path-finding-2d/dist/NavMesh2d.d.ts

Fast 2D pathfinding library using triangulated navmesh

import { Point, PolygonMap } from 'poly-math-2d';
/**
 * Fast 2D navigation mesh for pathfinding in triangulated polygons
 */
export declare class NavMesh2d {
    private polygonMap;
    private triangles;
    constructor(polygonMap: PolygonMap);
    /**
     * Build navigation mesh from polygon map
     */
    private buildNavMesh;
    /**
     * Get triangle center point (already calculated in TPolygon)
     */
    private getTriangleCenter;
    /**
     * Check if point is inside any triangle using barycentric coordinates (fastest method)
     */
    private isPointInTriangle;
    /**
     * Find triangle containing the point
     */
    private findTriangleContainingPoint;
    /**
     * Check if point is inside navigation mesh
     */
    isPointInNavMesh(point: Point): boolean;
    /**
 * Find path from point A to point B using A* algorithm on triangle centers
 */
    findPath(a: Point, b: Point): Point[];
    /**
     * Find closest point to target within polygon bounds
     */
    private findClosestPointInPolygon;
    /**
     * A* pathfinding between triangles
     */
    private findTrianglePath;
    /**
     * Optimizes the path using the Funnel Algorithm.
     * This implementation is a robust and correct version of String Pulling.
     */
    private funnel;
    private getPortalEdges;
    private getSharedEdge;
    /**
     * Removes collinear points from a path.
     */
    private simplifyPath;
    private getTriangleEdges;
    private isSameEdge;
    private segmentsIntersect;
    private orientation;
    /**
     * Calculate twice the signed area of triangle formed by three points
     */
    private triArea2;
    /**
     * Check if two points are equal (with small epsilon for floating point comparison)
     */
    private pointsEqual;
}
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