joywayerandClaude Opus 4.8
a60073d92c
Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
510 lines
21 KiB
Markdown
510 lines
21 KiB
Markdown
# 敌人寻路受阻处理 实现计划（Waypoints 巡逻 + MoveTo 一次性目标）
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> **For agentic workers:** REQUIRED SUB-SKILL: Use superpowers:subagent-driven-development (recommended) or superpowers:executing-plans to implement this plan task-by-task. Steps use checkbox (`- [ ]`) syntax for tracking.
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**Goal:** 让走 PathBerserker2d 寻路的移动在目标被障碍挡住时「寻路到最近可到达点」而非对着障碍空推，同时覆盖「障碍已进图（寻路失败）」与「障碍未进图（物理卡死）」两种成因。
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**Architecture:** 三层——PB2D `NavAgent` 暴露既有的最近可达点；`EnemyNavAgent` 执行层做卡死检测 + 统一受阻处理 + best-effort 改道（可复用）；`EnemyLocomotion` 意图层只负责 Waypoints「受阻/到达即结算推进」。设计文档见 `Docs_Dev/superpowers/specs/2026-07-23-enemy-pathfind-obstruction-handling-design.md`。
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**Tech Stack:** Unity C#、PathBerserker2d（vendored 源码可改）、Unity MCP（编译/Play 验证）。
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**测试策略（重要，TDD 适配）：** 本改动全部为 Unity 引擎耦合的运行时逻辑（NavGraph/物理/协程），项目无单元测试工程。因此**不写 NUnit 单测**，改用两道验证门：① 每个代码任务后用 `unity_get_compilation_errors` 确认零编译错误；② 全部完成后在 Play 模式经 Unity MCP 做行为验证（Task 6）。任务顺序已排成**每一步都能独立编译**。
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> **Unity MCP 前置：** 首个 MCP 调用会自动发现实例；若多开需先 `unity_select_instance`。所有 MCP 调用走 `unity_*` 工具，勿直连 HTTP 桥。
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---
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## Task 1: PB2D `NavAgent` 暴露最近可达点
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**Files:**
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- Modify: `Assets/PathBerserker2d/Scripts/PathBerserker2d/NavAgent/NavAgent.cs`
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- [ ] **Step 1: 加私有字段**
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在字段区 `private bool stopRequested;`（约 `:366`）之后新增一行：
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```csharp
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private bool stopRequested;
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// [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。
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private NavSegmentPositionPointer _lastClosestReachable = NavSegmentPositionPointer.Invalid;
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```
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- [ ] **Step 2: 加公共读取方法**
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在 `CanReach(Vector2 goal)` 方法结束（`return pr.Status == PathRequest.RequestState.Finished; }`，约 `:838`）之后新增：
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```csharp
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/// <summary>
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/// After the most recent failed path request (NoPathFromStartToGoal), returns the closest
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/// reachable world position found towards the goal. Returns false if none is available.
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/// </summary>
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public bool TryGetClosestReachablePosition(out Vector2 worldPos)
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{
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if (!_lastClosestReachable.IsInvalid())
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{
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worldPos = _lastClosestReachable.Position;
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return true;
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}
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worldPos = Vector2.zero;
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return false;
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}
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// [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。
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private void RaiseFailedToFindPath(PathRequest failedRequest)
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{
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_lastClosestReachable = (failedRequest != null
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&& failedRequest.FailReason == PathRequest.RequestFailReason.NoPathFromStartToGoal)
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? failedRequest.closestReachablePosition
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: NavSegmentPositionPointer.Invalid;
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OnFailedToFindPath?.Invoke(this);
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}
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```
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- [ ] **Step 3: 替换 `HandlePathRequest` 里两处失败广播**
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第一处——`Failed` 分支 `!allowCloseEnoughPath` 内（约 `:956`）：
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```csharp
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OnFailedToFindPath?.Invoke(this);
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currentPathRequest.Reset();
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```
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改为：
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```csharp
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RaiseFailedToFindPath(currentPathRequest);
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currentPathRequest.Reset();
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```
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第二处——`Failed` 分支 `allowCloseEnoughPath` 内（约 `:967`）：
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```csharp
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OnFailedToFindPath?.Invoke(this);
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}
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break;
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case PathRequest.RequestState.Finished:
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```
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改为：
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```csharp
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RaiseFailedToFindPath(currentPathRequest);
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}
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break;
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case PathRequest.RequestState.Finished:
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```
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- [ ] **Step 4: 替换 `Repath` 里的失败广播**
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`Repath()` 的 `Failed` 分支（约 `:927`）：
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```csharp
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Stop();
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OnFailedToFindPath?.Invoke(this);
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}
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repathPathRequest.Reset();
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```
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改为：
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```csharp
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Stop();
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RaiseFailedToFindPath(repathPathRequest);
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}
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repathPathRequest.Reset();
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```
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- [ ] **Step 5: 编译验证**
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调用 `unity_get_compilation_errors`。
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预期：无错误。（`NavSegmentPositionPointer.Position`/`.IsInvalid()`/`.Invalid` 已在本文件使用过，均可访问。）
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- [ ] **Step 6: 提交**
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```bash
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git add Assets/PathBerserker2d/Scripts/PathBerserker2d/NavAgent/NavAgent.cs
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git commit -m "feat(nav): NavAgent 暴露寻路失败时的最近可达点 TryGetClosestReachablePosition"
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```
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---
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## Task 2: `EnemyNavAgent` 卡死检测 + 统一受阻处理 + best-effort 改道
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**Files:**
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- Modify: `Assets/_Game/Scripts/Enemies/Navigation/EnemyNavAgent.cs`
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> 说明：本任务先把两个新成员做成**具体 public 方法/属性**（`LastMoveObstructed`、`TryGetClosestReachable`）。Task 4 才把它们加进 `IPathAgent` 接口——届时本类已满足接口，无需再改。
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- [ ] **Step 1: 加序列化调参字段**
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在 `_maxSnapDistance` 字段块（约 `:42`）之后、`// 重寻路防抖状态` 之前新增：
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```csharp
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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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```
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- [ ] **Step 2: 加受阻/卡死运行时状态字段**
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在 `// 连接段状态缓存` 区（`_currentLinkType` 等，约 `:73`）之前或之后新增：
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```csharp
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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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```
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- [ ] **Step 3: 加公共状态成员 + 最近点查询**
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在 `public Vector2 CurrentLinkEnd => _currentLinkEnd;`（约 `:54`）之后新增：
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```csharp
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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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```
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- [ ] **Step 4: `RequestMoveTo` 新目标复位受阻态**
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将 `RequestMoveTo`（约 `:145-159`）改为（新增 3 行复位）：
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```csharp
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public void RequestMoveTo(Vector2 target)
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{
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if (_navAgent == null) return;
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if (_hasPathGoal
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&& Vector2.Distance(target, _lastPathGoal) < _repathTargetThreshold
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&& Time.time - _lastPathTime < _repathMinInterval)
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return;
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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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```
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- [ ] **Step 5: `HandlePathFailed` 仅置信号（不在回调内重入寻路）**
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将 `private void HandlePathFailed(NavAgent _) => OnNavPathFailed?.Invoke();`（约 `:251`）改为：
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```csharp
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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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```
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- [ ] **Step 6: `FixedUpdate` 接入卡死检测 + 受阻处理**
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将 `FixedUpdate`（约 `:260-285`）整体替换为：
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```csharp
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private void FixedUpdate()
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{
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if (_enemyMovement == null || _navAgent == null) return;
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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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float dx = _navAgent.PathSubGoal.x - transform.position.x;
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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
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if (_navAgent.HasReachedCurrentSubGoal(0.25f))
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_navAgent.CompleteSegmentTraversal();
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}
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else if (_wasNavOnSegment && !_navAgent.IsFollowingAPath)
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{
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// 导航刚结束（到达目标 / 路径失败）→ 停下水平移动
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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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```
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- [ ] **Step 7: 编译验证**
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调用 `unity_get_compilation_errors`。
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预期：无错误。（`_movement`/`_navAgent`/`PathSubGoal`/`IsMovingOnSegment`/`HasReachedCurrentSubGoal`/`UpdatePath`/`Stop` 均已存在。）
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- [ ] **Step 8: 提交**
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```bash
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git add Assets/_Game/Scripts/Enemies/Navigation/EnemyNavAgent.cs
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git commit -m "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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```
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---
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## Task 3: `FlyingDirectNavigator` 实现新成员（返回 false）
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**Files:**
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- Modify: `Assets/_Game/Scripts/Enemies/Navigation/FlyingDirectNavigator.cs`
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- [ ] **Step 1: 加两个成员**
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在 IPathAgent 属性区 `public Vector2 CurrentLinkEnd => Vector2.zero;`（约 `:67`）之后新增：
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```csharp
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// 飞行单位直飞、始终可达，无"受阻/最近可达点"概念。
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public bool LastMoveObstructed => false;
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public bool TryGetClosestReachable(out Vector2 worldPos) { worldPos = Vector2.zero; return false; }
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```
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- [ ] **Step 2: 编译验证**
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调用 `unity_get_compilation_errors`。预期：无错误。
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- [ ] **Step 3: 提交**
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```bash
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git add Assets/_Game/Scripts/Enemies/Navigation/FlyingDirectNavigator.cs
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git commit -m "feat(enemy): FlyingDirectNavigator 实现受阻/最近可达点成员(飞行单位恒 false)"
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```
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---
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## Task 4: `IPathAgent` 加接口成员 + `NullPathAgent` 实现
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**Files:**
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- Modify: `Assets/_Game/Scripts/Enemies/IPathAgent.cs`
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> 此时 `EnemyNavAgent`（Task 2）与 `FlyingDirectNavigator`（Task 3）已具备这两个成员，加进接口后即满足。
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- [ ] **Step 1: 接口新增成员**
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在接口内 `bool ResolveStandablePoint(Vector2 target, out Vector2 standable);`（约 `:78`）之后新增：
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```csharp
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/// <summary>
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/// 上次寻路移动是否因目标不可达/被挡而受阻（走到最近可达点或原地停下，而非到达原目标）。
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/// 供意图层(Locomotion)判断本次移动应否视为结算/推进。对新目标 RequestMoveTo 后复位。
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/// </summary>
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bool LastMoveObstructed { get; }
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/// <summary>取上次寻路失败时算出的最近可达世界点（尽力贴近目标的点）。无则返回 false。</summary>
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bool TryGetClosestReachable(out Vector2 worldPos);
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```
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- [ ] **Step 2: `NullPathAgent` 实现**
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在 `NullPathAgent` 内 `public bool ResolveStandablePoint(...) { standable = target; return false; }`（约 `:110`）之后新增：
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```csharp
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public bool LastMoveObstructed => false;
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public bool TryGetClosestReachable(out Vector2 worldPos) { worldPos = Vector2.zero; return false; }
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```
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- [ ] **Step 3: 编译验证**
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调用 `unity_get_compilation_errors`。
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预期：无错误（三个实现者 EnemyNavAgent/FlyingDirectNavigator/NullPathAgent 均已具备成员）。
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- [ ] **Step 4: 提交**
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```bash
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git add Assets/_Game/Scripts/Enemies/IPathAgent.cs
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git commit -m "feat(enemy): IPathAgent 增加 LastMoveObstructed/TryGetClosestReachable 契约"
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```
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---
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## Task 5: `EnemyLocomotion` Waypoints 受阻/到达结算，删除无限重发
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**Files:**
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- Modify: `Assets/_Game/Scripts/Enemies/Navigation/EnemyLocomotion.cs`
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- [ ] **Step 1: 加路点停顿状态字段**
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在 `// Wander 到点停顿状态`（`_wanderPausing`/`_wanderPauseTimer`，约 `:45-46`）之后新增：
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```csharp
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// Waypoints 受阻结算停顿状态
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private bool _wpPausing;
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private float _wpPauseTimer;
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```
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- [ ] **Step 2: 切模式时复位路点停顿**
|
||
|
||
`SetMode` 内 `_wanderPausing = false;`（约 `:63`）之后新增一行：
|
||
|
||
```csharp
|
||
_wanderPausing = false; // 切换模式清 Wander 停顿态
|
||
_wpPausing = false; // 同时清 Waypoints 受阻停顿态
|
||
```
|
||
|
||
- [ ] **Step 3: 替换 Waypoints 分支**
|
||
|
||
将 `case PatrolStrategy.Waypoints:` 整段（约 `:187-214`，从 `case PatrolStrategy.Waypoints:` 到该 case 的 `break;`）替换为：
|
||
|
||
```csharp
|
||
case PatrolStrategy.Waypoints:
|
||
if (_waypoints == null || _waypoints.Length == 0)
|
||
{
|
||
if (!_warnedNoWaypoints)
|
||
{
|
||
Debug.LogWarning("[EnemyLocomotion] PatrolStrategy=Waypoints 但未配置 _waypoints，无法巡逻。", this);
|
||
_warnedNoWaypoints = true;
|
||
}
|
||
break;
|
||
}
|
||
|
||
var nav = _enemy.Nav;
|
||
|
||
// 到达判定对"吸附后的可达点"做（原始路点可能摆在空中/崖外，永远进不了到达半径）。
|
||
bool wpArrived = _wpIndex >= 0 &&
|
||
Vector2.Distance(_enemy.transform.position, _wpResolvedGoal) <= _waypointArriveRadius;
|
||
|
||
// 受阻结算：执行层已把敌人带到最近可达点并停下(或原地停) → 视为本路点完成。
|
||
bool obstructedSettled = nav != null && nav.LastMoveObstructed && !nav.IsMoving;
|
||
|
||
if (_wpIndex < 0 || wpArrived || obstructedSettled)
|
||
{
|
||
// 受阻结算走短暂停顿(复用 Wander 停顿参数)；正常到达/首个点立即推进。
|
||
if (obstructedSettled && !_wpPausing)
|
||
{
|
||
_wpPausing = true;
|
||
_wpPauseTimer = Random.Range(_wanderPauseMin, Mathf.Max(_wanderPauseMin, _wanderPauseMax));
|
||
}
|
||
if (_wpPausing)
|
||
{
|
||
_wpPauseTimer -= Time.deltaTime;
|
||
if (_wpPauseTimer > 0f) break; // 停顿中，原地待机
|
||
_wpPausing = false;
|
||
}
|
||
AdvanceWaypoint();
|
||
SetWaypointGoal();
|
||
}
|
||
else if (nav != null && !nav.IsMoving && !nav.LastMoveObstructed)
|
||
{
|
||
// 瞬态：刚出生尚未映射那一帧的 MoveTo 失败 → 重发(RequestMoveTo 自带 0.25s 防抖)。
|
||
// 仅"未受阻"时重发；受阻由上面 obstructedSettled 分支结算，不再无限重发不可达点。
|
||
_enemy.MoveTo(_wpResolvedGoal);
|
||
}
|
||
break;
|
||
```
|
||
|
||
- [ ] **Step 4: 编译验证**
|
||
|
||
调用 `unity_get_compilation_errors`。
|
||
预期：无错误（`nav.LastMoveObstructed` 来自 Task 4 接口；`Random.Range`/`_wanderPauseMin/Max` 已存在）。
|
||
|
||
- [ ] **Step 5: 提交**
|
||
|
||
```bash
|
||
git add Assets/_Game/Scripts/Enemies/Navigation/EnemyLocomotion.cs
|
||
git commit -m "feat(enemy): Waypoints 受阻/到达即结算推进,删除对不可达点的无限重发"
|
||
```
|
||
|
||
---
|
||
|
||
## Task 6: Play 模式行为验证（经 Unity MCP）
|
||
|
||
**Files:** 无（验证任务）
|
||
|
||
- [ ] **Step 1: 打开测试场景**
|
||
|
||
`unity_scene_open` 打开 `Assets/_Game/Scenes/Testings/TestRoomA.unity`。确认场景内有 NavSurface + 一个 Waypoints 巡逻敌人（`EnemyLocomotion.PatrolStrategy=Waypoints`，至少 2 个路点）。若无，用脚手架 `SceneObjectPlacerTool` 放置敌人并配路点（遵守 CLAUDE.md §2 脚手架规范）。
|
||
|
||
- [ ] **Step 2: 成因 B 验证——裸障碍**
|
||
|
||
在两个路点之间放一个挡路的 Collider（高度≥敌人 Height，横跨路径）。`unity_play_mode` 进入 Play。观察（`unity_screenshot_game` 连续截图或 `unity_editor_state` 读位置）：
|
||
预期：敌人走到障碍前 → 停顿约 `_wanderPauseMin~Max` 秒 → 推进到下一个路点继续巡逻。**不再对着障碍空推**。
|
||
|
||
- [ ] **Step 3: 回归——无障碍巡逻**
|
||
|
||
移除障碍，重进 Play。
|
||
预期：Waypoints 巡逻在各路点间正常往返，行为与改动前一致（正常到达不停顿、立即推进）。
|
||
|
||
- [ ] **Step 4: 记录结果**
|
||
|
||
把验证结论（成因 B 通过 / 回归通过）追加到设计文档末尾或开发笔记。成因 A（障碍已进图寻路失败）待后续 Tier-1 软障碍/重烘焙就绪后复测——本次不阻塞。
|
||
|
||
- [ ] **Step 5: 退出 Play**
|
||
|
||
`unity_play_mode` 退出 Play 模式。
|
||
|
||
---
|
||
|
||
## 自检记录（写计划时已核对）
|
||
|
||
- **Spec 覆盖**：设计 §3.1→Task1；§3.2→Task2；§3.4→Task3+Task4；§3.3→Task5；§7→Task6。全覆盖。
|
||
- **占位符**：无 TBD/TODO，每个代码步含完整代码。
|
||
- **类型一致**：`TryGetClosestReachablePosition`(NavAgent) / `TryGetClosestReachable`(IPathAgent 实现) / `LastMoveObstructed` 三处命名在各任务间一致；`_obstructionSignal`/`ResetStuckWindow`/`ProcessObstruction` 定义与调用一致。
|
||
- **可编译顺序**：先在实现类（Task2/3）加具体成员，再加接口（Task4），消费方（Task5）最后——每步均可编译。
|