From 4079392a7993b867180701d2979fd0f99f65f43d Mon Sep 17 00:00:00 2001
From: Joywayer <joywayer@163.com>
Date: Thu, 23 Jul 2026 16:52:28 +0800
Subject: [PATCH] =?UTF-8?q?feat(nav):=20NavAgent=20=E6=9A=B4=E9=9C=B2?=
 =?UTF-8?q?=E5=AF=BB=E8=B7=AF=E5=A4=B1=E8=B4=A5=E6=97=B6=E7=9A=84=E6=9C=80?=
 =?UTF-8?q?=E8=BF=91=E5=8F=AF=E8=BE=BE=E7=82=B9=20TryGetClosestReachablePo?=
 =?UTF-8?q?sition?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .../PathBerserker2d/NavAgent/NavAgent.cs      | 34 +++++++++++++++++--
 1 file changed, 31 insertions(+), 3 deletions(-)

diff --git a/Assets/PathBerserker2d/Scripts/PathBerserker2d/NavAgent/NavAgent.cs b/Assets/PathBerserker2d/Scripts/PathBerserker2d/NavAgent/NavAgent.cs
index aa90f606..29935f3a 100644
--- a/Assets/PathBerserker2d/Scripts/PathBerserker2d/NavAgent/NavAgent.cs
+++ b/Assets/PathBerserker2d/Scripts/PathBerserker2d/NavAgent/NavAgent.cs
@@ -365,6 +365,9 @@ namespace PathBerserker2d
         private bool traversedLinkSinceLastPath;
         private bool stopRequested;
 
+        // [项目新增] 上次寻路失败(NoPathFromStartToGoal)时算出的最近可达点，供执行层"寻路到最近可到达点"读取。
+        private NavSegmentPositionPointer _lastClosestReachable = NavSegmentPositionPointer.Invalid;
+
         #region UNITY_METHODS
         private void OnEnable()
         {
@@ -837,6 +840,31 @@ namespace PathBerserker2d
             return pr.Status == PathRequest.RequestState.Finished;
         }
 
+        /// <summary>
+        /// After the most recent failed path request (NoPathFromStartToGoal), returns the closest
+        /// reachable world position found towards the goal. Returns false if none is available.
+        /// </summary>
+        public bool TryGetClosestReachablePosition(out Vector2 worldPos)
+        {
+            if (!_lastClosestReachable.IsInvalid())
+            {
+                worldPos = _lastClosestReachable.Position;
+                return true;
+            }
+            worldPos = Vector2.zero;
+            return false;
+        }
+
+        // [项目新增] 记录失败请求的最近可达点后再广播寻路失败，供执行层读取。仅 NoPath 失败才有最近点。
+        private void RaiseFailedToFindPath(PathRequest failedRequest)
+        {
+            _lastClosestReachable = (failedRequest != null
+                && failedRequest.FailReason == PathRequest.RequestFailReason.NoPathFromStartToGoal)
+                ? failedRequest.closestReachablePosition
+                : NavSegmentPositionPointer.Invalid;
+            OnFailedToFindPath?.Invoke(this);
+        }
+
         private int GetNavTagMask()
         {
             int navTagMask = 0;
@@ -924,7 +952,7 @@ namespace PathBerserker2d
                         || repathPathRequest.FailReason == PathRequest.RequestFailReason.WorldWasDestroyed)
                     {
                         Stop();
-                        OnFailedToFindPath?.Invoke(this);
+                        RaiseFailedToFindPath(repathPathRequest);
                     }
 
                     repathPathRequest.Reset();
@@ -953,7 +981,7 @@ namespace PathBerserker2d
                         if (currentPathRequest.Status == PathRequest.RequestState.Failed && enableDebugMessages)
                             Debug.Log($"{name}: Pathrequest failed because: {currentPathRequest.FailReason}");
 
-                        OnFailedToFindPath?.Invoke(this);
+                        RaiseFailedToFindPath(currentPathRequest);
                         currentPathRequest.Reset();
                     }
                     else if (currentPathRequest.FailReason == PathRequest.RequestFailReason.NoPathFromStartToGoal && !currentPathRequest.closestReachablePosition.IsInvalid())
@@ -964,7 +992,7 @@ namespace PathBerserker2d
                         {
                             UpdatePath(new List<NavSegmentPositionPointer>() { currentPathRequest.closestReachablePosition });
                         }
-                        OnFailedToFindPath?.Invoke(this);
+                        RaiseFailedToFindPath(currentPathRequest);
                     }
                     break;
                 case PathRequest.RequestState.Finished: