/**
 * AStarPathfinder.ts
 *
 * A* search over a NavMesh graph: heuristic-driven pathfinding,
 * path smoothing, dynamic obstacle avoidance, and path caching.
 *
 * @module navigation
 */
import { NavMesh, NavPoint } from './NavMesh';
export interface PathNode {
    polyId: string;
    position: NavPoint;
    g: number;
    h: number;
    f: number;
    parent: PathNode | null;
}
export interface PathResult {
    found: boolean;
    path: NavPoint[];
    cost: number;
    polygonsVisited: number;
    timeMs: number;
}
export interface DynamicObstacle {
    id: string;
    position: NavPoint;
    radius: number;
}
export declare class AStarPathfinder {
    private navMesh;
    private obstacles;
    private pathCache;
    private maxIterations;
    private fallbackDirectPathMaxDistance;
    constructor(navMesh: NavMesh);
    private toArr3;
    findPath(start: NavPoint | {
        x: number;
        y: number;
        z: number;
    }, goal: NavPoint | {
        x: number;
        y: number;
        z: number;
    }): PathResult;
    smoothPath(path: NavPoint[]): NavPoint[];
    private canSkipTo;
    addObstacle(id: string, position: NavPoint, radius: number): void;
    removeObstacle(id: string): void;
    getObstacleCount(): number;
    private isBlocked;
    private reconstructPath;
    private dist;
    private makeCacheKey;
    clearCache(): void;
    setMaxIterations(n: number): void;
}
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