@aura3d/navigation-recast 2.0.0

package/README.md

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+# @aura3d/navigation-recast
+
+Optional Recast/Detour navigation for Aura3D, backed by exact
+`recast-navigation@0.43.1`. Static worlds should normally build and serialize
+their navmesh offline, then lazily initialize this package and import that data
+at runtime. Runtime generation remains available for procedural worlds.
+
+The package is absent from core, product, and arcade-game entries. It owns
+navmesh generation, path queries, serialization, Detour crowd simulation, and
+temporary-obstacle integration; it does not depend on Three.js.
+
+Projects migrating from the removed `@aura3d/physics` grid/crowd/steering
+surface should follow `docs/migration/navigation-recast-2.0.md`; the old and new
+APIs are not falsely aliased because their coordinate and world-geometry
+semantics differ.
+
+## Public API
+
+- `createRecastNavigation()` initializes the WASM runtime once and returns a
+  thin factory/query adapter.
+- `generateSolo()` creates a small-world navmesh from indexed triangle data.
+- `import()` restores an offline-generated navmesh.
+- `importAsset()` loads a CLI-generated `AuraAssetRef<"navigation">`, verifies
+  its SHA-256 hash, and imports the serialized navmesh.
+- `RecastNavMeshHandle` owns queries, serialization, and deterministic cleanup.
+- `rawModule` and `rawNavMesh` are public escape hatches for advanced Detour
+  operations without private imports.
+
+## Verification
+
+Run `pnpm exec vitest run tests/unit/navigation-recast` for generation, query,
+serialization, lifecycle, and optional-boundary tests. Browser and worker
+evidence is produced by the navigation bake-off before release.

package/dist/index.d.ts

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+import type * as Recast from "recast-navigation";
+export type NavigationVec3 = readonly [number, number, number];
+export type RecastModule = typeof import("recast-navigation");
+export type RecastGenerators = typeof import("recast-navigation/generators");
+export interface NavigationTriangleSoup {
+    readonly positions: readonly number[] | Float32Array;
+    readonly indices: readonly number[] | Uint32Array;
+}
+export interface RecastNavigationOptions {
+    readonly moduleLoader?: () => Promise<RecastModule>;
+    readonly generatorLoader?: () => Promise<RecastGenerators>;
+}
+export interface NavigationPathResult {
+    readonly success: boolean;
+    readonly points: readonly NavigationVec3[];
+    readonly error?: string;
+}
+/** Structural match for `AuraAssetRef<"navigation">` without coupling this optional package to the engine barrel. */
+export interface NavigationAssetRef {
+    readonly kind: "aura-asset-ref";
+    readonly id: string;
+    readonly type: "navigation";
+    readonly format: "navmesh";
+    readonly url: string;
+    readonly hash?: string;
+}
+export interface NavigationAssetFetchResponse {
+    readonly ok: boolean;
+    readonly status: number;
+    arrayBuffer(): Promise<ArrayBuffer>;
+}
+export interface ImportNavigationAssetOptions {
+    readonly fetch?: (url: string) => Promise<NavigationAssetFetchResponse>;
+    readonly verifyHash?: boolean;
+}
+export interface NavigationCrowdAgentOptions {
+    readonly radius?: number;
+    readonly height?: number;
+    readonly maxAcceleration?: number;
+    readonly maxSpeed?: number;
+    readonly collisionQueryRange?: number;
+    readonly pathOptimizationRange?: number;
+    readonly separationWeight?: number;
+}
+export declare class RecastNavMeshHandle {
+    #private;
+    constructor(module: RecastModule, navMesh: Recast.NavMesh);
+    get disposed(): boolean;
+    computePath(start: NavigationVec3, end: NavigationVec3): NavigationPathResult;
+    createCrowd(maxAgents: number, maxAgentRadius: number): RecastCrowdHandle;
+    serialize(): Uint8Array;
+    /** Stable escape hatch. The handle retains ownership and frees this object. */
+    unsafeRecastNavMesh(): Recast.NavMesh;
+    dispose(): void;
+}
+export declare class RecastCrowdHandle {
+    #private;
+    constructor(module: RecastModule, navMesh: Recast.NavMesh, maxAgents: number, maxAgentRadius: number);
+    addAgent(position: NavigationVec3, options?: NavigationCrowdAgentOptions): Recast.CrowdAgent;
+    requestMoveTarget(agent: Recast.CrowdAgent, target: NavigationVec3): boolean;
+    update(dt: number): void;
+    positions(): readonly NavigationVec3[];
+    /** Stable escape hatch. The handle owns and destroys this crowd. */
+    unsafeRecastCrowd(): Recast.Crowd;
+    dispose(): void;
+}
+export declare class RecastTileCacheHandle {
+    #private;
+    readonly navMesh: RecastNavMeshHandle;
+    constructor(module: RecastModule, navMesh: Recast.NavMesh, tileCache: Recast.TileCache);
+    addCylinderObstacle(position: NavigationVec3, radius: number, height: number): Recast.Obstacle;
+    removeObstacle(obstacle: Recast.Obstacle): void;
+    update(maxIterations?: number): number;
+    serialize(): Uint8Array;
+    dispose(): void;
+}
+export declare class RecastNavigation {
+    #private;
+    constructor(module: RecastModule, generators: RecastGenerators);
+    generateSolo(input: NavigationTriangleSoup, config: Parameters<RecastGenerators["generateSoloNavMesh"]>[2]): RecastNavMeshHandle;
+    generateTileCache(input: NavigationTriangleSoup, config?: Parameters<RecastGenerators["generateTileCache"]>[2]): RecastTileCacheHandle;
+    import(bytes: Uint8Array): RecastNavMeshHandle;
+    importAsset(asset: NavigationAssetRef, options?: ImportNavigationAssetOptions): Promise<RecastNavMeshHandle>;
+    /** Stable typed escape hatch for Crowd, TileCache, and advanced Detour APIs. */
+    get rawModule(): RecastModule;
+}
+export declare function createRecastNavigation(options?: RecastNavigationOptions): Promise<RecastNavigation>;
+//# sourceMappingURL=index.d.ts.map

package/dist/index.d.ts.map

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package/dist/index.js

@@ -0,0 +1,181 @@
+function vector(value) {
+    if (value.some((entry) => !Number.isFinite(entry)))
+        throw new TypeError("Navigation coordinates must be finite.");
+    return { x: value[0], y: value[1], z: value[2] };
+}
+export class RecastNavMeshHandle {
+    #module;
+    #navMesh;
+    #query;
+    #disposed = false;
+    constructor(module, navMesh) {
+        this.#module = module;
+        this.#navMesh = navMesh;
+        this.#query = new module.NavMeshQuery(navMesh);
+    }
+    get disposed() { return this.#disposed; }
+    computePath(start, end) {
+        this.#assertAlive();
+        const result = this.#query.computePath(vector(start), vector(end));
+        if (!result.success)
+            return { success: false, points: [], error: String(result.error ?? "Detour path query failed.") };
+        return { success: true, points: result.path.map((point) => [point.x, point.y, point.z]) };
+    }
+    createCrowd(maxAgents, maxAgentRadius) {
+        this.#assertAlive();
+        return new RecastCrowdHandle(this.#module, this.#navMesh, maxAgents, maxAgentRadius);
+    }
+    serialize() { this.#assertAlive(); return this.#module.exportNavMesh(this.#navMesh); }
+    /** Stable escape hatch. The handle retains ownership and frees this object. */
+    unsafeRecastNavMesh() { this.#assertAlive(); return this.#navMesh; }
+    dispose() {
+        if (this.#disposed)
+            return;
+        this.#query.destroy();
+        this.#navMesh.destroy();
+        this.#disposed = true;
+    }
+    #assertAlive() { if (this.#disposed)
+        throw new Error("RecastNavMeshHandle is disposed."); }
+}
+export class RecastCrowdHandle {
+    #crowd;
+    #disposed = false;
+    constructor(module, navMesh, maxAgents, maxAgentRadius) {
+        if (!Number.isInteger(maxAgents) || maxAgents < 1)
+            throw new RangeError("maxAgents must be an integer >= 1.");
+        if (!Number.isFinite(maxAgentRadius) || maxAgentRadius <= 0)
+            throw new RangeError("maxAgentRadius must be positive.");
+        this.#crowd = new module.Crowd(navMesh, { maxAgents, maxAgentRadius });
+    }
+    addAgent(position, options = {}) {
+        this.#assertAlive();
+        return this.#crowd.addAgent(vector(position), options);
+    }
+    requestMoveTarget(agent, target) {
+        this.#assertAlive();
+        return agent.requestMoveTarget(vector(target));
+    }
+    update(dt) {
+        this.#assertAlive();
+        if (!Number.isFinite(dt) || dt <= 0)
+            throw new RangeError("Crowd dt must be positive and finite.");
+        this.#crowd.update(dt);
+    }
+    positions() {
+        this.#assertAlive();
+        return this.#crowd.getAgents().map((agent) => { const point = agent.position(); return [point.x, point.y, point.z]; });
+    }
+    /** Stable escape hatch. The handle owns and destroys this crowd. */
+    unsafeRecastCrowd() { this.#assertAlive(); return this.#crowd; }
+    dispose() { if (!this.#disposed) {
+        this.#crowd.destroy();
+        this.#disposed = true;
+    } }
+    #assertAlive() { if (this.#disposed)
+        throw new Error("RecastCrowdHandle is disposed."); }
+}
+export class RecastTileCacheHandle {
+    navMesh;
+    #module;
+    #tileCache;
+    #disposed = false;
+    constructor(module, navMesh, tileCache) {
+        this.#module = module;
+        this.#tileCache = tileCache;
+        this.navMesh = new RecastNavMeshHandle(module, navMesh);
+    }
+    addCylinderObstacle(position, radius, height) {
+        this.#assertAlive();
+        const result = this.#tileCache.addCylinderObstacle(vector(position), radius, height);
+        if (!result.success || !result.obstacle)
+            throw new Error(`Recast obstacle creation failed with status ${result.status}.`);
+        return result.obstacle;
+    }
+    removeObstacle(obstacle) {
+        this.#assertAlive();
+        const result = this.#tileCache.removeObstacle(obstacle);
+        if (!result.success)
+            throw new Error(`Recast obstacle removal failed with status ${result.status}.`);
+    }
+    update(maxIterations = 64) {
+        this.#assertAlive();
+        for (let iteration = 1; iteration <= maxIterations; iteration += 1) {
+            const result = this.#tileCache.update(this.navMesh.unsafeRecastNavMesh());
+            if (!result.success)
+                throw new Error(`Recast tile-cache update failed with status ${result.status}.`);
+            if (result.upToDate)
+                return iteration;
+        }
+        throw new Error(`Recast tile cache did not settle within ${maxIterations} updates.`);
+    }
+    serialize() {
+        this.#assertAlive();
+        return this.#module.exportTileCache(this.navMesh.unsafeRecastNavMesh(), this.#tileCache);
+    }
+    dispose() {
+        if (this.#disposed)
+            return;
+        this.#tileCache.destroy();
+        this.navMesh.dispose();
+        this.#disposed = true;
+    }
+    #assertAlive() { if (this.#disposed)
+        throw new Error("RecastTileCacheHandle is disposed."); }
+}
+export class RecastNavigation {
+    #module;
+    #generators;
+    constructor(module, generators) { this.#module = module; this.#generators = generators; }
+    generateSolo(input, config) {
+        const result = this.#generators.generateSoloNavMesh([...input.positions], [...input.indices], config);
+        if (!result.success || !result.navMesh)
+            throw new Error(`Recast navmesh generation failed: ${String(result.error ?? "unknown error")}`);
+        return new RecastNavMeshHandle(this.#module, result.navMesh);
+    }
+    generateTileCache(input, config = {}) {
+        const result = this.#generators.generateTileCache(input.positions, input.indices, config);
+        if (!result.success || !result.navMesh || !result.tileCache)
+            throw new Error(`Recast tile-cache generation failed: ${String(result.error ?? "unknown error")}`);
+        return new RecastTileCacheHandle(this.#module, result.navMesh, result.tileCache);
+    }
+    import(bytes) {
+        const result = this.#module.importNavMesh(bytes);
+        return new RecastNavMeshHandle(this.#module, result.navMesh);
+    }
+    async importAsset(asset, options = {}) {
+        if (asset.kind !== "aura-asset-ref" || asset.type !== "navigation" || asset.format !== "navmesh") {
+            throw new TypeError("Recast navigation import requires a typed Aura navigation/navmesh asset reference.");
+        }
+        const fetchAsset = options.fetch ?? ((url) => fetch(url));
+        const response = await fetchAsset(asset.url);
+        if (!response.ok)
+            throw new Error(`Navigation asset ${asset.id} failed to load (${response.status}) from ${asset.url}.`);
+        const bytes = new Uint8Array(await response.arrayBuffer());
+        if (bytes.byteLength === 0)
+            throw new Error(`Navigation asset ${asset.id} is empty.`);
+        if (options.verifyHash !== false && asset.hash)
+            await verifyNavigationAssetHash(asset, bytes);
+        return this.import(bytes);
+    }
+    /** Stable typed escape hatch for Crowd, TileCache, and advanced Detour APIs. */
+    get rawModule() { return this.#module; }
+}
+async function verifyNavigationAssetHash(asset, bytes) {
+    const expected = asset.hash?.match(/^sha256-([a-f0-9]{64})$/i)?.[1]?.toLowerCase();
+    if (!expected)
+        throw new Error(`Navigation asset ${asset.id} has an unsupported integrity value; expected sha256-<64 hex characters>.`);
+    if (!globalThis.crypto?.subtle)
+        throw new Error(`Navigation asset ${asset.id} cannot verify SHA-256 because Web Crypto is unavailable.`);
+    const digest = new Uint8Array(await globalThis.crypto.subtle.digest("SHA-256", Uint8Array.from(bytes).buffer));
+    const actual = [...digest].map((value) => value.toString(16).padStart(2, "0")).join("");
+    if (actual !== expected)
+        throw new Error(`Navigation asset ${asset.id} failed SHA-256 verification.`);
+}
+export async function createRecastNavigation(options = {}) {
+    const module = await (options.moduleLoader ?? (() => import("recast-navigation")))();
+    await module.init();
+    const generators = await (options.generatorLoader ?? (() => import("recast-navigation/generators")))();
+    return new RecastNavigation(module, generators);
+}
+//# sourceMappingURL=index.js.map

package/dist/index.js.map

@@ -0,0 +1 @@
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package/package.json

@@ -0,0 +1,44 @@
+{
+  "name": "@aura3d/navigation-recast",
+  "version": "2.0.0",
+  "type": "module",
+  "main": "./dist/index.js",
+  "types": "./dist/index.d.ts",
+  "sideEffects": false,
+  "dependencies": {
+    "recast-navigation": "0.43.1"
+  },
+  "exports": {
+    ".": {
+      "types": "./dist/index.d.ts",
+      "import": "./dist/index.js"
+    }
+  },
+  "description": "Optional asynchronously initialized Recast/Detour navigation adapter for Aura3D.",
+  "keywords": [
+    "aura3d",
+    "navigation",
+    "recast",
+    "detour",
+    "navmesh",
+    "crowd",
+    "wasm"
+  ],
+  "homepage": "https://aura3d.auraone.ai",
+  "repository": {
+    "type": "git",
+    "url": "git+https://github.com/auraoneai/aura3d.git",
+    "directory": "packages/navigation-recast"
+  },
+  "bugs": {
+    "url": "https://github.com/auraoneai/aura3d/issues"
+  },
+  "license": "MIT",
+  "publishConfig": {
+    "access": "public"
+  },
+  "files": [
+    "README.md",
+    "dist"
+  ]
+}