🔥 移除不合理astar设计

utils/geometry/navmesh/shape.go

@@ -7,12 +7,41 @@ import (
 
 func newShape[V generic.SignedNumber](s geometry.Shape[V]) *shape[V] {
 	return &shape[V]{
-		Shape: s,
+		Shape:          s,
+		centroid:       geometry.CalcRectangleCentroid(s),
+		boundingRadius: geometry.CalcBoundingRadius(s),
+		edges:          s.Edges(),
 	}
 }
 
 type shape[V generic.SignedNumber] struct {
 	geometry.Shape[V]
-	links   []*shape[V]
-	portals []geometry.Line[V]
+	links          []*shape[V]
+	portals        []geometry.Line[V]
+	boundingRadius V
+	centroid       geometry.Point[V]
+	edges          []geometry.Line[V]
+
+	weight V
+	x, y   V
+}
+
+func (slf *shape[V]) Edges() []geometry.Line[V] {
+	return slf.edges
+}
+
+func (slf *shape[V]) BoundingRadius() V {
+	return slf.boundingRadius
+}
+
+func (slf *shape[V]) Centroid() geometry.Point[V] {
+	return slf.centroid
+}
+
+func (slf *shape[V]) IsWall() bool {
+	return slf.weight == 0
+}
+
+func (slf *shape[V]) GetCost(point geometry.Point[V]) V {
+	return geometry.CalcDistance(geometry.DoublePointToCoordinate(slf.Centroid(), point))
 }