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const groundCell=(x,y)=>x>=0&&x<384&&y>=0&&y<256&&!!(grassBits[(y*384+x)>>3]&(1<<((y*384+x)&7))); function groundSegment(a,b){ const dx=b[0]-a[0],dy=b[1]-a[1],n=Math.max(1,Math.ceil(Math.hypot(dx,dy)/2)); for(let i=0;i<=n;i++)if(!groundCell(Math.round((a[0]+dx*i/n)/4),Math.round((a[1]+dy*i/n)/4)))return false; return clearSegment(a,b); } function grassDetour(w,other){ if(w.pause>0||w.chatTarget||!w.path.length||clock<(w.grassRetryAt||0))return false; w.grassRetryAt=clock+1.5; const peers=walkers.filter(o=>o!==w),radius=15; function peersClear(a,b){ const dx=b[0]-a[0],dy=b[1]-a[1],len=dx*dx+dy*dy; return !peers.some(o=>{const t=Math.max(0,Math.min(1,((o.x-a[0])*dx+(o.y-a[1])*dy)/(len||1))),d=Math.hypot(a[0]+dx*t-o.x,a[1]+dy*t-o.y),before=Math.hypot(a[0]-o.x,a[1]-o.y);return d=radius||dMath.hypot(p[0]-o.x,p[1]-o.y)>=radius))starts.push({key:y*384+x,p,d:Math.hypot(p[0]-w.x,p[1]-w.y)});} if(!starts.length)return false; const goals=new Map();let travel=0,previous=origin,lastGoal=-99; const minimum=Math.max(42,Math.hypot(w.x-other.x,w.y-other.y)+26); for(let i=0;i180)break; if(travel128||!groundCell(p[0]/4,p[1]/4)||peers.some(o=>Math.hypot(p[0]-o.x,p[1]-o.y)=10)break; } if(!goals.size)return false; const heuristic=(x,y)=>Math.min(...[...goals.values()].map(g=>Math.hypot(g.p[0]-x*4,g.p[1]-y*4))); const heap=new Heap(),cost=new Map(),prev=new Map(),closed=new Set(),dirs=[[1,0],[-1,0],[0,1],[0,-1],[1,1],[1,-1],[-1,1],[-1,-1]]; for(const s of starts){cost.set(s.key,s.d);prev.set(s.key,-1);heap.push(s.key,s.d+heuristic(s.key%384,Math.floor(s.key/384)));} let found=null; while(heap.a.length&&closed.size<4000){ const key=heap.pop();if(closed.has(key))continue;closed.add(key);if(goals.has(key)){found=key;break;} const x=key%384,y=Math.floor(key/384); for(const [dx,dy]of dirs){const nx=x+dx,ny=y+dy,k=ny*384+nx; if(closed.has(k)||!groundCell(nx,ny)||(dx&&dy&&(!groundCell(nx,y)||!groundCell(x,ny)))||Math.hypot(nx*4-w.x,ny*4-w.y)>136||!peersClear([x*4,y*4],[nx*4,ny*4]))continue; const g=cost.get(key)+Math.hypot(dx,dy)*4;if(g>220||g>=(cost.get(k)??Infinity))continue; cost.set(k,g);prev.set(k,key);heap.push(k,g+heuristic(nx,ny)); } } if(found===null)return false; const target=goals.get(found),points=[];for(let k=found;k!==-1;k=prev.get(k)){points.push([(k%384)*4,Math.floor(k/384)*4]);}points.reverse(); const smooth=[];let from=origin; for(let i=0;ii&&(!groundSegment(from,points[j])||!peersClear(from,points[j])))j--;smooth.push(points[j]);from=points[j];i=j+1;} if(!smooth.length)return false; const old=w.grassFinish||{detouring:w.detouring,resumeGoal:w.resumeGoal}; w.grassFinish={node:target.node,after:w.path.slice(target.index+1),detouring:old.detouring,resumeGoal:old.resumeGoal}; w.grassRoute=smooth;w.escapeTarget=null;w.detouring=true;w.wait=0;w.stalled=0;w.grassDetours=(w.grassDetours||0)+1;return true; } function yieldAside(w,other){