
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{ dx: -1, dy: 0 }, // Left
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{ dx: -1, dy: -1 } // Up-Left
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] as const;
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// =============================================================================
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// 网格地图配置 | Grid Map Options
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// =============================================================================
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/**
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* @zh 网格地图配置
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* @en Grid map options
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*/
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export interface IGridMapOptions {
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/** @zh 是否允许对角移动 @en Allow diagonal movement */
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allowDiagonal?: boolean;
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/** @zh 对角移动代价 @en Diagonal movement cost */
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diagonalCost?: number;
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/** @zh 是否避免穿角 @en Avoid corner cutting */
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avoidCorners?: boolean;
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/** @zh 启发式函数 @en Heuristic function */
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heuristic?: HeuristicFunction;
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}
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/**
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* @zh 默认网格地图配置
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* @en Default grid map options
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*/
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export const DEFAULT_GRID_OPTIONS: Required<IGridMapOptions> = {
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allowDiagonal: true,
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diagonalCost: Math.SQRT2,
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avoidCorners: true,
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heuristic: octileDistance
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};
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// =============================================================================
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// 网格地图 | Grid Map
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// =============================================================================
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/**
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* @zh 网格地图
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* @en Grid Map
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*
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* @zh 基于二维数组的网格地图实现，支持4方向和8方向移动
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* @en Grid map implementation based on 2D array, supports 4 and 8 directional movement
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*
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* @example
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* ```typescript
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* // Create a 10x10 grid
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* const grid = new GridMap(10, 10);
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*
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* // Set some cells as obstacles
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* grid.setWalkable(5, 5, false);
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* grid.setWalkable(5, 6, false);
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*
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* // Use with pathfinder
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* const pathfinder = new AStarPathfinder(grid);
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* const result = pathfinder.findPath(0, 0, 9, 9);
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* ```
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*/
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export class GridMap implements IPathfindingMap {
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readonly width: number;
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readonly height: number;
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private readonly nodes: GridNode[][];
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private readonly options: Required<IGridMapOptions>;
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constructor(width: number, height: number, options?: IGridMapOptions) {
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this.width = width;
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this.height = height;
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this.options = { ...DEFAULT_GRID_OPTIONS, ...options };
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this.nodes = this.createNodes();
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}
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/**
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* @zh 创建网格节点
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* @en Create grid nodes
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*/
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private createNodes(): GridNode[][] {
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const nodes: GridNode[][] = [];
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for (let y = 0; y < this.height; y++) {
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nodes[y] = [];
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for (let x = 0; x < this.width; x++) {
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nodes[y][x] = new GridNode(x, y, true, 1);
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}
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}
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return nodes;
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}
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/**
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* @zh 获取指定位置的节点
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* @en Get node at position
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*/
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getNodeAt(x: number, y: number): GridNode | null {
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if (!this.isInBounds(x, y)) {
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return null;
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}
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return this.nodes[y][x];
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}
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/**
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* @zh 检查坐标是否在边界内
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* @en Check if coordinates are within bounds
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*/
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isInBounds(x: number, y: number): boolean {
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return x >= 0 && x < this.width && y >= 0 && y < this.height;
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}
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/**
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* @zh 检查位置是否可通行
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* @en Check if position is walkable
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*/
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isWalkable(x: number, y: number): boolean {
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const node = this.getNodeAt(x, y);
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return node !== null && node.walkable;
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}
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/**
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* @zh 设置位置是否可通行
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* @en Set position walkability
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*/
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setWalkable(x: number, y: number, walkable: boolean): void {
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const node = this.getNodeAt(x, y);
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if (node) {
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node.walkable = walkable;
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}
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}
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/**
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* @zh 设置位置的移动代价
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* @en Set movement cost at position
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*/
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setCost(x: number, y: number, cost: number): void {
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const node = this.getNodeAt(x, y);
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if (node) {
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node.cost = cost;
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}
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}
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/**
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* @zh 获取节点的邻居
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* @en Get neighbors of a node
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*/
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getNeighbors(node: IPathNode): GridNode[] {
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const neighbors: GridNode[] = [];
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const { x, y } = node.position;
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const directions = this.options.allowDiagonal ? DIRECTIONS_8 : DIRECTIONS_4;
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for (let i = 0; i < directions.length; i++) {
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const dir = directions[i];
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const nx = x + dir.dx;
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const ny = y + dir.dy;
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if (!this.isInBounds(nx, ny)) {
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continue;
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}
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const neighbor = this.nodes[ny][nx];
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if (!neighbor.walkable) {
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continue;
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}
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// Check corner cutting for diagonal movement
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if (this.options.avoidCorners && dir.dx !== 0 && dir.dy !== 0) {
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const horizontal = this.getNodeAt(x + dir.dx, y);
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const vertical = this.getNodeAt(x, y + dir.dy);
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if (!horizontal?.walkable || !vertical?.walkable) {
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continue;
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}
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}
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neighbors.push(neighbor);
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}
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return neighbors;
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}
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/**
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* @zh 计算启发式距离
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* @en Calculate heuristic distance
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*/
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heuristic(a: IPoint, b: IPoint): number {
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return this.options.heuristic(a, b);
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}
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/**
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* @zh 计算移动代价
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* @en Calculate movement cost
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*/
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getMovementCost(from: IPathNode, to: IPathNode): number {
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const dx = Math.abs(from.position.x - to.position.x);
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const dy = Math.abs(from.position.y - to.position.y);
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// Diagonal movement
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if (dx !== 0 && dy !== 0) {
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return to.cost * this.options.diagonalCost;
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}
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// Cardinal movement
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return to.cost;
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}
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/**
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* @zh 从二维数组加载地图
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* @en Load map from 2D array
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*
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* @param data - @zh 0=可通行，非0=不可通行 @en 0=walkable, non-0=blocked
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*/
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loadFromArray(data: number[][]): void {
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for (let y = 0; y < Math.min(data.length, this.height); y++) {
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for (let x = 0; x < Math.min(data[y].length, this.width); x++) {
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this.nodes[y][x].walkable = data[y][x] === 0;
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}
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}
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}
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/**
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* @zh 从字符串加载地图
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* @en Load map from string
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*
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* @param str - @zh 地图字符串，'.'=可通行，'#'=障碍 @en Map string, '.'=walkable, '#'=blocked
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*/
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loadFromString(str: string): void {
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const lines = str.trim().split('\n');
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for (let y = 0; y < Math.min(lines.length, this.height); y++) {
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const line = lines[y];
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for (let x = 0; x < Math.min(line.length, this.width); x++) {
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this.nodes[y][x].walkable = line[x] !== '#';
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}
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}
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}
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/**
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* @zh 导出为字符串
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* @en Export to string
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*/
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toString(): string {
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let result = '';
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for (let y = 0; y < this.height; y++) {
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for (let x = 0; x < this.width; x++) {
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result += this.nodes[y][x].walkable ? '.' : '#';
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}
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result += '\n';
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}
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return result;
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}
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/**
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* @zh 重置所有节点为可通行
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* @en Reset all nodes to walkable
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*/
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reset(): void {
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for (let y = 0; y < this.height; y++) {
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for (let x = 0; x < this.width; x++) {
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this.nodes[y][x].walkable = true;
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this.nodes[y][x].cost = 1;
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}
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}
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}
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/**
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* @zh 设置矩形区域的通行性
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* @en Set walkability for a rectangle region
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*/
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setRectWalkable(
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x: number,
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y: number,
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width: number,
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height: number,
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walkable: boolean
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): void {
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for (let dy = 0; dy < height; dy++) {
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for (let dx = 0; dx < width; dx++) {
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this.setWalkable(x + dx, y + dy, walkable);
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}
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}
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}
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}
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// =============================================================================
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// 工厂函数 | Factory Function
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// =============================================================================
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/**
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* @zh 创建网格地图
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* @en Create grid map
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*/
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export function createGridMap(
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width: number,
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height: number,
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options?: IGridMapOptions
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): GridMap {
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return new GridMap(width, height, options);
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}
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14
packages/framework/pathfinding/src/grid/index.ts
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14
packages/framework/pathfinding/src/grid/index.ts
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@@ -0,0 +1,14 @@
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/**
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* @zh 网格地图模块
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* @en Grid Map Module
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*/
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export {
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GridNode,
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GridMap,
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createGridMap,
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DIRECTIONS_4,
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DIRECTIONS_8,
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type IGridMapOptions,
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DEFAULT_GRID_OPTIONS
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} from './GridMap';
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Reference in New Issue
Block a user