`

XNet.Business/GameLoopService.cs

@@ -0,0 +1,94 @@
+using Microsoft.Extensions.Hosting;
+using System.Diagnostics;
+using System.Numerics;
+
+namespace XNet.Business
+{
+    public class GameLoopService : BackgroundService
+    {
+        private readonly NavMeshManager _navMeshManager;
+        private readonly SceneAgent _sceneAgent;
+
+        private const int TARGET_FPS = 30;
+        private const int FRAME_TIME_MS = 1000 / TARGET_FPS;
+
+        public GameLoopService(NavMeshManager navMeshManager, SceneAgent sceneAgent)
+        {
+            _navMeshManager = navMeshManager;
+            _sceneAgent = sceneAgent;
+        }
+
+        protected override async Task ExecuteAsync(CancellationToken stoppingToken)
+        {
+            Console.WriteLine("=== Server Initializing Resources... ===");
+
+            // 1. 加载所有静态地图资源 (Templates)
+            // 这里假设路径固定，实际可从配置表读取
+            _navMeshManager.LoadTemplate("Map_Forest", @"D:\NavMeshExport.obj");
+            //_navMeshManager.LoadTemplate("Map_Dungeon", @"D:\NavMeshExport.obj");
+
+            // 2. 模拟创建副本逻辑 (实际应由 WebAPI 或 MatchService 触发)
+            // 假设现在有两个队伍分别开启了森林副本
+            string instanceGuid_A = "Instance_TeamA_1";// + Guid.NewGuid();
+            string instanceGuid_B = "Instance_TeamB_" + Guid.NewGuid();
+
+            // 注册 NavMesh 映射
+            _navMeshManager.CreateInstance(instanceGuid_A, "Map_Forest");
+            _navMeshManager.CreateInstance(instanceGuid_B, "Map_Forest"); // 复用同一份 NavMesh 内存
+
+            // 为这两个副本创建独立的物理/避障模拟器
+            _sceneAgent.CreateCrowdForInstance(instanceGuid_A);
+            _sceneAgent.CreateCrowdForInstance(instanceGuid_B);
+
+            // 添加一些测试怪物
+            int monsterA = _sceneAgent.AddAgent(instanceGuid_A, new Vector3(-4, 0, -4), 0.05f, 1);
+            _sceneAgent.AgentGoto(instanceGuid_A, monsterA, new Vector3(5, 0, 3));
+
+            Console.WriteLine("=== Server Game Loop Started ===");
+
+            var stopwatch = new Stopwatch();
+            stopwatch.Start();
+            long lastTime = stopwatch.ElapsedMilliseconds;
+
+            while (!stoppingToken.IsCancellationRequested)
+            {
+                long currentTime = stopwatch.ElapsedMilliseconds;
+                long elapsedMs = currentTime - lastTime;
+
+                // 防止调试断点导致 delta 过大，限制最大单帧时间
+                if (elapsedMs > 100) elapsedMs = 100;
+
+                float deltaTime = elapsedMs / 1000.0f;
+                lastTime = currentTime;
+
+                // 【核心循环】
+                // 现在不需要一把大锁锁住全服了
+
+                // 1. 如果有来自 WebAPI 的异步命令（如动态创建副本），可以在 NavMeshManager 内部处理
+                // 或者在这里手动处理队列 (如果使用了 CommandQueue)
+                // _navMeshManager.ProcessCommands(); 
+
+                // 2. 并行更新所有副本的 Crowd
+                // 这行代码利用 SceneAgent 内部的 Parallel.ForEach，效率极高
+                _sceneAgent.UpdateAll(deltaTime);
+
+                //var p = _sceneAgent.GetAgentPosition(instanceGuid_A, monsterA);
+                //if (p != null)
+                //{
+                //    Console.WriteLine(p);
+                //}
+
+                // 帧率控制
+                long frameWorkTime = stopwatch.ElapsedMilliseconds - currentTime;
+                int delay = (int)(FRAME_TIME_MS - frameWorkTime);
+
+                if (delay > 0)
+                {
+                    await Task.Delay(delay, stoppingToken);
+                }
+            }
+
+            Console.WriteLine("=== Server Game Loop Stopped ===");
+        }
+    }
+}

XNet.Business/MapAgent.cs

@@ -1,103 +0,0 @@
-using DotRecast.Core;
-using DotRecast.Detour;
-using DotRecast.Detour.Io;
-using System;
-using System.Collections.Generic;
-using System.Text;
-
-namespace XNet.Business
-{
-    public class MapAgent
-    {
-        public MapAgent() { }
-
-        public DtNavMesh LoadFromBabylon(string filePath)
-        {
-            byte[] data = File.ReadAllBytes(filePath);
-            data[3] = 77; // 修正 Magic (TSET -> MSET)
-
-            RcByteBuffer bb = new RcByteBuffer(data);
-            bb.Order(RcByteOrder.LITTLE_ENDIAN);
-
-            int magic = bb.GetInt();
-            int version = bb.GetInt();
-            int numTiles = bb.GetInt();
-
-            DtNavMeshParams option = new DtNavMeshParams();
-            option.orig.X = bb.GetFloat();
-            option.orig.Y = bb.GetFloat();
-            option.orig.Z = bb.GetFloat();
-            option.tileWidth = bb.GetFloat();
-            option.tileHeight = bb.GetFloat();
-            option.maxTiles = bb.GetInt();
-            option.maxPolys = bb.GetInt();
-
-            // --- 关键修正点 1：探测偏移量 ---
-            // 有些版本的 Babylon 导出的 Params 后面多了一个 int (可能是 maxVertsPerPoly)
-            // 如果我们发现读出来的 dataSize 大得离谱，就尝试往后挪 4 个字节
-
-            int savedPos = bb.Position();
-            long testTileRef = bb.GetInt();
-            int testDataSize = bb.GetInt();
-
-            // 逻辑判断：如果 dataSize 超过了剩余文件大小，或者是个负数，说明对准错了
-            if (testDataSize <= 0 || testDataSize > (data.Length - bb.Position()))
-            {
-                Console.WriteLine("检测到字节对齐偏离，尝试跳过 4 字节...");
-                bb.Position(savedPos + 4); // 往后挪 4 位再试
-            }
-            else
-            {
-                bb.Position(savedPos); // 看起来是对的，退回去正常读
-            }
-            // --------------------------------
-
-            DtNavMesh navMesh = new DtNavMesh();
-            navMesh.Init(option, 6);
-
-            DtMeshDataReader tileReader = new DtMeshDataReader();
-
-            for (int i = 0; i < numTiles; i++)
-            {
-                if (bb.Position() + 8 > data.Length) break;
-
-                long tileRef = bb.GetInt();
-                int dataSize = bb.GetInt();
-
-                Console.WriteLine($"Tile[{i}] Ref: {tileRef}, Size: {dataSize}");
-
-                if (dataSize <= 0 || dataSize > data.Length)
-                {
-                    Console.WriteLine("警告：dataSize 依然非法，解析中断。");
-                    break;
-                }
-
-                byte[] tileData = new byte[dataSize];
-                Array.Copy(data, bb.Position(), tileData, 0, dataSize);
-                bb.Position(bb.Position() + dataSize);
-
-                RcByteBuffer tileBuffer = new RcByteBuffer(tileData);
-                tileBuffer.Order(RcByteOrder.LITTLE_ENDIAN);
-
-                DtMeshData meshData = tileReader.Read(tileBuffer, 6);
-                if (meshData != null)
-                {
-                    navMesh.AddTile(meshData, 0, tileRef, out long result);
-                }
-            }
-
-            return navMesh;
-        }
-
-        public void SampleUsage(string path)
-        {
-            DtNavMesh navMesh = LoadFromBabylon(path);
-
-            // 3. 创建查询对象
-            DtNavMeshQuery query = new DtNavMeshQuery(navMesh);
-
-            // 之后就可以进行寻路了，例如 query.FindPath(...)
-            Console.WriteLine($"NavMesh loaded. Max Tiles: {navMesh.GetMaxTiles()}");
-        }
-    }
-}

XNet.Business/NavMeshManager.cs

@@ -0,0 +1,355 @@
+using DotRecast.Core;
+using DotRecast.Core.Numerics;
+using DotRecast.Detour;
+using DotRecast.Recast;
+using System.Numerics;
+using System.Collections.Concurrent;
+using System.Buffers; // 引入 ArrayPool
+using System.Threading;
+
+namespace XNet.Business
+{
+    public class NavMeshManager
+    {
+        // --- 核心类：地图资源模板 (共享) ---
+        private class NavMeshTemplate : IDisposable
+        {
+            public string TemplateId { get; }
+            public DtNavMesh NavMesh { get; }
+            public DtNavMeshQuery Query { get; }
+            public ReaderWriterLockSlim RwLock { get; }
+
+            private bool _disposed = false;
+
+            public NavMeshTemplate(string id, DtNavMesh mesh, DtNavMeshQuery query)
+            {
+                TemplateId = id;
+                NavMesh = mesh;
+                Query = query;
+                RwLock = new ReaderWriterLockSlim();
+            }
+
+            public void Dispose()
+            {
+                Dispose(true);
+                GC.SuppressFinalize(this);
+            }
+
+            protected virtual void Dispose(bool disposing)
+            {
+                if (_disposed) return;
+
+                if (disposing)
+                {
+                    // 释放托管资源
+                    RwLock?.Dispose();
+                    //// 释放DotRecast的非托管资源
+                    //Query?.Dispose();
+                    //NavMesh?.Dispose();
+                }
+
+                _disposed = true;
+            }
+
+            ~NavMeshTemplate()
+            {
+                Dispose(false);
+            }
+        }
+
+        // --- 数据存储 ---
+        private readonly ConcurrentDictionary<string, NavMeshTemplate> _templates = new();
+        private readonly ConcurrentDictionary<string, string> _instanceMap = new();
+
+        // 寻路配置 (SceneAgent 需要访问，改为 Public)
+        private readonly DtQueryDefaultFilter _filter;
+        private readonly RcVec3f _extents = new RcVec3f(20.0f, 20.0f, 20.0f);
+
+        public DtQueryDefaultFilter Filter => _filter;
+        public RcVec3f Extents => _extents;
+
+        public NavMeshManager()
+        {
+            _filter = new DtQueryDefaultFilter(
+                includeFlags: 0xFFFF,
+                excludeFlags: 0,
+                areaCost: new float[] { 1f, 1f, 1f, 1f, 1f, 1f }
+            );
+        }
+
+        // ==========================================
+        // 1. 资源管理
+        // ==========================================
+
+        public void LoadTemplate(string templateId, string objFilePath)
+        {
+            Console.WriteLine($"[NavMesh] 开始构建模板: {templateId} ...");
+            NavMeshTemplate newTemplate = null;
+            try
+            {
+                newTemplate = BuildTemplateInternal(templateId, objFilePath);
+            }
+            catch (Exception ex)
+            {
+                Console.WriteLine($"[Error] 模板 {templateId} 构建失败: {ex.Message}");
+                return;
+            }
+
+            _templates.AddOrUpdate(templateId,
+                addValueFactory: (k) =>
+                {
+                    Console.WriteLine($"[NavMesh] 模板 {k} 加载完成。");
+                    return newTemplate;
+                },
+                updateValueFactory: (k, old) =>
+                {
+                    Console.WriteLine($"[NavMesh] 模板 {k} 更新 (Reload)。");
+                    return newTemplate;
+                });
+        }
+
+        public void UnloadTemplate(string templateId)
+        {
+            if (_templates.TryRemove(templateId, out var template))
+            {
+                template.Dispose();
+                Console.WriteLine($"[NavMesh] 模板 {templateId} 已卸载。");
+            }
+        }
+
+        // ==========================================
+        // 2. 副本实例管理
+        // ==========================================
+
+        public bool CreateInstance(string instanceId, string templateId)
+        {
+            if (!_templates.ContainsKey(templateId))
+            {
+                Console.WriteLine($"[Error] 无法创建实例 {instanceId}, 资源 {templateId} 不存在。");
+                return false;
+            }
+            _instanceMap[instanceId] = templateId;
+            return true;
+        }
+
+        public void RemoveInstance(string instanceId)
+        {
+            _instanceMap.TryRemove(instanceId, out _);
+        }
+
+        // ==========================================
+        // 3. 【新增】供 SceneAgent 使用的辅助方法
+        // ==========================================
+
+        /// <summary>
+        /// 获取指定副本实例底层的 NavMesh 和 Query 对象
+        /// 注意：返回的对象是共享资源，请勿 Dispose，也请勿修改其拓扑结构
+        /// </summary>
+        public bool GetNavMeshAndQuery(string instanceId, out DtNavMesh navMesh, out DtNavMeshQuery query)
+        {
+            navMesh = null!;
+            query = null!;
+
+            if (!_instanceMap.TryGetValue(instanceId, out var templateId)) return false;
+            if (!_templates.TryGetValue(templateId, out var template)) return false;
+
+            navMesh = template.NavMesh;
+            query = template.Query;
+            return true;
+        }
+
+        // ==========================================
+        // 4. 高性能寻路
+        // ==========================================
+
+        public List<Vector3>? FindPath(string instanceId, Vector3 start, Vector3 end)
+        {
+            if (!_instanceMap.TryGetValue(instanceId, out var templateId)) return null;
+            if (!_templates.TryGetValue(templateId, out var template)) return null;
+
+            const int MAX_POLYS = 256;
+            const int MAX_SMOOTH = 256;
+
+            long[] polyBuffer = ArrayPool<long>.Shared.Rent(MAX_POLYS);
+            DtStraightPath[] straightPathBuffer = ArrayPool<DtStraightPath>.Shared.Rent(MAX_SMOOTH);
+
+            template.RwLock.EnterReadLock();
+            try
+            {
+                var query = template.Query;
+                var startPos = new RcVec3f(start.X, start.Y, start.Z);
+                var endPos = new RcVec3f(end.X, end.Y, end.Z);
+
+                query.FindNearestPoly(startPos, _extents, _filter, out long startRef, out var startPt, out var _);
+                query.FindNearestPoly(endPos, _extents, _filter, out long endRef, out var endPt, out var _);
+
+                if (startRef == 0 || endRef == 0) return null;
+
+                var status = query.FindPath(
+                    startRef, endRef, startPt, endPt, _filter,
+                    polyBuffer, out int pathCount, MAX_POLYS
+                );
+
+                if (status.Failed() || pathCount == 0) return null;
+
+                query.FindStraightPath(
+                    startPt, endPt, polyBuffer.AsSpan(0, pathCount), pathCount,
+                    straightPathBuffer, out int straightPathCount, MAX_SMOOTH, 0
+                );
+
+                var result = new List<Vector3>(straightPathCount);
+                for (int i = 0; i < straightPathCount; i++)
+                {
+                    var pos = straightPathBuffer[i].pos;
+                    result.Add(new Vector3(pos.X, pos.Y, pos.Z));
+                }
+                return result;
+            }
+            finally
+            {
+                template.RwLock.ExitReadLock();
+                ArrayPool<long>.Shared.Return(polyBuffer, clearArray: true);
+                ArrayPool<DtStraightPath>.Shared.Return(straightPathBuffer, clearArray: true);
+            }
+        }
+
+        // ==========================================
+        // 5. 内部构建逻辑
+        // ==========================================
+        private NavMeshTemplate BuildTemplateInternal(string id, string objFilePath)
+        {
+            var objData = SimpleObjParser.Parse(objFilePath);
+
+            var geom = new SimpleInputGeomProvider(objData.Vertices, objData.Indices);
+
+            // --- 2. 配置烘焙参数 ---
+            var walkableAreaMod = new RcAreaModification(63);
+            var config = new RcConfig(
+                useTiles: false,             // 单块 Mesh
+                tileSizeX: 0,
+                tileSizeZ: 0,
+                borderSize: 0,
+                partition: RcPartition.WATERSHED,
+                cellSize: 0.1f,
+                cellHeight: 0.1f,
+                agentMaxSlope: 90.0f,       // 允许 90 度坡
+                agentHeight: 2.0f,
+                agentRadius: 0.05f,         // 极小半径
+                agentMaxClimb: 0.5f,
+                minRegionArea: 0.0f,        // 不过滤小区域
+                mergeRegionArea: 0.0f,
+                edgeMaxLen: 12.0f,
+                edgeMaxError: 1.3f,
+                vertsPerPoly: 6,
+                detailSampleDist: 6.0f,
+                detailSampleMaxError: 1.0f,
+                filterLowHangingObstacles: false, // 关闭所有过滤
+                filterLedgeSpans: false,
+                filterWalkableLowHeightSpans: false,
+                walkableAreaMod: walkableAreaMod,
+                buildMeshDetail: true
+            );
+
+            // --- 3. 构建 NavMesh ---
+            RcBuilder builder = new RcBuilder();
+            RcVec3f bmin = geom.GetMeshBoundsMin();
+            RcVec3f bmax = geom.GetMeshBoundsMax();
+
+            // 【关键修复】确保高度
+            if (Math.Abs(bmax.Y - bmin.Y) < 0.001f)
+            {
+                Console.WriteLine("Flat mesh detected. Increasing Bounds Height...");
+                bmax.Y += 5.0f;
+                bmin.Y -= 0.5f;
+            }
+            else // 即使不是绝对平面，如果太薄，也强制加高
+            {
+                bmax.Y += 5.0f;
+                bmin.Y -= 0.5f;
+            }
+
+            Console.WriteLine($"Adjusted Bounds: Min({bmin.X},{bmin.Y},{bmin.Z}) Max({bmax.X},{bmax.Y},{bmax.Z})");
+            Console.WriteLine($"Adjusted Size: {bmax.X - bmin.X}, {bmax.Y - bmin.Y}, {bmax.Z - bmin.Z}");
+
+            var builderConfig = new RcBuilderConfig(config, bmin, bmax);
+            if (builderConfig.width <= 0 || builderConfig.height <= 0)
+            {
+                throw new Exception($"网格尺寸计算错误！Width: {builderConfig.width}, Height: {builderConfig.height}.");
+            }
+
+            RcBuilderResult result = builder.Build(geom, builderConfig, false);
+
+            var meshData = result.Mesh;
+            // 检查点：npolys 应该是 > 0
+            if (meshData.npolys == 0)
+            {
+                throw new Exception($"Recast 构建完成，但生成了 0 个多边形。请检查 OBJ 数据和参数。");
+            }
+
+            // 【强制修复】设置 Flags 为 1 (Walkable)
+            for (int i = 0; i < meshData.npolys; ++i)
+            {
+                meshData.flags[i] = 1;
+            }
+
+            // --- 4. 转换为 Detour 数据 ---
+            var meshDetail = result.MeshDetail;
+            var navMeshDataParams = new DtNavMeshCreateParams
+            {
+                verts = meshData.verts,
+                vertCount = meshData.nverts,
+                polys = meshData.polys,
+                polyFlags = meshData.flags,
+                polyAreas = meshData.areas,
+                polyCount = meshData.npolys,
+                nvp = meshData.nvp,
+                detailMeshes = meshDetail?.meshes ?? new int[0],
+                detailVerts = meshDetail?.verts ?? new float[0],
+                detailVertsCount = meshDetail?.nverts ?? 0,
+                detailTris = meshDetail?.tris ?? new int[0],
+                detailTriCount = meshDetail?.ntris ?? 0,
+                offMeshConVerts = new float[0],
+                offMeshConRad = new float[0],
+                offMeshConDir = new int[0],
+                offMeshConAreas = new int[0],
+                offMeshConFlags = new int[0],
+                offMeshConUserID = new int[0], // 确保是 uint[]
+                offMeshConCount = 0,
+                bmin = meshData.bmin,
+                bmax = meshData.bmax,
+                walkableHeight = config.WalkableHeightWorld,
+                walkableRadius = config.WalkableRadiusWorld,
+                walkableClimb = config.WalkableClimbWorld,
+                cs = config.Cs,
+                ch = config.Ch,
+                buildBvTree = true
+            };
+
+            var navMeshData = DtNavMeshBuilder.CreateNavMeshData(navMeshDataParams);
+            if (navMeshData == null) throw new Exception("Failed to create Detour NavMeshData.");
+
+
+            // 1. 初始化一个空的 NavMesh 容器
+            var dtParams = new DtNavMeshParams();
+            dtParams.orig = navMeshData.header.bmin; // 设置原点
+            dtParams.tileWidth = navMeshData.header.bmax.X - navMeshData.header.bmin.X; // 设置块宽
+            dtParams.tileHeight = navMeshData.header.bmax.Z - navMeshData.header.bmin.Z; // 设置块高
+            dtParams.maxTiles = 1; // 只有一块
+            dtParams.maxPolys = navMeshData.header.polyCount;
+
+            var navMesh = new DtNavMesh();
+            // 使用 Init 方法加载数据
+
+            navMesh.Init(dtParams, 6);
+            // 关键：添加导航数据Tile到NavMesh
+            navMesh.AddTile(navMeshData, 0, 0, out long tileRef);
+            if (tileRef == 0)
+            {
+                throw new Exception("Failed to add tile to NavMesh!");
+            }
+            var navMeshQuery = new DtNavMeshQuery(navMesh);
+
+            return new NavMeshTemplate(id, navMesh, navMeshQuery);
+        }
+    }
+}

XNet.Business/SceneAgent.cs

@@ -0,0 +1,153 @@
+using DotRecast.Core;
+using DotRecast.Core.Numerics;
+using DotRecast.Detour;
+using DotRecast.Detour.Crowd;
+using System.Collections.Concurrent;
+using System.Numerics;
+
+namespace XNet.Business
+{
+    public class SceneAgent
+    {
+        private readonly NavMeshManager _navMeshManager;
+
+        private class CrowdInstance
+        {
+            public DtCrowd Crowd { get; set; } = null!;
+            public object SyncRoot { get; } = new object();
+        }
+
+        private readonly ConcurrentDictionary<string, CrowdInstance> _crowdInstances = new();
+
+        private const float AGENT_RADIUS = 0.5f;
+        private const float AGENT_HEIGHT = 2.0f;
+
+        public SceneAgent(NavMeshManager navMeshManager)
+        {
+            _navMeshManager = navMeshManager;
+        }
+
+        public bool CreateCrowdForInstance(string instanceId)
+        {
+            // 使用 NavMeshManager 新增的 Helper 方法
+            if (!_navMeshManager.GetNavMeshAndQuery(instanceId, out var navMesh, out _))
+            {
+                return false;
+            }
+
+            var config = new DtCrowdConfig(0.6f);
+            var crowd = new DtCrowd(config, navMesh);
+
+            var paramsData = crowd.GetObstacleAvoidanceParams(0);
+            paramsData.velBias = 0.4f;
+            paramsData.adaptiveDivs = 5;
+            paramsData.adaptiveRings = 2;
+            paramsData.adaptiveDepth = 2;
+            crowd.SetObstacleAvoidanceParams(0, paramsData);
+
+            var instance = new CrowdInstance { Crowd = crowd };
+            return _crowdInstances.TryAdd(instanceId, instance);
+        }
+
+        public void RemoveCrowdInstance(string instanceId)
+        {
+            _crowdInstances.TryRemove(instanceId, out _);
+        }
+
+        public int AddAgent(string instanceId, Vector3 position, float radius, float height, float maxAcceleration = 8.0f, float maxSpeed = 3.5f)
+        {
+            if (!_crowdInstances.TryGetValue(instanceId, out var ci)) return -1;
+
+            lock (ci.SyncRoot)
+            {
+                var pos = new RcVec3f(position.X, position.Y, -position.Z);
+                var ap = new DtCrowdAgentParams
+                {
+                    radius = radius,
+                    height = height,
+                    maxAcceleration = maxAcceleration,
+                    maxSpeed = maxSpeed,
+                    collisionQueryRange = radius * 12.0f,
+                    pathOptimizationRange = radius * 30.0f,
+                    updateFlags = DtCrowdAgentUpdateFlags.DT_CROWD_ANTICIPATE_TURNS
+                                | DtCrowdAgentUpdateFlags.DT_CROWD_OBSTACLE_AVOIDANCE
+                                | DtCrowdAgentUpdateFlags.DT_CROWD_SEPARATION
+                                | DtCrowdAgentUpdateFlags.DT_CROWD_OPTIMIZE_VIS
+                                | DtCrowdAgentUpdateFlags.DT_CROWD_OPTIMIZE_TOPO
+                };
+
+                return ci.Crowd.AddAgent(pos, ap).idx;
+            }
+        }
+
+        public void RemoveAgent(string instanceId, int agentIdx)
+        {
+            if (!_crowdInstances.TryGetValue(instanceId, out var ci)) return;
+
+            lock (ci.SyncRoot)
+            {
+                var agent = ci.Crowd.GetAgent(agentIdx);
+                // 【修复】判断 Agent 是否有效，需要检查 state
+                if (agent != null && agent.state != DtCrowdAgentState.DT_CROWDAGENT_STATE_INVALID)
+                {
+                    ci.Crowd.RemoveAgent(agent);
+                }
+            }
+        }
+
+        public bool AgentGoto(string instanceId, int agentIdx, Vector3 destination)
+        {
+            if (!_crowdInstances.TryGetValue(instanceId, out var ci)) return false;
+
+            // 使用 NavMeshManager 获取 Query
+            if (!_navMeshManager.GetNavMeshAndQuery(instanceId, out _, out var query)) return false;
+
+            var targetPos = new RcVec3f(destination.X, destination.Y, -destination.Z);
+
+            // 使用 public 的 Extents 和 Filter
+            query.FindNearestPoly(targetPos, _navMeshManager.Extents, _navMeshManager.Filter,
+                out long targetRef, out var realTargetPos, out var _);
+
+            if (targetRef == 0) return false;
+
+            lock (ci.SyncRoot)
+            {
+                var agent = ci.Crowd.GetAgent(agentIdx);
+                // 【修复】检查 state
+                if (agent != null && agent.state != DtCrowdAgentState.DT_CROWDAGENT_STATE_INVALID)
+                {
+                    return ci.Crowd.RequestMoveTarget(agent, targetRef, realTargetPos);
+                }
+            }
+            return false;
+        }
+
+        public Vector3? GetAgentPosition(string instanceId, int agentIdx)
+        {
+            if (!_crowdInstances.TryGetValue(instanceId, out var ci)) return null;
+
+            lock (ci.SyncRoot)
+            {
+                var agent = ci.Crowd.GetAgent(agentIdx);
+                // 【修复】检查 state
+                if (agent != null && agent.state != DtCrowdAgentState.DT_CROWDAGENT_STATE_INVALID)
+                {
+                    var p = agent.npos;
+                    return new Vector3(p.X, p.Y, -p.Z);
+                }
+            }
+            return null;
+        }
+
+        public void UpdateAll(float deltaTime)
+        {
+            Parallel.ForEach(_crowdInstances.Values, ci =>
+            {
+                lock (ci.SyncRoot)
+                {
+                    ci.Crowd.Update(deltaTime, null);
+                }
+            });
+        }
+    }
+}

XNet.Business/SimpleInputGeomProvider.cs

@@ -0,0 +1,102 @@
+using DotRecast.Core.Numerics;
+using DotRecast.Recast;
+using DotRecast.Recast.Geom;
+using System;
+using System.Collections.Generic;
+using System.Text;
+
+namespace XNet.Business
+{
+    // 1. 定义一个简单的几何输入类，适配 DotRecast 接口
+    public class SimpleInputGeomProvider : IInputGeomProvider
+    {
+        private readonly float[] _vertices;
+        private readonly int[] _faces;
+        private readonly RcVec3f _bmin;
+        private readonly RcVec3f _bmax;
+        private readonly RcTriMesh _triMesh;
+
+        // [关键] 定义数据存储列表
+        private readonly List<RcOffMeshConnection> _offMeshConnections = new List<RcOffMeshConnection>();
+        private readonly List<RcConvexVolume> _convexVolumes = new List<RcConvexVolume>();
+
+        public SimpleInputGeomProvider(float[] vertices, int[] faces)
+        {
+            _vertices = vertices;
+            _faces = faces;
+            _triMesh = new RcTriMesh(_vertices, _faces);
+
+            _bmin = new RcVec3f(float.MaxValue, float.MaxValue, float.MaxValue);
+            _bmax = new RcVec3f(float.MinValue, float.MinValue, float.MinValue);
+
+            for (int i = 0; i < vertices.Length; i += 3)
+            {
+                float x = vertices[i];
+                float y = vertices[i + 1];
+                float z = vertices[i + 2];
+
+                _bmin.X = Math.Min(_bmin.X, x);
+                _bmin.Y = Math.Min(_bmin.Y, y);
+                _bmin.Z = Math.Min(_bmin.Z, z);
+
+                _bmax.X = Math.Max(_bmax.X, x);
+                _bmax.Y = Math.Max(_bmax.Y, y);
+                _bmax.Z = Math.Max(_bmax.Z, z);
+            }
+        }
+
+        public RcVec3f GetMeshBoundsMin() => _bmin;
+        public RcVec3f GetMeshBoundsMax() => _bmax;
+
+        public RcTriMesh GetMesh() => _triMesh;
+
+        public IEnumerable<RcTriMesh> Meshes()
+        {
+            yield return _triMesh;
+        }
+
+        // --- 接口实现：Off-Mesh Connections ---
+
+        public void AddOffMeshConnection(RcVec3f start, RcVec3f end, float radius, bool bidir, int area, int flags)
+        {
+            _offMeshConnections.Add(new RcOffMeshConnection(start, end, radius, bidir, area, flags));
+        }
+
+        public void RemoveOffMeshConnections(Predicate<RcOffMeshConnection> filter)
+        {
+            _offMeshConnections.RemoveAll(filter);
+        }
+
+        // [这里是你报错的地方，已修复]
+        // 显式接口实现，返回内部列表
+        List<RcOffMeshConnection> IInputGeomProvider.GetOffMeshConnections()
+        {
+            return _offMeshConnections;
+        }
+
+        // 如果外部也需要访问，可以保留这个公共方法
+        public IList<RcOffMeshConnection> GetOffMeshConnections()
+        {
+            return _offMeshConnections;
+        }
+
+        // --- 接口实现：Convex Volumes ---
+
+        public void AddConvexVolume(RcConvexVolume convexVolume)
+        {
+            _convexVolumes.Add(convexVolume);
+        }
+
+        // 显式接口实现
+        IList<RcConvexVolume> IInputGeomProvider.ConvexVolumes()
+        {
+            return _convexVolumes;
+        }
+
+        // 公共方法
+        public IEnumerable<RcConvexVolume> ConvexVolumes()
+        {
+            return _convexVolumes;
+        }
+    }
+}

XNet.Business/SimpleObjParser.cs

@@ -0,0 +1,79 @@
+using System;
+using System.Collections.Generic;
+using System.Globalization;
+using System.Text;
+
+namespace XNet.Business
+{
+    public class SimpleObjParser
+    {
+        public class ObjData
+        {
+            public required float[] Vertices { get; set; }
+            public required int[] Indices { get; set; }
+        }
+
+        public static ObjData Parse(string filePath)
+        {
+            var verts = new List<float>();
+            var indices = new List<int>();
+
+            if (!File.Exists(filePath)) throw new FileNotFoundException("Obj file not found", filePath);
+            var lines = File.ReadAllLines(filePath);
+
+            foreach (var line in lines)
+            {
+                var trimmed = line.Trim();
+                if (string.IsNullOrEmpty(trimmed) || trimmed.StartsWith("#")) continue;
+                var parts = trimmed.Split(new[] { ' ' }, StringSplitOptions.RemoveEmptyEntries);
+                if (parts.Length == 0) continue;
+
+                if (parts[0] == "v")
+                {
+                    // 修改为 (翻转 Z 轴并交换 Y/Z，视具体 OBJ 情况尝试)：
+                    float x = float.Parse(parts[1], CultureInfo.InvariantCulture);
+                    float y = float.Parse(parts[2], CultureInfo.InvariantCulture);
+                    float z = float.Parse(parts[3], CultureInfo.InvariantCulture);
+
+                    // 方案 A: 标准 Unity 导出 (无需修改，保持 x, y, z) - 如果 Size Y 正常，用这个。
+                    verts.Add(x);
+                    verts.Add(y);
+                    verts.Add(z);
+
+                    // 方案 B: 修正翻转 (如果你的地图竖起来了，或者 X 轴镜像了)
+                    //verts.Add(x);
+                    //verts.Add(z); // 把 Z 变成 Y
+                    //verts.Add(y); // 把 Y 变成 Z
+                }
+                else if (parts[0] == "f")
+                {
+                    if (parts.Length >= 4)
+                    {
+                        indices.Add(int.Parse(parts[1].Split('/')[0]) - 1);
+                        indices.Add(int.Parse(parts[2].Split('/')[0]) - 1);
+                        indices.Add(int.Parse(parts[3].Split('/')[0]) - 1);
+                    }
+
+                    //if (parts.Length >= 4)
+                    //{
+                    //    int v1 = int.Parse(parts[1].Split('/')[0]) - 1;
+                    //    int v2 = int.Parse(parts[2].Split('/')[0]) - 1;
+                    //    int v3 = int.Parse(parts[3].Split('/')[0]) - 1;
+
+                    //    // --- 修改开始 ---
+                    //    // 尝试 1: 默认顺序 (你当前的代码)
+                    //    // indices.Add(v1); indices.Add(v2); indices.Add(v3);
+
+                    //    // 尝试 2: [强力推荐] 交换 v2 和 v3 (反转面朝向)
+                    //    // 如果之前生成为 0，这行代码通常能救命
+                    //    indices.Add(v1);
+                    //    indices.Add(v3); // 注意：这里换成了 v3
+                    //    indices.Add(v2); // 注意：这里换成了 v2
+                    //                     // --- 修改结束 ---
+                    //}
+                }
+            }
+            return new ObjData { Vertices = verts.ToArray(), Indices = indices.ToArray() };
+        }
+    }
+}

XNet.Business/XNet.Business.csproj

@@ -10,6 +10,7 @@
     <PackageReference Include="DotRecast.Detour.Crowd" Version="2025.2.1" />
     <PackageReference Include="DotRecast.Recast" Version="2025.2.1" />
     <PackageReference Include="Microsoft.ClearScript.V8" Version="7.5.0" />
+    <PackageReference Include="Microsoft.Extensions.Hosting" Version="10.0.1" />
   </ItemGroup>
 
 </Project>

XNet/Controllers/MapController.cs

@@ -1,5 +1,6 @@
 using Microsoft.AspNetCore.Http;
 using Microsoft.AspNetCore.Mvc;
+using System.Numerics;
 using XNet.Business;
 
 namespace XNet.Api.Controllers
@@ -8,10 +9,16 @@ namespace XNet.Api.Controllers
     [ApiController]
     public class MapController : ControllerBase
     {
+        private readonly NavMeshManager? _mapAgent = null;
+        public MapController(NavMeshManager mapAgent)
+        {
+            _mapAgent = mapAgent;
+        }
+
         [HttpGet]
         public void MapInit()
         {
-            new MapAgent().SampleUsage(@"D:\Rock.nav");
+            _mapAgent!.FindPath("Instance_TeamA_1", new Vector3(-4, 0, -4), new Vector3(5, 0, 3));
         }
     }
 }

XNet/Program.cs

@@ -1,4 +1,5 @@
 using Scalar.AspNetCore;
+using XNet.Business;
 
 var builder = WebApplication.CreateBuilder(args);
 
@@ -7,6 +8,13 @@ var builder = WebApplication.CreateBuilder(args);
 builder.Services.AddControllers();
 // Learn more about configuring OpenAPI at https://aka.ms/aspnet/openapi
 builder.Services.AddOpenApi();
+//注入游戏地图导航服务
+// 1. 注册 MapAgent 为单例
+builder.Services.AddSingleton<NavMeshManager>();
+builder.Services.AddSingleton<SceneAgent>();
+
+// 2. 注册 SimulationLoop 为 HostedService (后台运行)
+builder.Services.AddHostedService<GameLoopService>();
 
 var app = builder.Build();