Fix navigation issue

scenes/CampusController.cs

@@ -54,6 +54,7 @@ public partial class CampusController : Node2D
 	private Rect2I _astarRegion;
 	private int _astarMapIteration;
 	private Rid _astarMap;
+	private readonly List<Vector2I> _astarWalkableCells = new();
 	private const int GridSearchRadius = 6;
 
 	// Called when the node enters the scene tree for the first time.
@@ -365,18 +366,25 @@ public partial class CampusController : Node2D
 			}
 		}
 
-		SpawnStudents(map);
+		if (!EnsureAStarGrid() || _astarWalkableCells.Count == 0)
-		_spawnPending = false;
+		{
+			return;
+		}
+
+		if (SpawnStudents())
+		{
+			_spawnPending = false;
+		}
 	}
 
-	private void SpawnStudents(Rid map)
+	private bool SpawnStudents()
 	{
 		_coveragePoints.Clear();
 		_coveragePoints.AddRange(BuildCoveragePoints());
 		if (_coveragePoints.Count == 0)
 		{
 			GD.PushWarning("未采样到可行走区域，跳过学生生成。");
-			return;
+			return false;
 		}
 
 		for (int i = 0; i < StudentCount; i++)
@@ -390,15 +398,15 @@ public partial class CampusController : Node2D
 			}
 
 			_studentsRoot.AddChild(student);
-			student.SetNavigationMap(map);
 			student.MoveSpeed = AgentMoveSpeed;
-			student.GridWalkableTolerance = GridWalkableTolerance;
 
-			// 随机放置在可行走区域，并交给行为系统控制
+		// 随机放置在可行走区域，并交给行为系统控制
-			var randomIndex = _random != null
+			if (!TryGetRandomWalkableGridPoint(out var gridPoint))
-				? _random.Next(0, _coveragePoints.Count)
+			{
-				: (int)GD.RandRange(0, _coveragePoints.Count - 1);
+				GD.PushWarning("AStarGrid2D 未准备好，无法放置学生。");
-			student.GlobalPosition = _coveragePoints[randomIndex];
+				return false;
+			}
+			student.GlobalPosition = gridPoint;
 			student.ApplyRandomTheme();
 
 			var runtime = BuildRandomAgentRuntime(i);
@@ -417,6 +425,8 @@ public partial class CampusController : Node2D
 			_behaviorAgents.Add(agent);
 			LogSpawn(runtime);
 		}
+
+		return true;
 	}
 
 	private static readonly CampusTaskType[] TaskTypePool =
@@ -703,6 +713,21 @@ public partial class CampusController : Node2D
 		return result;
 	}
 
+	private bool TryGetRandomWalkableGridPoint(out Vector2 point)
+	{
+		point = Vector2.Zero;
+		if (!EnsureAStarGrid() || _astarWalkableCells.Count == 0)
+		{
+			return false;
+		}
+
+		var index = _random != null
+			? _random.Next(0, _astarWalkableCells.Count)
+			: (int)GD.RandRange(0, _astarWalkableCells.Count - 1);
+		point = GridToWorld(_astarWalkableCells[index]);
+		return true;
+	}
+
 	private bool EnsureAStarGrid()
 	{
 		if (!IsNavigationMapReady(out var map))
@@ -737,6 +762,7 @@ public partial class CampusController : Node2D
 		_astarGrid.DiagonalMode = AStarGrid2D.DiagonalModeEnum.Never;
 		_astarGrid.Update();
 
+		_astarWalkableCells.Clear();
 		for (var x = region.Position.X; x < region.Position.X + region.Size.X; x++)
 		{
 			for (var y = region.Position.Y; y < region.Position.Y + region.Size.Y; y++)
@@ -745,6 +771,10 @@ public partial class CampusController : Node2D
 				var center = GridToWorld(cell);
 				var walkable = IsCellWalkable(center, map);
 				_astarGrid.SetPointSolid(cell, !walkable);
+				if (walkable)
+				{
+					_astarWalkableCells.Add(cell);
+				}
 			}
 		}
 
@@ -973,6 +1003,7 @@ public partial class CampusController : Node2D
 			_astarGrid = null;
 			_astarMap = new Rid();
 			_astarMapIteration = 0;
+			_astarWalkableCells.Clear();
 			_navBakePending = false;
 			_navBakeReady = true;
 			RequestDebugGridRedraw();

scripts/CampusStudent.cs

@@ -54,10 +54,6 @@ public partial class CampusStudent : CharacterBody2D
     /// </summary>
     private Vector2 _lastPosition;
 
-    /// <summary>
-    /// 导航代理
-    /// </summary>
-    private NavigationAgent2D _navigationAgent;
     /// <summary>
     /// 服装精灵
     /// </summary>
@@ -83,10 +79,6 @@ public partial class CampusStudent : CharacterBody2D
     /// </summary>
     private float _stuckTimer;
     /// <summary>
-    /// 导航地图RID
-    /// </summary>
-    private Rid _navigationMap;
-    /// <summary>
     /// 当前目标点
     /// </summary>
     private Vector2 _currentTarget = Vector2.Zero;
@@ -156,10 +148,6 @@ public partial class CampusStudent : CharacterBody2D
     /// </summary>
     [Export] public bool Use16X16Sprites { get; set; } = true;
     /// <summary>
-    /// 是否启用避让
-    /// </summary>
-    [Export] public bool EnableAvoidance { get; set; }
-    /// <summary>
     /// 卡住重新寻路时间
     /// </summary>
     [Export] public float StuckRepathSeconds { get; set; } = 0.6f;
@@ -168,18 +156,6 @@ public partial class CampusStudent : CharacterBody2D
     /// </summary>
     [Export] public float StuckDistanceEpsilon { get; set; } = 2.0f;
     /// <summary>
-    /// 导航网格吸附距离
-    /// </summary>
-    [Export] public float NavMeshClampDistance { get; set; } = 6.0f;
-    /// <summary>
-    /// 是否使用网格寻路
-    /// </summary>
-    [Export] public bool UseGridPathfinding { get; set; } = true;
-    /// <summary>
-    /// 网格可行走容差
-    /// </summary>
-    [Export] public float GridWalkableTolerance { get; set; } = 2.0f;
-    /// <summary>
     /// 网格重新寻路间隔
     /// </summary>
     [Export] public float GridRepathInterval { get; set; } = 0.25f;
@@ -201,7 +177,6 @@ public partial class CampusStudent : CharacterBody2D
     /// </summary>
     public override void _Ready()
     {
-        _navigationAgent = GetNodeOrNull<NavigationAgent2D>("NavigationAgent2D");
         _animationPlayer = GetNodeOrNull<AnimationPlayer>("AnimationPlayer");
         _campusController = GetTree()?.CurrentScene as CampusController;
         CacheSprites();
@@ -212,22 +187,7 @@ public partial class CampusStudent : CharacterBody2D
             _animationPlayer.AnimationFinished += OnAnimationFinished;
         }
 
-        if (_navigationAgent != null)
+        if (_patrolConfigured) AdvanceTarget();
-        {
-            // 强制关闭避让，学生之间直接穿过
-            EnableAvoidance = false;
-
-            // 让寻路点更“贴近目标”，避免走到边缘时抖动
-            _navigationAgent.PathDesiredDistance = TargetReachDistance;
-            _navigationAgent.TargetDesiredDistance = TargetReachDistance;
-            _navigationAgent.AvoidanceEnabled = EnableAvoidance;
-
-            if (EnableAvoidance)
-                // 开启避让时使用安全速度回调进行移动
-                _navigationAgent.VelocityComputed += OnVelocityComputed;
-
-            if (_patrolConfigured) AdvanceTarget();
-        }
 
         PlayIdleAnimation();
         _lastPosition = GlobalPosition;
@@ -251,40 +211,27 @@ public partial class CampusStudent : CharacterBody2D
         if (_phoneExitLocked)
         {
             Velocity = Vector2.Zero;
-            if (!EnableAvoidance && _usePhysicsMovement)
+            if (_usePhysicsMovement)
             {
                 MoveAndSlide();
             }
             return;
         }
 
+        var hasPatrolTarget = !_behaviorControlEnabled && _patrolPoints.Count > 0;
         if (_behaviorControlEnabled && _behaviorHasTarget)
         {
             TryBuildPendingGridPath();
-            if (_gridPathActive)
-            {
-                if (ProcessGridPathMovement(delta))
-                {
-                    return;
-                }
-            }
-            else if (UseGridPathfinding && _gridPathPending)
-            {
-                Velocity = Vector2.Zero;
-                if (!EnableAvoidance && _usePhysicsMovement)
-                {
-                    MoveAndSlide();
-                }
-
-                if (!_phoneIdleActive && !_phoneExitLocked)
-                {
-                    PlayIdleAnimation();
-                }
-                UpdateStuckTimer(delta);
-                return;
-            }
         }
-        if (_navigationAgent == null || (!_behaviorControlEnabled && _patrolPoints.Count == 0) || (_behaviorControlEnabled && !_behaviorHasTarget))
+        else if (hasPatrolTarget)
+        {
+            if (!_hasTarget || (!_gridPathPending && !_gridPathActive))
+            {
+                AdvanceTarget();
+            }
+            TryBuildPendingGridPath();
+        }
+        else
         {
             if (!_phoneIdleActive && !_phoneExitLocked)
             {
@@ -293,35 +240,23 @@ public partial class CampusStudent : CharacterBody2D
             return;
         }
 
-        // 到达目标点或无路可走时，切换到下一个巡游点
+        if (_gridPathActive)
-        if (_navigationAgent.IsNavigationFinished())
         {
-            if (_behaviorControlEnabled)
+            if (ProcessGridPathMovement(delta))
             {
-                Velocity = Vector2.Zero;
+                if (hasPatrolTarget && !_gridPathActive)
-                if (!EnableAvoidance && _usePhysicsMovement)
                 {
-                    MoveAndSlide();
+                    AdvanceTarget();
                 }
-
-                if (!_phoneIdleActive && !_phoneExitLocked)
-                {
-                    PlayIdleAnimation();
-                }
-                UpdateStuckTimer(delta);
                 return;
             }
-
-            AdvanceTarget();
         }
 
-        var nextPosition = _navigationAgent.GetNextPathPosition();
+        if (_gridPathPending)
-        var toNext = nextPosition - GlobalPosition;
-        if (toNext.LengthSquared() < 0.01f)
         {
-            if (!EnableAvoidance && _usePhysicsMovement)
+            Velocity = Vector2.Zero;
+            if (_usePhysicsMovement)
             {
-                Velocity = Vector2.Zero;
                 MoveAndSlide();
             }
 
@@ -333,21 +268,9 @@ public partial class CampusStudent : CharacterBody2D
             return;
         }
 
-        var direction = toNext.Normalized();
+        if (!_phoneIdleActive && !_phoneExitLocked)
-        var desiredVelocity = direction * MoveSpeed;
-
-        if (EnableAvoidance)
         {
-            // 交给导航系统做群体避让
+            PlayIdleAnimation();
-            _navigationAgent.Velocity = desiredVelocity;
-        }
-        else
-        {
-            // 未启用避让时直接移动
-            Velocity = ClampVelocityToNavMesh(desiredVelocity);
-            ApplyMovement(delta);
-            UpdateFacingAnimation(Velocity);
-            UpdateStuckTimer(delta);
         }
     }
 
@@ -386,7 +309,7 @@ public partial class CampusStudent : CharacterBody2D
         _patrolConfigured = true;
         ApplyRandomTheme();
 
-        if (_navigationAgent != null) AdvanceTarget();
+        AdvanceTarget();
     }
 
     /// <summary>
@@ -407,28 +330,9 @@ public partial class CampusStudent : CharacterBody2D
     public void SetBehaviorTarget(Vector2 target)
     {
         _behaviorControlEnabled = true;
-        target = ClampTargetToNavMesh(target);
         _behaviorTarget = target;
         _behaviorHasTarget = true;
-        _currentTarget = target;
+        BeginGridTarget(target);
-        _hasTarget = true;
-        _stuckTimer = 0.0f;
-        _gridPathActive = false;
-        _gridPathPending = false;
-        _gridPathIndex = 0;
-        _gridPathRetryTimer = 0.0f;
-        _gridPath.Clear();
-
-        if (UseGridPathfinding)
-        {
-            _gridPathPending = true;
-            TryBuildPendingGridPath();
-        }
-
-        if (!UseGridPathfinding && _navigationAgent != null)
-        {
-            _navigationAgent.TargetPosition = target;
-        }
     }
 
     /// <summary>
@@ -447,6 +351,23 @@ public partial class CampusStudent : CharacterBody2D
         _gridPath.Clear();
     }
 
+    /// <summary>
+    /// 设置网格寻路目标
+    /// </summary>
+    /// <param name="target">目标位置</param>
+    private void BeginGridTarget(Vector2 target)
+    {
+        _currentTarget = target;
+        _hasTarget = true;
+        _stuckTimer = 0.0f;
+        _gridPathActive = false;
+        _gridPathPending = true;
+        _gridPathIndex = 0;
+        _gridPathRetryTimer = 0.0f;
+        _gridPath.Clear();
+        TryBuildPendingGridPath();
+    }
+
     /// <summary>
     /// 是否已到达行为目标
     /// </summary>
@@ -462,8 +383,7 @@ public partial class CampusStudent : CharacterBody2D
         {
             return false;
         }
-        if (_navigationAgent == null) return true;
+        return true;
-        return _navigationAgent.IsNavigationFinished();
     }
 
     /// <summary>
@@ -515,16 +435,6 @@ public partial class CampusStudent : CharacterBody2D
         }
     }
 
-    /// <summary>
-    /// 设置导航地图
-    /// </summary>
-    /// <param name="map">地图RID</param>
-    public void SetNavigationMap(Rid map)
-    {
-        // 由校园控制器传入导航地图，供本地边界夹紧使用
-        _navigationMap = map;
-    }
-
     /// <summary>
     /// 应用随机主题
     /// </summary>
@@ -572,7 +482,7 @@ public partial class CampusStudent : CharacterBody2D
     /// </summary>
     private void AdvanceTarget()
     {
-        if (_patrolPoints.Count == 0 || _navigationAgent == null) return;
+        if (_patrolPoints.Count == 0) return;
         if (_behaviorControlEnabled) return;
 
         // 避免当前点过近导致原地抖动，最多尝试一轮
@@ -582,40 +492,12 @@ public partial class CampusStudent : CharacterBody2D
             _patrolIndex = (_patrolIndex + 1) % _patrolPoints.Count;
             if (GlobalPosition.DistanceTo(target) > TargetReachDistance * 1.5f)
             {
-                _currentTarget = target;
+                BeginGridTarget(target);
-                _hasTarget = true;
-                _navigationAgent.TargetPosition = target;
-                _stuckTimer = 0.0f;
                 return;
             }
         }
 
-        _currentTarget = _patrolPoints[_patrolIndex];
+        BeginGridTarget(_patrolPoints[_patrolIndex]);
-        _hasTarget = true;
-        _navigationAgent.TargetPosition = _currentTarget;
-        _stuckTimer = 0.0f;
-    }
-
-    /// <summary>
-    /// 计算避让速度时的回调
-    /// </summary>
-    /// <param name="safeVelocity">安全速度</param>
-    private void OnVelocityComputed(Vector2 safeVelocity)
-    {
-        if (_phoneExitLocked)
-        {
-            Velocity = Vector2.Zero;
-            if (_usePhysicsMovement)
-            {
-                MoveAndSlide();
-            }
-            return;
-        }
-        // 使用安全速度移动，避免与其它角色硬碰硬卡住
-        Velocity = ClampVelocityToNavMesh(safeVelocity);
-        ApplyMovement(_lastDelta);
-        UpdateFacingAnimation(Velocity);
-        UpdateStuckTimer(_lastDelta);
     }
 
     /// <summary>
@@ -652,20 +534,11 @@ public partial class CampusStudent : CharacterBody2D
     {
         if (!_hasTarget) return;
 
-        if (UseGridPathfinding)
+        _gridPathActive = false;
-        {
+        _gridPathPending = true;
-            _gridPathActive = false;
+        _gridPathIndex = 0;
-            _gridPathPending = true;
+        _gridPath.Clear();
-            _gridPathIndex = 0;
+        TryBuildPendingGridPath();
-            _gridPath.Clear();
-            TryBuildPendingGridPath();
-            return;
-        }
-
-        if (_navigationAgent == null) return;
-
-        // 重新请求到同一目标点的路径，避免“固定时间换目的地”
-        _navigationAgent.TargetPosition = _currentTarget;
     }
 
     /// <summary>
@@ -673,9 +546,8 @@ public partial class CampusStudent : CharacterBody2D
     /// </summary>
     private void TryBuildPendingGridPath()
     {
-        if (!UseGridPathfinding || !_gridPathPending) return;
+        if (!_gridPathPending) return;
         if (_gridPathRetryTimer > 0.0f) return;
-        if (!IsNavigationMapReady()) return;
 
         var path = BuildGridPath(GlobalPosition, _currentTarget);
         if (path == null || path.Count == 0)
@@ -695,59 +567,6 @@ public partial class CampusStudent : CharacterBody2D
         }
     }
 
-    /// <summary>
-    /// 导航地图是否准备就绪
-    /// </summary>
-    /// <returns>准备就绪返回true</returns>
-    private bool IsNavigationMapReady()
-    {
-        return _navigationMap.IsValid && NavigationServer2D.MapGetIterationId(_navigationMap) > 0;
-    }
-
-    /// <summary>
-    /// 将速度限制在导航网格内
-    /// </summary>
-    /// <param name="velocity">目标速度</param>
-    /// <returns>限制后的速度</returns>
-    private Vector2 ClampVelocityToNavMesh(Vector2 velocity)
-    {
-        if (!IsNavigationMapReady()) return velocity;
-        if (_lastDelta <= 0.0) return velocity;
-
-        // 预测下一帧位置，若偏离导航网格过远则夹回网格内
-        var candidate = GlobalPosition + velocity * (float)_lastDelta;
-        var closest = NavigationServer2D.MapGetClosestPoint(_navigationMap, candidate);
-        if (closest.DistanceTo(candidate) > NavMeshClampDistance)
-        {
-            var corrected = closest - GlobalPosition;
-            if (corrected.LengthSquared() < 0.01f)
-            {
-                return Vector2.Zero;
-            }
-            return corrected / (float)_lastDelta;
-        }
-
-        return velocity;
-    }
-
-    /// <summary>
-    /// 将目标点限制在导航网格内
-    /// </summary>
-    /// <param name="target">目标点</param>
-    /// <returns>限制后的目标点</returns>
-    private Vector2 ClampTargetToNavMesh(Vector2 target)
-    {
-        if (!IsNavigationMapReady()) return target;
-
-        var closest = NavigationServer2D.MapGetClosestPoint(_navigationMap, target);
-        if (closest.DistanceTo(target) <= 0.01f)
-        {
-            return target;
-        }
-
-        return closest;
-    }
-
     /// <summary>
     /// 应用移动
     /// </summary>
@@ -875,7 +694,7 @@ public partial class CampusStudent : CharacterBody2D
         if (_gridPathIndex >= _gridPath.Count)
         {
             Velocity = Vector2.Zero;
-            if (!EnableAvoidance && _usePhysicsMovement)
+            if (_usePhysicsMovement)
             {
                 MoveAndSlide();
             }
@@ -885,6 +704,7 @@ public partial class CampusStudent : CharacterBody2D
                 PlayIdleAnimation();
             }
             UpdateStuckTimer(delta);
+            _gridPathActive = false;
             return true;
         }
 
@@ -903,18 +723,6 @@ public partial class CampusStudent : CharacterBody2D
 
         var axisVelocity = ToAxisVelocity(toNext);
         var step = axisVelocity * MoveSpeed * (float)delta;
-        var candidate = GlobalPosition + step;
-        if (!IsWorldWalkable(candidate))
-        {
-            Velocity = Vector2.Zero;
-            if (!EnableAvoidance && _usePhysicsMovement)
-            {
-                MoveAndSlide();
-            }
-            RepathToCurrentTarget();
-            UpdateStuckTimer(delta);
-            return true;
-        }
 
         Velocity = step / (float)delta;
         ApplyMovement(delta);
@@ -1024,24 +832,4 @@ public partial class CampusStudent : CharacterBody2D
         return simplified;
     }
 
-    /// <summary>
-    /// 世界坐标是否可行走
-    /// </summary>
-    /// <param name="world">世界坐标</param>
-    /// <returns>如果可行走返回true</returns>
-    private bool IsWorldWalkable(Vector2 world)
-    {
-        if (!IsNavigationMapReady()) return false;
-        var closest = NavigationServer2D.MapGetClosestPoint(_navigationMap, world);
-        return closest.DistanceTo(world) <= GetGridTolerance();
-    }
-
-    /// <summary>
-    /// 获取网格容差
-    /// </summary>
-    /// <returns>网格容差</returns>
-    private float GetGridTolerance()
-    {
-        return Mathf.Max(1.0f, GridWalkableTolerance);
-    }
 }