feat(enemy): EnemyNavAgent 卡死检测+统一受阻处理+best-effort 改道到最近可达点
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@@ -41,6 +41,12 @@ namespace BaseGames.Enemies.Navigation
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"烘焙段都超过此值(真正脱离导航面)才判失败。")]
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[SerializeField] private float _maxSnapDistance = 10f;
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[Header("受阻检测（寻路移动无进展即判被挡）")]
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[Tooltip("卡死检测窗口时长(s)：段上移动时，此时长内朝子目标推进小于阈值即判受阻")]
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[SerializeField] private float _stuckWindowSeconds = 0.5f;
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[Tooltip("卡死推进阈值(m)：窗口内朝子目标的距离缩小不足此值即判卡死")]
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[SerializeField] private float _stuckMinProgress = 0.05f;
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// 重寻路防抖状态
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private Vector2 _lastPathGoal;
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private bool _hasPathGoal;
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@@ -53,6 +59,17 @@ namespace BaseGames.Enemies.Navigation
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public Vector2 CurrentLinkStart => _currentLinkStart;
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public Vector2 CurrentLinkEnd => _currentLinkEnd;
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/// <summary>上次寻路移动是否因不可达/被挡而受阻（走到最近点或原地停，而非到达原目标）。新目标 RequestMoveTo 后复位。</summary>
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public bool LastMoveObstructed => _lastMoveObstructed;
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/// <summary>取上次寻路失败时算出的最近可达世界点。无则返回 false。</summary>
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public bool TryGetClosestReachable(out Vector2 worldPos)
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{
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if (_navAgent != null) return _navAgent.TryGetClosestReachablePosition(out worldPos);
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worldPos = Vector2.zero;
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return false;
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}
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// ── IPathAgent 事件 ────────────────────────────────────────────
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public event Action<NavLinkType> OnLinkStarted;
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public event Action<NavLinkType> OnLinkCompleted;
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@@ -69,6 +86,15 @@ namespace BaseGames.Enemies.Navigation
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= new Dictionary<NavLinkType, INavLinkHandler>();
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private INavLinkHandler _activeHandler;
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// 受阻状态（供意图层结算）
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private bool _lastMoveObstructed;
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private bool _redirectedToClosest; // 本轮已改道到最近点，避免每帧重复下发
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private bool _obstructionSignal; // 受阻信号(寻路失败/卡死)，延后到 FixedUpdate 统一处理
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// 卡死检测窗口
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private float _stuckWinTimer;
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private float _stuckWinStartDist;
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private bool _stuckWinInit;
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// 连接段状态缓存
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private NavLinkType _currentLinkType = NavLinkType.None;
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private bool _wasNavOnSegment;
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@@ -155,6 +181,9 @@ namespace BaseGames.Enemies.Navigation
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_lastPathGoal = target;
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_hasPathGoal = true;
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_lastPathTime = Time.time;
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_lastMoveObstructed = false; // 新目标 → 复位受阻态
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_redirectedToClosest = false;
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ResetStuckWindow();
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_navAgent.UpdatePath(target);
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}
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@@ -248,7 +277,12 @@ namespace BaseGames.Enemies.Navigation
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}
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}
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private void HandlePathFailed(NavAgent _) => OnNavPathFailed?.Invoke();
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private void HandlePathFailed(NavAgent _)
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{
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_obstructionSignal = true; // 延后到 FixedUpdate 统一处理，避免在 NavAgent 失败回调内重入 UpdatePath
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OnNavPathFailed?.Invoke();
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}
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private void HandleGoalReached(NavAgent _) => OnGoalReached?.Invoke();
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// ── 物理原生移动桥 ─────────────────────────────────────────────
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@@ -264,6 +298,8 @@ namespace BaseGames.Enemies.Navigation
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bool onSegment = _navAgent.IsMovingOnSegment;
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_enemyMovement.NavDriving = onSegment; // 状态标记（供调试/上层判断"是否导航中"）
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TickStuckDetection(onSegment);
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if (onSegment)
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{
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// 物理原生：朝子目标水平移动，由 EnemyMovement 施加 velocity、刚体重力保持贴地
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@@ -271,7 +307,7 @@ namespace BaseGames.Enemies.Navigation
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_enemyMovement.PendingInput.MoveDir = Mathf.Abs(dx) > 0.05f ? Mathf.Sign(dx) : 0f;
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_enemyMovement.PendingInput.MoveSpeed = _movement != null ? _movement.movementSpeed : 0f;
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// 段推进：到达当前子目标 → 推进到下一段（原由 TBM 负责，禁用后由本组件负责）
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// 段推进：到达当前子目标 → 推进到下一段
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if (_navAgent.HasReachedCurrentSubGoal(0.25f))
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_navAgent.CompleteSegmentTraversal();
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}
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@@ -281,9 +317,61 @@ namespace BaseGames.Enemies.Navigation
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_enemyMovement.PendingInput.WantStop = true;
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}
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// 受阻信号统一处理（寻路失败/卡死）：此处不在 NavAgent 回调内，UpdatePath 安全
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if (_obstructionSignal)
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{
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_obstructionSignal = false;
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ProcessObstruction();
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}
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_wasNavOnSegment = onSegment;
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}
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// 卡死检测：段上移动时，滑动窗口内朝子目标推进不足阈值 → 判受阻(覆盖"障碍未进图"的物理空推)。
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private void TickStuckDetection(bool onSegment)
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{
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if (!onSegment) { _stuckWinInit = false; return; }
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float dist = Mathf.Abs(_navAgent.PathSubGoal.x - transform.position.x);
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if (!_stuckWinInit)
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{
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_stuckWinInit = true;
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_stuckWinTimer = 0f;
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_stuckWinStartDist = dist;
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return;
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}
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_stuckWinTimer += Time.fixedDeltaTime;
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if (_stuckWinTimer >= _stuckWindowSeconds)
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{
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if (_stuckWinStartDist - dist < _stuckMinProgress)
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_obstructionSignal = true; // 窗口内几乎没靠近子目标 → 卡死
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_stuckWinTimer = 0f;
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_stuckWinStartDist = dist;
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}
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}
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private void ResetStuckWindow() => _stuckWinInit = false;
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// 统一受阻处理：尽力改道到最近可达点(走到障碍前)，拿不到更近点则停下，交由意图层结算。
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private void ProcessObstruction()
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{
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_lastMoveObstructed = true;
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if (!_redirectedToClosest
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&& _navAgent.TryGetClosestReachablePosition(out var closest)
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&& Vector2.Distance(transform.position, closest) > _repathTargetThreshold)
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{
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_redirectedToClosest = true;
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ResetStuckWindow();
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_navAgent.UpdatePath(closest); // 走向最近可达点
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return;
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}
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// 无更近点 / 已在最近点附近（含"障碍未进图"无 closest 数据）→ 停下
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_navAgent.Stop();
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_enemyMovement.PendingInput.WantStop = true;
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}
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// ── 工具 ───────────────────────────────────────────────────────
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private static NavLinkType ParseLinkType(string name) => name switch
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{
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