refactor(enemy): 三处卡死检测收敛为 StallDetector;修复 Pace 持续受阻时无法掉头的死锁
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@@ -31,9 +31,8 @@ namespace BaseGames.Enemies.Abilities
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{
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private RushAbilitySO _cfg;
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// 卡死检测：窗口时长与窗口内最小净位移（撞上未纳入墙层的碰撞体时兜底结束冲锋）
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private const float StuckWindowSeconds = 0.15f;
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private const float StuckMinProgress = 0.05f;
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// 推进停滞检测（撞上未纳入墙层的碰撞体时兜底结束冲锋）
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private StallDetector _stall = new StallDetector(0.15f, 0.05f);
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// 落位收敛的最长额外推进时长（秒）：用于脱离"中心悬在崖外"的非法收尾姿态
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private const float SettleMaxSeconds = 0.5f;
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@@ -101,8 +100,7 @@ namespace BaseGames.Enemies.Abilities
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{
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var body = _enemy.Body;
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float elapsed = 0f;
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float winX = _enemy.transform.position.x;
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float winT = 0f;
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_stall.Reset(_enemy.transform.position.x);
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while (true)
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{
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@@ -120,16 +118,8 @@ namespace BaseGames.Enemies.Abilities
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float dt = Time.deltaTime;
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elapsed += dt;
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winT += dt;
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// 兜底：撞上未纳入墙层的碰撞体(玩家/边界墙)导致原地不动 → 结束本次冲锋。
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// 用窗口净位移判定，避免"贴住微抖"每帧重置。
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if (winT >= StuckWindowSeconds)
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{
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if (Mathf.Abs(_enemy.transform.position.x - winX) < StuckMinProgress) break;
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winX = _enemy.transform.position.x;
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winT = 0f;
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}
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// 兜底：撞上未纳入墙层的碰撞体(玩家/边界墙)导致原地不动 → 结束本次冲锋
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if (_stall.Tick(_enemy.transform.position.x, dt)) break;
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}
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}
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@@ -33,8 +33,8 @@ namespace BaseGames.Enemies
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private bool _gaitInit;
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private float _paceDir = 1f;
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private bool _paceBlockedPrev;
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private float _paceWindowStartX;
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private int _paceWindowFrames;
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// Pace 推进停滞检测（原为 12 帧计数，@60fps ≈ 0.2s，改用统一原语并保持观感）
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private StallDetector _paceStall = new StallDetector(0.2f, 0.05f);
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private int _wpIndex = -1;
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private int _wpDir = 1;
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private bool _warnedNoWaypoints;
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@@ -179,22 +179,17 @@ namespace BaseGames.Enemies
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// 用与移动层夹紧同一判定(WouldBlockAhead，即时按请求方向+碰撞体前缘)，
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// 保证"夹停在地形边缘"与"掉头"一致，不会夹停却不翻向。
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bool blocked = mv != null && mv.WouldBlockAhead(_paceDir);
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// 兜底卡死检测(窗口净位移)：命令前进但一段时间净位移过小(撞上未挂检测层的墙/
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// 卡角，含贴墙微抖)也视为受阻，使巡逻对场景配置鲁棒。用净位移而非逐帧差，
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// 避免"贴墙推进-被弹回"的微抖每帧重置计数。
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float px = _enemy.transform.position.x;
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if (++_paceWindowFrames >= 12)
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{
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if (Mathf.Abs(px - _paceWindowStartX) < 0.05f) blocked = true;
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_paceWindowStartX = px;
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_paceWindowFrames = 0;
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}
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// 边沿触发：仅"障碍首次出现"翻一次；翻后按新方向即时判定，天然消抖，
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// 且两侧都堵(窄台)时翻一次即停住、不来回抖。
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if (blocked && !_paceBlockedPrev)
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// 兜底卡死检测：命令前进但窗口内净位移过小(撞上未挂检测层的墙/卡角，含贴墙微抖)也视为受阻。
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if (_paceStall.Tick(_enemy.transform.position.x, Time.deltaTime)) blocked = true;
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// 翻向：首次受阻翻一次(边沿触发，天然消抖)；或"持续受阻但反方向畅通"也翻——
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// 后者修复"顶着堵侧却因边沿触发失效而永远转不回来"的死锁。
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// 两侧都堵(窄台)时只有边沿那一次翻向，之后保持，不来回抖。
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bool oppositeFree = mv != null && !mv.WouldBlockAhead(-_paceDir);
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if (blocked && (!_paceBlockedPrev || oppositeFree))
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{
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_paceDir = -_paceDir;
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_paceWindowStartX = px; _paceWindowFrames = 0; // 翻向后重开窗口
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_paceStall.Reset(_enemy.transform.position.x); // 翻向后重开窗口
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}
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_paceBlockedPrev = blocked;
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_enemy.MoveInDirection(_paceDir);
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@@ -91,9 +91,7 @@ namespace BaseGames.Enemies.Navigation
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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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private StallDetector _segStall;
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// 连接段状态缓存
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private NavLinkType _currentLinkType = NavLinkType.None;
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@@ -121,6 +119,8 @@ namespace BaseGames.Enemies.Navigation
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_navAgent.OnSegmentTraversal += HandleSegmentTraversal;
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_navAgent.OnFailedToFindPath += HandlePathFailed;
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_navAgent.OnReachedGoal += HandleGoalReached;
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_segStall = new StallDetector(_stuckWindowSeconds, _stuckMinProgress);
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}
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private void OnDestroy()
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@@ -327,30 +327,16 @@ namespace BaseGames.Enemies.Navigation
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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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// 卡死检测：段上移动时，窗口内净水平位移不足 → 判受阻（覆盖"障碍未进图"的物理空推）。
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// 原实现比较"到子目标的距离缩小量"，现统一为净水平位移：不依赖子目标，且绕行时不会误判为卡死。
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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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if (!onSegment) { _segStall.Reset(transform.position.x); return; }
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if (_segStall.Tick(transform.position.x, Time.fixedDeltaTime))
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_obstructionSignal = true; // 窗口内几乎没推进 → 卡死
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}
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private void ResetStuckWindow() => _stuckWinInit = false;
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private void ResetStuckWindow() => _segStall.Reset(transform.position.x);
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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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