@babylonjs/lite 1.0.0 → 1.1.0

package/{index-CYZDclhF.js.map → index-7Bk-uLSM.js.map}

@@ -1 +1 @@
-{"version":3,"file":"index-CYZDclhF.js","sources":["../../../node_modules/.pnpm/@recast-navigation+generators@0.43.0/node_modules/@recast-navigation/generators/dist/index.mjs"],"sourcesContent":["import { vec3, recastConfigDefaults, RecastBuildContext, VerticesArray, TrianglesArray, createRcConfig, calcGridSize, allocHeightfield, createHeightfield, TriangleAreasArray, markWalkableTriangles, rasterizeTriangles, filterLowHangingWalkableObstacles, filterLedgeSpans, filterWalkableLowHeightSpans, allocCompactHeightfield, buildCompactHeightfield, freeHeightfield, erodeWalkableArea, buildDistanceField, buildRegions, allocContourSet, buildContours, Recast, allocPolyMesh, buildPolyMesh, allocPolyMeshDetail, buildPolyMeshDetail, freeCompactHeightfield, freeContourSet, NavMeshCreateParams, createNavMeshData, Raw, NavMesh, freePolyMesh, freePolyMeshDetail, TileCacheMeshProcess, TileCache, DetourTileCacheParams, NavMeshParams, RecastChunkyTriMesh, statusFailed, cloneRcConfig, ChunkIdsArray, allocHeightfieldLayerSet, buildHeightfieldLayers, TileCacheData, Detour, getHeightfieldLayerHeights, getHeightfieldLayerAreas, getHeightfieldLayerCons, buildTileCacheLayer, freeHeightfieldLayerSet, statusToReadableString } from '@recast-navigation/core';\n\nconst getBoundingBox = (positions, indices) => {\n  const bbMin = {\n    x: Infinity,\n    y: Infinity,\n    z: Infinity\n  };\n  const bbMax = {\n    x: -Infinity,\n    y: -Infinity,\n    z: -Infinity\n  };\n  for (let i = 0; i < indices.length; i++) {\n    const ind = indices[i];\n    const x = positions[ind * 3];\n    const y = positions[ind * 3 + 1];\n    const z = positions[ind * 3 + 2];\n    bbMin.x = Math.min(bbMin.x, x);\n    bbMin.y = Math.min(bbMin.y, y);\n    bbMin.z = Math.min(bbMin.z, z);\n    bbMax.x = Math.max(bbMax.x, x);\n    bbMax.y = Math.max(bbMax.y, y);\n    bbMax.z = Math.max(bbMax.z, z);\n  }\n  return {\n    bbMin: vec3.toArray(bbMin),\n    bbMax: vec3.toArray(bbMax)\n  };\n};\nconst dtIlog2 = v => {\n  let r = 0;\n  let shift = 0;\n  r = Number(v > 0xffff) << 4;\n  v >>= r;\n  shift = Number(v > 0xff) << 3;\n  v >>= shift;\n  r |= shift;\n  shift = Number(v > 0xf) << 2;\n  v >>= shift;\n  r |= shift;\n  shift = Number(v > 0x3) << 1;\n  v >>= shift;\n  r |= shift;\n  r |= v >> 1;\n  return r;\n};\nconst dtNextPow2 = v => {\n  v--;\n  v |= v >> 1;\n  v |= v >> 2;\n  v |= v >> 4;\n  v |= v >> 8;\n  v |= v >> 16;\n  v++;\n  return v;\n};\n\nconst soloNavMeshGeneratorConfigDefaults = {\n  ...recastConfigDefaults,\n  buildBvTree: true\n};\n/**\n * Builds Solo NavMesh data from the given positions and indices.\n * @param positions a flat array of positions\n * @param indices a flat array of indices\n * @param navMeshGeneratorConfig optional configuration for the NavMesh generator\n * @param keepIntermediates if true intermediates will be returned\n */\nconst generateSoloNavMeshData = (positions, indices, navMeshGeneratorConfig = {}, keepIntermediates = false) => {\n  const buildContext = new RecastBuildContext();\n  const intermediates = {\n    type: 'solo',\n    buildContext\n  };\n  const cleanup = () => {\n    if (keepIntermediates) return;\n    if (intermediates.heightfield) {\n      freeHeightfield(intermediates.heightfield);\n      intermediates.heightfield = undefined;\n    }\n    if (intermediates.compactHeightfield) {\n      freeCompactHeightfield(intermediates.compactHeightfield);\n      intermediates.compactHeightfield = undefined;\n    }\n    if (intermediates.contourSet) {\n      freeContourSet(intermediates.contourSet);\n      intermediates.contourSet = undefined;\n    }\n    if (intermediates.polyMesh) {\n      freePolyMesh(intermediates.polyMesh);\n      intermediates.polyMesh = undefined;\n    }\n    if (intermediates.polyMeshDetail) {\n      freePolyMeshDetail(intermediates.polyMeshDetail);\n      intermediates.polyMeshDetail = undefined;\n    }\n  };\n  const fail = error => {\n    cleanup();\n    return {\n      navMeshData: undefined,\n      success: false,\n      intermediates,\n      error\n    };\n  };\n  /* input geometry */\n  const vertices = positions;\n  const numVertices = indices.length;\n  const verticesArray = new VerticesArray();\n  verticesArray.copy(vertices);\n  const triangles = indices;\n  const numTriangles = indices.length / 3;\n  const trianglesArray = new TrianglesArray();\n  trianglesArray.copy(triangles);\n  let bbMin;\n  let bbMax;\n  if (navMeshGeneratorConfig.bounds) {\n    bbMin = navMeshGeneratorConfig.bounds[0];\n    bbMax = navMeshGeneratorConfig.bounds[1];\n  } else {\n    const boundingBox = getBoundingBox(positions, indices);\n    bbMin = boundingBox.bbMin;\n    bbMax = boundingBox.bbMax;\n  }\n  //\n  // Step 1. Initialize build config.\n  //\n  const config = {\n    ...soloNavMeshGeneratorConfigDefaults,\n    ...navMeshGeneratorConfig\n  };\n  const rcConfig = createRcConfig(config);\n  rcConfig.minRegionArea = rcConfig.minRegionArea * rcConfig.minRegionArea; // Note: area = size*size\n  rcConfig.mergeRegionArea = rcConfig.mergeRegionArea * rcConfig.mergeRegionArea; // Note: area = size*size\n  rcConfig.detailSampleDist = rcConfig.detailSampleDist < 0.9 ? 0 : rcConfig.cs * rcConfig.detailSampleDist;\n  rcConfig.detailSampleMaxError = rcConfig.ch * rcConfig.detailSampleMaxError;\n  const gridSize = calcGridSize(bbMin, bbMax, rcConfig.cs);\n  rcConfig.width = gridSize.width;\n  rcConfig.height = gridSize.height;\n  //\n  // Step 2. Rasterize input polygon soup.\n  //\n  // Allocate voxel heightfield where we rasterize our input data to.\n  const heightfield = allocHeightfield();\n  intermediates.heightfield = heightfield;\n  if (!createHeightfield(buildContext, heightfield, rcConfig.width, rcConfig.height, bbMin, bbMax, rcConfig.cs, rcConfig.ch)) {\n    return fail('Could not create heightfield');\n  }\n  // Find triangles which are walkable based on their slope and rasterize them.\n  // If your input data is multiple meshes, you can transform them here, calculate\n  // the are type for each of the meshes and rasterize them.\n  const triangleAreasArray = new TriangleAreasArray();\n  triangleAreasArray.resize(numTriangles);\n  markWalkableTriangles(buildContext, rcConfig.walkableSlopeAngle, verticesArray, numVertices, trianglesArray, numTriangles, triangleAreasArray);\n  if (!rasterizeTriangles(buildContext, verticesArray, numVertices, trianglesArray, triangleAreasArray, numTriangles, heightfield, rcConfig.walkableClimb)) {\n    return fail('Could not rasterize triangles');\n  }\n  triangleAreasArray.destroy();\n  verticesArray.destroy();\n  trianglesArray.destroy();\n  //\n  // Step 3. Filter walkables surfaces.\n  //\n  // Once all geoemtry is rasterized, we do initial pass of filtering to\n  // remove unwanted overhangs caused by the conservative rasterization\n  // as well as filter spans where the character cannot possibly stand.\n  filterLowHangingWalkableObstacles(buildContext, rcConfig.walkableClimb, heightfield);\n  filterLedgeSpans(buildContext, rcConfig.walkableHeight, rcConfig.walkableClimb, heightfield);\n  filterWalkableLowHeightSpans(buildContext, rcConfig.walkableHeight, heightfield);\n  //\n  // Step 4. Partition walkable surface to simple regions.\n  //\n  // Compact the heightfield so that it is faster to handle from now on.\n  // This will result more cache coherent data as well as the neighbours\n  // between walkable cells will be calculated.\n  const compactHeightfield = allocCompactHeightfield();\n  intermediates.compactHeightfield = compactHeightfield;\n  if (!buildCompactHeightfield(buildContext, rcConfig.walkableHeight, rcConfig.walkableClimb, heightfield, compactHeightfield)) {\n    return fail('Failed to build compact data');\n  }\n  if (!keepIntermediates) {\n    freeHeightfield(heightfield);\n    intermediates.heightfield = undefined;\n  }\n  // Erode the walkable area by agent radius.\n  if (!erodeWalkableArea(buildContext, rcConfig.walkableRadius, compactHeightfield)) {\n    return fail('Failed to erode walkable area');\n  }\n  // (Optional) Mark areas\n  // markConvexPolyArea(...)\n  // Prepare for region partitioning, by calculating Distance field along the walkable surface.\n  if (!buildDistanceField(buildContext, compactHeightfield)) {\n    return fail('Failed to build distance field');\n  }\n  // Partition the walkable surface into simple regions without holes.\n  if (!buildRegions(buildContext, compactHeightfield, rcConfig.borderSize, rcConfig.minRegionArea, rcConfig.mergeRegionArea)) {\n    return fail('Failed to build regions');\n  }\n  //\n  // Step 5. Trace and simplify region contours.\n  //\n  const contourSet = allocContourSet();\n  intermediates.contourSet = contourSet;\n  if (!buildContours(buildContext, compactHeightfield, rcConfig.maxSimplificationError, rcConfig.maxEdgeLen, contourSet, Recast.RC_CONTOUR_TESS_WALL_EDGES)) {\n    return fail('Failed to create contours');\n  }\n  //\n  // Step 6. Build polygons mesh from contours.\n  //\n  const polyMesh = allocPolyMesh();\n  intermediates.polyMesh = polyMesh;\n  if (!buildPolyMesh(buildContext, contourSet, rcConfig.maxVertsPerPoly, polyMesh)) {\n    return fail('Failed to triangulate contours');\n  }\n  //\n  // Step 7. Create detail mesh which allows to access approximate height on each polygon.\n  //\n  const polyMeshDetail = allocPolyMeshDetail();\n  intermediates.polyMeshDetail = polyMeshDetail;\n  if (!buildPolyMeshDetail(buildContext, polyMesh, compactHeightfield, rcConfig.detailSampleDist, rcConfig.detailSampleMaxError, polyMeshDetail)) {\n    return fail('Failed to build detail mesh');\n  }\n  if (!keepIntermediates) {\n    freeCompactHeightfield(compactHeightfield);\n    intermediates.compactHeightfield = undefined;\n    freeContourSet(contourSet);\n    intermediates.contourSet = undefined;\n  }\n  //\n  // Step 8. Create Detour data from Recast poly mesh.\n  //\n  for (let i = 0; i < polyMesh.npolys(); i++) {\n    if (polyMesh.areas(i) === Recast.RC_WALKABLE_AREA) {\n      polyMesh.setAreas(i, 0);\n    }\n    if (polyMesh.areas(i) === 0) {\n      polyMesh.setFlags(i, 1);\n    }\n  }\n  const navMeshCreateParams = new NavMeshCreateParams();\n  navMeshCreateParams.setPolyMeshCreateParams(polyMesh);\n  navMeshCreateParams.setPolyMeshDetailCreateParams(polyMeshDetail);\n  navMeshCreateParams.setWalkableHeight(rcConfig.walkableHeight * rcConfig.ch);\n  navMeshCreateParams.setWalkableRadius(rcConfig.walkableRadius * rcConfig.cs);\n  navMeshCreateParams.setWalkableClimb(rcConfig.walkableClimb * rcConfig.ch);\n  navMeshCreateParams.setCellSize(rcConfig.cs);\n  navMeshCreateParams.setCellHeight(rcConfig.ch);\n  navMeshCreateParams.setBuildBvTree(config.buildBvTree);\n  if (navMeshGeneratorConfig.offMeshConnections) {\n    navMeshCreateParams.setOffMeshConnections(navMeshGeneratorConfig.offMeshConnections);\n  }\n  const createNavMeshDataResult = createNavMeshData(navMeshCreateParams);\n  if (!createNavMeshDataResult.success) {\n    return fail('Failed to create Detour navmesh data');\n  }\n  cleanup();\n  return {\n    navMeshData: createNavMeshDataResult.navMeshData,\n    success: true,\n    intermediates\n  };\n};\n/**\n * Builds a Solo NavMesh from the given positions and indices.\n * @param positions a flat array of positions\n * @param indices a flat array of indices\n * @param navMeshGeneratorConfig optional configuration for the NavMesh generator\n * @param keepIntermediates if true intermediates will be returned\n */\nconst generateSoloNavMesh = (positions, indices, navMeshGeneratorConfig = {}, keepIntermediates = false) => {\n  if (!Raw.Module) {\n    throw new Error('\"init\" must be called before using any recast-navigation-js APIs. See: https://github.com/isaac-mason/recast-navigation-js?tab=readme-ov-file#initialization');\n  }\n  const createNavMeshDataResult = generateSoloNavMeshData(positions, indices, navMeshGeneratorConfig, keepIntermediates);\n  if (!createNavMeshDataResult.success) {\n    return {\n      navMesh: undefined,\n      success: false,\n      intermediates: createNavMeshDataResult.intermediates,\n      error: createNavMeshDataResult.error\n    };\n  }\n  const {\n    navMeshData\n  } = createNavMeshDataResult;\n  const navMesh = new NavMesh();\n  if (!navMesh.initSolo(navMeshData)) {\n    navMeshData.destroy();\n    return {\n      navMesh: undefined,\n      success: false,\n      intermediates: createNavMeshDataResult.intermediates,\n      error: 'Failed to initialize solo NavMesh'\n    };\n  }\n  return {\n    success: true,\n    navMesh,\n    intermediates: createNavMeshDataResult.intermediates\n  };\n};\n\nconst tileCacheGeneratorConfigDefaults = {\n  ...recastConfigDefaults,\n  tileSize: 32,\n  expectedLayersPerTile: 4,\n  maxObstacles: 128\n};\nconst createDefaultTileCacheMeshProcess = () => new TileCacheMeshProcess((navMeshCreateParams, polyAreas, polyFlags) => {\n  for (let i = 0; i < navMeshCreateParams.polyCount(); ++i) {\n    polyAreas.set(i, 0);\n    polyFlags.set(i, 1);\n  }\n});\n/**\n * Builds a TileCache and NavMesh from the given positions and indices.\n * TileCache assumes small tiles (around 32-64 squared) and does some tricks to make the update fast.\n * @param positions a flat array of positions\n * @param indices a flat array of indices\n * @param navMeshConfig optional configuration for the NavMesh\n * @param keepIntermediates if true intermediates will be returned\n */\nconst generateTileCache = (positions, indices, navMeshGeneratorConfig = {}, keepIntermediates = false) => {\n  if (!Raw.Module) {\n    throw new Error('\"init\" must be called before using any recast-navigation-js APIs. See: https://github.com/isaac-mason/recast-navigation-js?tab=readme-ov-file#initialization');\n  }\n  const buildContext = new RecastBuildContext();\n  const intermediates = {\n    type: 'tilecache',\n    buildContext,\n    chunkyTriMesh: undefined,\n    tileIntermediates: []\n  };\n  const tileCache = new TileCache();\n  const navMesh = new NavMesh();\n  /* input geometry */\n  const vertices = positions;\n  const numVertices = indices.length;\n  const verticesArray = new VerticesArray();\n  verticesArray.copy(vertices);\n  const triangles = indices;\n  const numTriangles = indices.length / 3;\n  const trianglesArray = new TrianglesArray();\n  trianglesArray.copy(triangles);\n  let bbMin;\n  let bbMax;\n  if (navMeshGeneratorConfig.bounds) {\n    bbMin = navMeshGeneratorConfig.bounds[0];\n    bbMax = navMeshGeneratorConfig.bounds[1];\n  } else {\n    const boundingBox = getBoundingBox(positions, indices);\n    bbMin = boundingBox.bbMin;\n    bbMax = boundingBox.bbMax;\n  }\n  const {\n    expectedLayersPerTile,\n    maxObstacles,\n    ...recastConfig\n  } = {\n    ...tileCacheGeneratorConfigDefaults,\n    ...navMeshGeneratorConfig\n  };\n  const cleanup = () => {\n    verticesArray.destroy();\n    trianglesArray.destroy();\n    if (!keepIntermediates) {\n      for (let i = 0; i < intermediates.tileIntermediates.length; i++) {\n        const tileIntermediate = intermediates.tileIntermediates[i];\n        if (tileIntermediate.heightfield) {\n          freeHeightfield(tileIntermediate.heightfield);\n          tileIntermediate.heightfield = undefined;\n        }\n        if (tileIntermediate.compactHeightfield) {\n          freeCompactHeightfield(tileIntermediate.compactHeightfield);\n          tileIntermediate.compactHeightfield = undefined;\n        }\n        if (tileIntermediate.heightfieldLayerSet) {\n          freeHeightfieldLayerSet(tileIntermediate.heightfieldLayerSet);\n          tileIntermediate.heightfieldLayerSet = undefined;\n        }\n      }\n    }\n  };\n  const fail = error => {\n    cleanup();\n    tileCache.destroy();\n    navMesh.destroy();\n    return {\n      success: false,\n      navMesh: undefined,\n      tileCache: undefined,\n      intermediates,\n      error\n    };\n  };\n  //\n  // Step 1. Initialize build config.\n  //\n  const config = createRcConfig(recastConfig);\n  const gridSize = calcGridSize(bbMin, bbMax, config.cs);\n  config.width = gridSize.width;\n  config.height = gridSize.height;\n  config.minRegionArea = config.minRegionArea * config.minRegionArea; // Note: area = size*size\n  config.mergeRegionArea = config.mergeRegionArea * config.mergeRegionArea; // Note: area = size*size\n  config.detailSampleDist = config.detailSampleDist < 0.9 ? 0 : config.cs * config.detailSampleDist;\n  config.detailSampleMaxError = config.ch * config.detailSampleMaxError;\n  const tileSize = Math.floor(config.tileSize);\n  const tileWidth = Math.floor((config.width + tileSize - 1) / tileSize);\n  const tileHeight = Math.floor((config.height + tileSize - 1) / tileSize);\n  // Generation params\n  config.borderSize = config.walkableRadius + 3; // Reserve enough padding.\n  config.width = config.tileSize + config.borderSize * 2;\n  config.height = config.tileSize + config.borderSize * 2;\n  // Tile cache params\n  const tileCacheParams = DetourTileCacheParams.create({\n    orig: bbMin,\n    cs: config.cs,\n    ch: config.ch,\n    width: config.tileSize,\n    height: config.tileSize,\n    walkableHeight: config.walkableHeight * config.ch,\n    walkableRadius: config.walkableRadius * config.cs,\n    walkableClimb: config.walkableClimb * config.ch,\n    maxSimplificationError: config.maxSimplificationError,\n    maxTiles: tileWidth * tileHeight * expectedLayersPerTile,\n    maxObstacles\n  });\n  const allocator = new Raw.RecastLinearAllocator(32000);\n  const compressor = new Raw.RecastFastLZCompressor();\n  const tileCacheMeshProcess = navMeshGeneratorConfig.tileCacheMeshProcess ?? createDefaultTileCacheMeshProcess();\n  if (!tileCache.init(tileCacheParams, allocator, compressor, tileCacheMeshProcess)) {\n    return fail('Failed to initialize tile cache');\n  }\n  const orig = vec3.fromArray(bbMin);\n  // Max tiles and max polys affect how the tile IDs are caculated.\n  // There are 22 bits available for identifying a tile and a polygon.\n  let tileBits = Math.min(Math.floor(dtIlog2(dtNextPow2(tileWidth * tileHeight * expectedLayersPerTile))), 14);\n  if (tileBits > 14) {\n    tileBits = 14;\n  }\n  const polyBits = 22 - tileBits;\n  const maxTiles = 1 << tileBits;\n  const maxPolysPerTile = 1 << polyBits;\n  const navMeshParams = NavMeshParams.create({\n    orig,\n    tileWidth: config.tileSize * config.cs,\n    tileHeight: config.tileSize * config.cs,\n    maxTiles,\n    maxPolys: maxPolysPerTile\n  });\n  if (!navMesh.initTiled(navMeshParams)) {\n    return fail('Failed to initialize tiled navmesh');\n  }\n  const chunkyTriMesh = new RecastChunkyTriMesh();\n  intermediates.chunkyTriMesh = chunkyTriMesh;\n  if (!chunkyTriMesh.init(verticesArray, trianglesArray, numTriangles, 256)) {\n    return fail('Failed to build chunky triangle mesh');\n  }\n  const rasterizeTileLayers = (tileX, tileY) => {\n    // Tile intermediates\n    const tileIntermediates = {\n      tileX,\n      tileY\n    };\n    // Tile bounds\n    const tcs = config.tileSize * config.cs;\n    const tileConfig = cloneRcConfig(config);\n    const tileBoundsMin = [bbMin[0] + tileX * tcs, bbMin[1], bbMin[2] + tileY * tcs];\n    const tileBoundsMax = [bbMin[0] + (tileX + 1) * tcs, bbMax[1], bbMin[2] + (tileY + 1) * tcs];\n    tileBoundsMin[0] -= tileConfig.borderSize * tileConfig.cs;\n    tileBoundsMin[2] -= tileConfig.borderSize * tileConfig.cs;\n    tileBoundsMax[0] += tileConfig.borderSize * tileConfig.cs;\n    tileBoundsMax[2] += tileConfig.borderSize * tileConfig.cs;\n    tileConfig.set_bmin(0, tileBoundsMin[0]);\n    tileConfig.set_bmin(1, tileBoundsMin[1]);\n    tileConfig.set_bmin(2, tileBoundsMin[2]);\n    tileConfig.set_bmax(0, tileBoundsMax[0]);\n    tileConfig.set_bmax(1, tileBoundsMax[1]);\n    tileConfig.set_bmax(2, tileBoundsMax[2]);\n    // Allocate voxel heightfield where we rasterize our input data to.\n    const heightfield = allocHeightfield();\n    tileIntermediates.heightfield = heightfield;\n    if (!createHeightfield(buildContext, heightfield, tileConfig.width, tileConfig.height, tileBoundsMin, tileBoundsMax, tileConfig.cs, tileConfig.ch)) {\n      return {\n        n: 0\n      };\n    }\n    const tbmin = [tileBoundsMin[0], tileBoundsMin[2]];\n    const tbmax = [tileBoundsMax[0], tileBoundsMax[2]];\n    // TODO: Make grow when returning too many items.\n    const maxChunkIds = 512;\n    const chunkIdsArray = new ChunkIdsArray();\n    chunkIdsArray.resize(maxChunkIds);\n    const nChunksOverlapping = chunkyTriMesh.getChunksOverlappingRect(tbmin, tbmax, chunkIdsArray, maxChunkIds);\n    if (nChunksOverlapping === 0) {\n      return {\n        n: 0\n      };\n    }\n    for (let i = 0; i < nChunksOverlapping; ++i) {\n      const nodeId = chunkIdsArray.get(i);\n      const node = chunkyTriMesh.nodes(nodeId);\n      const nNodeTris = node.n;\n      const nodeTrianglesArray = chunkyTriMesh.getNodeTris(nodeId);\n      const triangleAreasArray = new TriangleAreasArray();\n      triangleAreasArray.resize(nNodeTris);\n      // Find triangles which are walkable based on their slope and rasterize them.\n      // If your input data is multiple meshes, you can transform them here, calculate\n      // the are type for each of the meshes and rasterize them.\n      markWalkableTriangles(buildContext, tileConfig.walkableSlopeAngle, verticesArray, numVertices, nodeTrianglesArray, nNodeTris, triangleAreasArray);\n      const success = rasterizeTriangles(buildContext, verticesArray, numVertices, nodeTrianglesArray, triangleAreasArray, nNodeTris, heightfield, tileConfig.walkableClimb);\n      triangleAreasArray.destroy();\n      if (!success) {\n        return {\n          n: 0\n        };\n      }\n    }\n    // Once all geometry is rasterized, we do initial pass of filtering to\n    // remove unwanted overhangs caused by the conservative rasterization\n    // as well as filter spans where the character cannot possibly stand.\n    filterLowHangingWalkableObstacles(buildContext, config.walkableClimb, heightfield);\n    filterLedgeSpans(buildContext, config.walkableHeight, config.walkableClimb, heightfield);\n    filterWalkableLowHeightSpans(buildContext, config.walkableHeight, heightfield);\n    const compactHeightfield = allocCompactHeightfield();\n    if (!buildCompactHeightfield(buildContext, config.walkableHeight, config.walkableClimb, heightfield, compactHeightfield)) {\n      return {\n        n: 0\n      };\n    }\n    if (!keepIntermediates) {\n      freeHeightfield(tileIntermediates.heightfield);\n      tileIntermediates.heightfield = undefined;\n    }\n    // Erode the walkable area by agent radius\n    if (!erodeWalkableArea(buildContext, config.walkableRadius, compactHeightfield)) {\n      return {\n        n: 0\n      };\n    }\n    const heightfieldLayerSet = allocHeightfieldLayerSet();\n    if (!buildHeightfieldLayers(buildContext, compactHeightfield, config.borderSize, config.walkableHeight, heightfieldLayerSet)) {\n      return {\n        n: 0\n      };\n    }\n    if (!keepIntermediates) {\n      freeCompactHeightfield(compactHeightfield);\n      tileIntermediates.compactHeightfield = undefined;\n    }\n    const tiles = [];\n    for (let i = 0; i < heightfieldLayerSet.nlayers(); i++) {\n      const tile = new TileCacheData();\n      const heightfieldLayer = heightfieldLayerSet.layers(i);\n      // Store header\n      const header = new Raw.dtTileCacheLayerHeader();\n      header.magic = Detour.DT_TILECACHE_MAGIC;\n      header.version = Detour.DT_TILECACHE_VERSION;\n      // Tile layer location in the navmesh\n      header.tx = tileX;\n      header.ty = tileY;\n      header.tlayer = i;\n      const heightfieldLayerBin = heightfieldLayer.bmin();\n      const heightfieldLayerBmax = heightfieldLayer.bmax();\n      header.set_bmin(0, heightfieldLayerBin.x);\n      header.set_bmin(1, heightfieldLayerBin.y);\n      header.set_bmin(2, heightfieldLayerBin.z);\n      header.set_bmax(0, heightfieldLayerBmax.x);\n      header.set_bmax(1, heightfieldLayerBmax.y);\n      header.set_bmax(2, heightfieldLayerBmax.z);\n      // Tile info\n      header.width = heightfieldLayer.width();\n      header.height = heightfieldLayer.height();\n      header.minx = heightfieldLayer.minx();\n      header.maxx = heightfieldLayer.maxx();\n      header.miny = heightfieldLayer.miny();\n      header.maxy = heightfieldLayer.maxy();\n      header.hmin = heightfieldLayer.hmin();\n      header.hmax = heightfieldLayer.hmax();\n      const heights = getHeightfieldLayerHeights(heightfieldLayer);\n      const areas = getHeightfieldLayerAreas(heightfieldLayer);\n      const cons = getHeightfieldLayerCons(heightfieldLayer);\n      const status = buildTileCacheLayer(compressor, header, heights, areas, cons, tile);\n      if (statusFailed(status)) {\n        return {\n          n: 0\n        };\n      }\n      tiles.push(tile);\n    }\n    if (!keepIntermediates) {\n      freeHeightfieldLayerSet(heightfieldLayerSet);\n      tileIntermediates.heightfieldLayerSet = undefined;\n    }\n    intermediates.tileIntermediates.push(tileIntermediates);\n    return {\n      n: tiles.length,\n      tiles\n    };\n  };\n  // Preprocess tiles\n  for (let y = 0; y < tileHeight; ++y) {\n    for (let x = 0; x < tileWidth; ++x) {\n      const {\n        n,\n        tiles: newTiles\n      } = rasterizeTileLayers(x, y);\n      if (n > 0 && newTiles) {\n        for (let i = 0; i < n; i++) {\n          const tileCacheData = newTiles[i];\n          const addResult = tileCache.addTile(tileCacheData);\n          if (statusFailed(addResult.status)) {\n            buildContext.log(Recast.RC_LOG_WARNING, `Failed to add tile to tile cache - tx: ${x}, ty: ${y}`);\n          }\n        }\n      }\n    }\n  }\n  // Build initial meshes\n  for (let y = 0; y < tileHeight; y++) {\n    for (let x = 0; x < tileWidth; x++) {\n      const dtStatus = tileCache.buildNavMeshTilesAt(x, y, navMesh);\n      if (statusFailed(dtStatus)) {\n        return fail(`Failed to build nav mesh tiles at ${x}, ${y}`);\n      }\n    }\n  }\n  cleanup();\n  return {\n    success: true,\n    tileCache,\n    navMesh,\n    intermediates\n  };\n};\n\nconst buildTiledNavMeshRcConfig = ({\n  recastConfig,\n  navMeshBounds: [navMeshBoundsMin, navMeshBoundsMax]\n}) => {\n  //\n  // Initialize build config.\n  //\n  const config = createRcConfig(recastConfig);\n  /* grid size */\n  const gridSize = calcGridSize(navMeshBoundsMin, navMeshBoundsMax, config.cs);\n  config.width = gridSize.width;\n  config.height = gridSize.height;\n  config.minRegionArea = config.minRegionArea * config.minRegionArea; // Note: area = size*size\n  config.mergeRegionArea = config.mergeRegionArea * config.mergeRegionArea; // Note: area = size*size\n  config.tileSize = Math.floor(config.tileSize);\n  config.borderSize = config.walkableRadius + 3; // Reserve enough padding.\n  config.width = config.tileSize + config.borderSize * 2;\n  config.height = config.tileSize + config.borderSize * 2;\n  config.detailSampleDist = config.detailSampleDist < 0.9 ? 0 : config.cs * config.detailSampleDist;\n  config.detailSampleMaxError = config.ch * config.detailSampleMaxError;\n  // tile size\n  const tileSize = Math.floor(config.tileSize);\n  const tileWidth = Math.floor((gridSize.width + tileSize - 1) / tileSize);\n  const tileHeight = Math.floor((gridSize.height + tileSize - 1) / tileSize);\n  const tcs = config.tileSize * config.cs;\n  /* Create dtNavMeshParams, initialise nav mesh for tiled use */\n  const orig = vec3.fromArray(navMeshBoundsMin);\n  // Max tiles and max polys affect how the tile IDs are caculated.\n  // There are 22 bits available for identifying a tile and a polygon.\n  let tileBits = Math.min(Math.floor(dtIlog2(dtNextPow2(tileWidth * tileHeight))), 14);\n  if (tileBits > 14) tileBits = 14;\n  const polyBits = 22 - tileBits;\n  const maxTiles = 1 << tileBits;\n  const maxPolysPerTile = 1 << polyBits;\n  return {\n    config,\n    gridSize,\n    tileSize,\n    tileWidth,\n    tileHeight,\n    tcs,\n    orig,\n    maxTiles,\n    maxPolysPerTile\n  };\n};\nconst tiledNavMeshGeneratorConfigDefaults = {\n  ...recastConfigDefaults,\n  chunkyTriMeshTrisPerChunk: 256,\n  buildBvTree: true\n};\nconst generateTileNavMeshData = (positions, indices, rcConfig, chunkyTriMesh, tile, options = {}, keepIntermediates = false, buildContext = new RecastBuildContext()) => {\n  const tileIntermediate = {\n    x: tile.x,\n    y: tile.y\n  };\n  const cleanup = () => {\n    if (keepIntermediates) return;\n    if (tileIntermediate.compactHeightfield) {\n      freeCompactHeightfield(tileIntermediate.compactHeightfield);\n      tileIntermediate.compactHeightfield = undefined;\n    }\n    if (tileIntermediate.heightfield) {\n      freeHeightfield(tileIntermediate.heightfield);\n      tileIntermediate.heightfield = undefined;\n    }\n    if (tileIntermediate.contourSet) {\n      freeContourSet(tileIntermediate.contourSet);\n      tileIntermediate.contourSet = undefined;\n    }\n    if (tileIntermediate.polyMesh) {\n      freePolyMesh(tileIntermediate.polyMesh);\n      tileIntermediate.polyMesh = undefined;\n    }\n    if (tileIntermediate.polyMeshDetail) {\n      freePolyMeshDetail(tileIntermediate.polyMeshDetail);\n      tileIntermediate.polyMeshDetail = undefined;\n    }\n  };\n  const failTileMesh = error => {\n    buildContext.log(Recast.RC_LOG_ERROR, error);\n    cleanup();\n    return {\n      success: false,\n      error,\n      intermediates: tileIntermediate\n    };\n  };\n  const tileConfig = cloneRcConfig(rcConfig);\n  // Expand the heightfield bounding box by border size to find the extents of geometry we need to build this tile.\n  //\n  // This is done in order to make sure that the navmesh tiles connect correctly at the borders,\n  // and the obstacles close to the border work correctly with the dilation process.\n  // No polygons (or contours) will be created on the border area.\n  //\n  // IMPORTANT!\n  //\n  //   :''''''''':\n  //   : +-----+ :\n  //   : |     | :\n  //   : |     |<--- tile to build\n  //   : |     | :\n  //   : +-----+ :<-- geometry needed\n  //   :.........:\n  //\n  // You should use this bounding box to query your input geometry.\n  //\n  // For example if you build a navmesh for terrain, and want the navmesh tiles to match the terrain tile size\n  // you will need to pass in data from neighbour terrain tiles too! In a simple case, just pass in all the 8 neighbours,\n  // or use the bounding box below to only pass in a sliver of each of the 8 neighbours.\n  const expandedTileBoundsMin = [...tile.bmin];\n  const expandedTileBoundsMax = [...tile.bmax];\n  expandedTileBoundsMin[0] -= tileConfig.borderSize * tileConfig.cs;\n  expandedTileBoundsMin[2] -= tileConfig.borderSize * tileConfig.cs;\n  expandedTileBoundsMax[0] += tileConfig.borderSize * tileConfig.cs;\n  expandedTileBoundsMax[2] += tileConfig.borderSize * tileConfig.cs;\n  tileConfig.set_bmin(0, expandedTileBoundsMin[0]);\n  tileConfig.set_bmin(1, expandedTileBoundsMin[1]);\n  tileConfig.set_bmin(2, expandedTileBoundsMin[2]);\n  tileConfig.set_bmax(0, expandedTileBoundsMax[0]);\n  tileConfig.set_bmax(1, expandedTileBoundsMax[1]);\n  tileConfig.set_bmax(2, expandedTileBoundsMax[2]);\n  // Reset build timer\n  buildContext.resetTimers();\n  // Start the build process\n  buildContext.startTimer(Recast.RC_TIMER_TOTAL);\n  buildContext.log(Recast.RC_LOG_PROGRESS, `Building tile at x: ${tile.x}, y: ${tile.y}`);\n  buildContext.log(Recast.RC_LOG_PROGRESS, ` - ${tileConfig.width} x ${tileConfig.height} cells`);\n  buildContext.log(Recast.RC_LOG_PROGRESS, ` - ${positions.size / 3 / 1000}K verts, ${indices.size / 3 / 1000}K tris`);\n  // Allocate voxel heightfield where we rasterize our input data to.\n  const heightfield = allocHeightfield();\n  tileIntermediate.heightfield = heightfield;\n  if (!createHeightfield(buildContext, heightfield, tileConfig.width, tileConfig.height, expandedTileBoundsMin, expandedTileBoundsMax, tileConfig.cs, tileConfig.ch)) {\n    return failTileMesh('Could not create heightfield');\n  }\n  // Allocate array that can hold triangle flags.\n  // If you have multiple meshes you need to process, allocate\n  // and array which can hold the max number of triangles you need to process.\n  const triAreas = new TriangleAreasArray();\n  triAreas.resize(chunkyTriMesh.maxTrisPerChunk());\n  const tbmin = [expandedTileBoundsMin[0], expandedTileBoundsMin[2]];\n  const tbmax = [expandedTileBoundsMax[0], expandedTileBoundsMax[2]];\n  // TODO: Make grow when returning too many items.\n  const maxChunkIds = 512;\n  const chunkIdsArray = new ChunkIdsArray();\n  chunkIdsArray.resize(maxChunkIds);\n  const nChunksOverlapping = chunkyTriMesh.getChunksOverlappingRect(tbmin, tbmax, chunkIdsArray, maxChunkIds);\n  if (nChunksOverlapping === 0) {\n    return {\n      success: true,\n      intermediates: tileIntermediate\n    };\n  }\n  for (let i = 0; i < nChunksOverlapping; ++i) {\n    const nodeId = chunkIdsArray.get(i);\n    const node = chunkyTriMesh.nodes(nodeId);\n    const nNodeTris = node.n;\n    const nodeTrianglesArray = chunkyTriMesh.getNodeTris(nodeId);\n    const triangleAreasArray = new TriangleAreasArray();\n    triangleAreasArray.resize(nNodeTris);\n    // Find triangles which are walkable based on their slope and rasterize them.\n    // If your input data is multiple meshes, you can transform them here, calculate\n    // the are type for each of the meshes and rasterize them.\n    markWalkableTriangles(buildContext, tileConfig.walkableSlopeAngle, positions, indices.size, nodeTrianglesArray, nNodeTris, triangleAreasArray);\n    const success = rasterizeTriangles(buildContext, positions, indices.size, nodeTrianglesArray, triangleAreasArray, nNodeTris, heightfield, tileConfig.walkableClimb);\n    triangleAreasArray.destroy();\n    if (!success) {\n      return failTileMesh('Could not rasterize triangles');\n    }\n  }\n  // Once all geometry is rasterized, we do initial pass of filtering to\n  // remove unwanted overhangs caused by the conservative rasterization\n  // as well as filter spans where the character cannot possibly stand.\n  filterLowHangingWalkableObstacles(buildContext, tileConfig.walkableClimb, heightfield);\n  filterLedgeSpans(buildContext, tileConfig.walkableHeight, tileConfig.walkableClimb, heightfield);\n  filterWalkableLowHeightSpans(buildContext, tileConfig.walkableHeight, heightfield);\n  // Compact the heightfield so that it is faster to handle from now on.\n  // This will result more cache coherent data as well as the neighbours\n  // between walkable cells will be calculated.\n  const compactHeightfield = allocCompactHeightfield();\n  tileIntermediate.compactHeightfield = compactHeightfield;\n  if (!buildCompactHeightfield(buildContext, tileConfig.walkableHeight, tileConfig.walkableClimb, heightfield, compactHeightfield)) {\n    return failTileMesh('Could not build compact heightfield');\n  }\n  if (!keepIntermediates) {\n    freeHeightfield(tileIntermediate.heightfield);\n    tileIntermediate.heightfield = undefined;\n  }\n  // Erode the walkable area by agent radius\n  if (!erodeWalkableArea(buildContext, tileConfig.walkableRadius, compactHeightfield)) {\n    return failTileMesh('Could not erode walkable area');\n  }\n  // (Optional) Mark areas\n  // markConvexPolyArea(...)\n  // Prepare for region partitioning, by calculating Distance field along the walkable surface.\n  if (!buildDistanceField(buildContext, compactHeightfield)) {\n    return failTileMesh('Failed to build distance field');\n  }\n  // Partition the walkable surface into simple regions without holes.\n  if (!buildRegions(buildContext, compactHeightfield, tileConfig.borderSize, tileConfig.minRegionArea, tileConfig.mergeRegionArea)) {\n    return failTileMesh('Failed to build regions');\n  }\n  //\n  // Trace and simplify region contours.\n  //\n  const contourSet = allocContourSet();\n  tileIntermediate.contourSet = contourSet;\n  if (!buildContours(buildContext, compactHeightfield, tileConfig.maxSimplificationError, tileConfig.maxEdgeLen, contourSet, Recast.RC_CONTOUR_TESS_WALL_EDGES)) {\n    return failTileMesh('Failed to create contours');\n  }\n  //\n  // Build polygons mesh from contours.\n  //\n  const polyMesh = allocPolyMesh();\n  tileIntermediate.polyMesh = polyMesh;\n  if (!buildPolyMesh(buildContext, contourSet, tileConfig.maxVertsPerPoly, polyMesh)) {\n    return failTileMesh('Failed to triangulate contours');\n  }\n  //\n  // Create detail mesh which allows to access approximate height on each polygon.\n  //\n  const polyMeshDetail = allocPolyMeshDetail();\n  tileIntermediate.polyMeshDetail = polyMeshDetail;\n  if (!buildPolyMeshDetail(buildContext, polyMesh, compactHeightfield, tileConfig.detailSampleDist, tileConfig.detailSampleMaxError, polyMeshDetail)) {\n    return failTileMesh('Failed to build detail mesh');\n  }\n  if (!keepIntermediates) {\n    freeCompactHeightfield(compactHeightfield);\n    tileIntermediate.compactHeightfield = undefined;\n    freeContourSet(contourSet);\n    tileIntermediate.contourSet = undefined;\n  }\n  // Update poly flags from areas.\n  for (let i = 0; i < polyMesh.npolys(); i++) {\n    if (polyMesh.areas(i) === Recast.RC_WALKABLE_AREA) {\n      polyMesh.setAreas(i, 0);\n    }\n    if (polyMesh.areas(i) === 0) {\n      polyMesh.setFlags(i, 1);\n    }\n  }\n  const navMeshCreateParams = new NavMeshCreateParams();\n  navMeshCreateParams.setPolyMeshCreateParams(polyMesh);\n  navMeshCreateParams.setPolyMeshDetailCreateParams(polyMeshDetail);\n  navMeshCreateParams.setWalkableHeight(tileConfig.walkableHeight * tileConfig.ch);\n  navMeshCreateParams.setWalkableRadius(tileConfig.walkableRadius * tileConfig.cs);\n  navMeshCreateParams.setWalkableClimb(tileConfig.walkableClimb * tileConfig.ch);\n  navMeshCreateParams.setCellSize(tileConfig.cs);\n  navMeshCreateParams.setCellHeight(tileConfig.ch);\n  navMeshCreateParams.setBuildBvTree(options.buildBvTree ?? tiledNavMeshGeneratorConfigDefaults.buildBvTree);\n  if (options.offMeshConnections) {\n    navMeshCreateParams.setOffMeshConnections(options.offMeshConnections);\n  }\n  navMeshCreateParams.setTileX(tile.x);\n  navMeshCreateParams.setTileY(tile.y);\n  const createNavMeshDataResult = createNavMeshData(navMeshCreateParams);\n  if (!createNavMeshDataResult.success) {\n    return failTileMesh('Failed to create Detour navmesh data');\n  }\n  buildContext.log(Recast.RC_LOG_PROGRESS, `>> Polymesh: ${polyMesh.nverts()} vertices  ${polyMesh.npolys()} polygons`);\n  return {\n    success: true,\n    data: createNavMeshDataResult.navMeshData,\n    intermediates: tileIntermediate\n  };\n};\n/**\n * Builds a Tiled NavMesh\n * @param positions a flat array of positions\n * @param indices a flat array of indices\n * @param navMeshGeneratorConfig optional configuration for the NavMesh generator\n * @param keepIntermediates if true intermediates will be returned\n */\nconst generateTiledNavMesh = (positions, indices, navMeshGeneratorConfig = {}, keepIntermediates = false) => {\n  if (!Raw.Module) {\n    throw new Error('\"init\" must be called before using any recast-navigation-js APIs. See: https://github.com/isaac-mason/recast-navigation-js?tab=readme-ov-file#initialization');\n  }\n  const buildContext = new RecastBuildContext();\n  const intermediates = {\n    type: 'tiled',\n    buildContext,\n    chunkyTriMesh: undefined,\n    tileIntermediates: []\n  };\n  const navMesh = new NavMesh();\n  /* input geometry */\n  const vertices = positions;\n  const verticesArray = new VerticesArray();\n  verticesArray.copy(vertices);\n  const triangles = indices;\n  const numTriangles = indices.length / 3;\n  const trianglesArray = new TrianglesArray();\n  trianglesArray.copy(triangles);\n  const cleanup = () => {\n    verticesArray.destroy();\n    trianglesArray.destroy();\n    if (keepIntermediates) return;\n    if (intermediates.chunkyTriMesh) {\n      intermediates.chunkyTriMesh = undefined;\n    }\n  };\n  const fail = error => {\n    cleanup();\n    navMesh.destroy();\n    return {\n      success: false,\n      navMesh: undefined,\n      intermediates,\n      error\n    };\n  };\n  //\n  // Initialize build config.\n  //\n  const generatorConfig = {\n    ...tiledNavMeshGeneratorConfigDefaults,\n    ...navMeshGeneratorConfig\n  };\n  let bbMin;\n  let bbMax;\n  if (navMeshGeneratorConfig.bounds) {\n    bbMin = navMeshGeneratorConfig.bounds[0];\n    bbMax = navMeshGeneratorConfig.bounds[1];\n  } else {\n    const boundingBox = getBoundingBox(positions, indices);\n    bbMin = boundingBox.bbMin;\n    bbMax = boundingBox.bbMax;\n  }\n  const {\n    config: rcConfig,\n    tileWidth,\n    tileHeight,\n    tcs,\n    orig,\n    maxTiles,\n    maxPolysPerTile\n  } = buildTiledNavMeshRcConfig({\n    recastConfig: generatorConfig,\n    navMeshBounds: [bbMin, bbMax]\n  });\n  const navMeshParams = NavMeshParams.create({\n    orig,\n    tileWidth: generatorConfig.tileSize * generatorConfig.cs,\n    tileHeight: generatorConfig.tileSize * generatorConfig.cs,\n    maxTiles,\n    maxPolys: maxPolysPerTile\n  });\n  if (!navMesh.initTiled(navMeshParams)) {\n    return fail('Could not init nav mesh for tiled use');\n  }\n  /* create chunky tri mesh */\n  const chunkyTriMesh = new RecastChunkyTriMesh();\n  intermediates.chunkyTriMesh = chunkyTriMesh;\n  if (!chunkyTriMesh.init(verticesArray, trianglesArray, numTriangles, generatorConfig.chunkyTriMeshTrisPerChunk)) {\n    return fail('Failed to build chunky triangle mesh');\n  }\n  buildContext.startTimer(Recast.RC_TIMER_TEMP);\n  const lastBuiltTileBmin = [0, 0, 0];\n  const lastBuiltTileBmax = [0, 0, 0];\n  for (let y = 0; y < tileHeight; y++) {\n    for (let x = 0; x < tileWidth; x++) {\n      lastBuiltTileBmin[0] = bbMin[0] + x * tcs;\n      lastBuiltTileBmin[1] = bbMin[1];\n      lastBuiltTileBmin[2] = bbMin[2] + y * tcs;\n      lastBuiltTileBmax[0] = bbMin[0] + (x + 1) * tcs;\n      lastBuiltTileBmax[1] = bbMax[1];\n      lastBuiltTileBmax[2] = bbMin[2] + (y + 1) * tcs;\n      const tile = {\n        x,\n        y,\n        bmin: lastBuiltTileBmin,\n        bmax: lastBuiltTileBmax\n      };\n      const generatorOptions = {\n        offMeshConnections: generatorConfig.offMeshConnections,\n        buildBvTree: generatorConfig.buildBvTree\n      };\n      const result = generateTileNavMeshData(verticesArray, trianglesArray, rcConfig, chunkyTriMesh, tile, generatorOptions, keepIntermediates, buildContext);\n      intermediates.tileIntermediates.push(result.intermediates);\n      if (result.success && result.data) {\n        navMesh.removeTile(navMesh.getTileRefAt(x, y, 0));\n        const addTileResult = navMesh.addTile(result.data, Detour.DT_TILE_FREE_DATA, 0);\n        if (statusFailed(addTileResult.status)) {\n          buildContext.log(Recast.RC_LOG_WARNING, `Failed to add tile to nav mesh tx: ${x}, ty: ${y}, status: ${statusToReadableString(addTileResult.status)} (${addTileResult.status})`);\n          result.data.destroy();\n        }\n      }\n    }\n  }\n  buildContext.stopTimer(Recast.RC_TIMER_TEMP);\n  if (!keepIntermediates) {\n    cleanup();\n  }\n  return {\n    success: true,\n    navMesh,\n    intermediates\n  };\n};\n\nconst mergePositionsAndIndices = meshes => {\n  const mergedPositions = [];\n  const mergedIndices = [];\n  const positionToIndex = {};\n  let indexCounter = 0;\n  for (const {\n    positions,\n    indices\n  } of meshes) {\n    for (let i = 0; i < indices.length; i++) {\n      const pt = indices[i] * 3;\n      const x = positions[pt];\n      const y = positions[pt + 1];\n      const z = positions[pt + 2];\n      const key = `${x}_${y}_${z}`;\n      let idx = positionToIndex[key];\n      if (!idx) {\n        positionToIndex[key] = idx = indexCounter;\n        mergedPositions.push(x, y, z);\n        indexCounter++;\n      }\n      mergedIndices.push(idx);\n    }\n  }\n  return [Float32Array.from(mergedPositions), Uint32Array.from(mergedIndices)];\n};\n\nexport { buildTiledNavMeshRcConfig, createDefaultTileCacheMeshProcess, dtIlog2, dtNextPow2, generateSoloNavMesh, generateSoloNavMeshData, generateTileCache, generateTileNavMeshData, generateTiledNavMesh, getBoundingBox, mergePositionsAndIndices, soloNavMeshGeneratorConfigDefaults, tileCacheGeneratorConfigDefaults, tiledNavMeshGeneratorConfigDefaults 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Initialize build config.\n  //\n  const config = {\n    ...soloNavMeshGeneratorConfigDefaults,\n    ...navMeshGeneratorConfig\n  };\n  const rcConfig = createRcConfig(config);\n  rcConfig.minRegionArea = rcConfig.minRegionArea * rcConfig.minRegionArea; // Note: area = size*size\n  rcConfig.mergeRegionArea = rcConfig.mergeRegionArea * rcConfig.mergeRegionArea; // Note: area = size*size\n  rcConfig.detailSampleDist = rcConfig.detailSampleDist < 0.9 ? 0 : rcConfig.cs * rcConfig.detailSampleDist;\n  rcConfig.detailSampleMaxError = rcConfig.ch * rcConfig.detailSampleMaxError;\n  const gridSize = calcGridSize(bbMin, bbMax, rcConfig.cs);\n  rcConfig.width = gridSize.width;\n  rcConfig.height = gridSize.height;\n  //\n  // Step 2. 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Filter walkables surfaces.\n  //\n  // Once all geoemtry is rasterized, we do initial pass of filtering to\n  // remove unwanted overhangs caused by the conservative rasterization\n  // as well as filter spans where the character cannot possibly stand.\n  filterLowHangingWalkableObstacles(buildContext, rcConfig.walkableClimb, heightfield);\n  filterLedgeSpans(buildContext, rcConfig.walkableHeight, rcConfig.walkableClimb, heightfield);\n  filterWalkableLowHeightSpans(buildContext, rcConfig.walkableHeight, heightfield);\n  //\n  // Step 4. Partition walkable surface to simple regions.\n  //\n  // Compact the heightfield so that it is faster to handle from now on.\n  // This will result more cache coherent data as well as the neighbours\n  // between walkable cells will be calculated.\n  const compactHeightfield = allocCompactHeightfield();\n  intermediates.compactHeightfield = compactHeightfield;\n  if (!buildCompactHeightfield(buildContext, rcConfig.walkableHeight, rcConfig.walkableClimb, heightfield, compactHeightfield)) {\n    return fail('Failed to build compact data');\n  }\n  if (!keepIntermediates) {\n    freeHeightfield(heightfield);\n    intermediates.heightfield = undefined;\n  }\n  // Erode the walkable area by agent radius.\n  if (!erodeWalkableArea(buildContext, rcConfig.walkableRadius, compactHeightfield)) {\n    return fail('Failed to erode walkable area');\n  }\n  // (Optional) Mark areas\n  // markConvexPolyArea(...)\n  // Prepare for region partitioning, by calculating Distance field along the walkable surface.\n  if (!buildDistanceField(buildContext, compactHeightfield)) {\n    return fail('Failed to build distance field');\n  }\n  // Partition the walkable surface into simple regions without holes.\n  if (!buildRegions(buildContext, compactHeightfield, rcConfig.borderSize, rcConfig.minRegionArea, rcConfig.mergeRegionArea)) {\n    return fail('Failed to build regions');\n  }\n  //\n  // Step 5. Trace and simplify region contours.\n  //\n  const contourSet = allocContourSet();\n  intermediates.contourSet = contourSet;\n  if (!buildContours(buildContext, compactHeightfield, rcConfig.maxSimplificationError, rcConfig.maxEdgeLen, contourSet, Recast.RC_CONTOUR_TESS_WALL_EDGES)) {\n    return fail('Failed to create contours');\n  }\n  //\n  // Step 6. Build polygons mesh from contours.\n  //\n  const polyMesh = allocPolyMesh();\n  intermediates.polyMesh = polyMesh;\n  if (!buildPolyMesh(buildContext, contourSet, rcConfig.maxVertsPerPoly, polyMesh)) {\n    return fail('Failed to triangulate contours');\n  }\n  //\n  // Step 7. Create detail mesh which allows to access approximate height on each polygon.\n  //\n  const polyMeshDetail = allocPolyMeshDetail();\n  intermediates.polyMeshDetail = polyMeshDetail;\n  if (!buildPolyMeshDetail(buildContext, polyMesh, compactHeightfield, rcConfig.detailSampleDist, rcConfig.detailSampleMaxError, polyMeshDetail)) {\n    return fail('Failed to build detail mesh');\n  }\n  if (!keepIntermediates) {\n    freeCompactHeightfield(compactHeightfield);\n    intermediates.compactHeightfield = undefined;\n    freeContourSet(contourSet);\n    intermediates.contourSet = undefined;\n  }\n  //\n  // Step 8. Create Detour data from Recast poly mesh.\n  //\n  for (let i = 0; i < polyMesh.npolys(); i++) {\n    if (polyMesh.areas(i) === Recast.RC_WALKABLE_AREA) {\n      polyMesh.setAreas(i, 0);\n    }\n    if (polyMesh.areas(i) === 0) {\n      polyMesh.setFlags(i, 1);\n    }\n  }\n  const navMeshCreateParams = new NavMeshCreateParams();\n  navMeshCreateParams.setPolyMeshCreateParams(polyMesh);\n  navMeshCreateParams.setPolyMeshDetailCreateParams(polyMeshDetail);\n  navMeshCreateParams.setWalkableHeight(rcConfig.walkableHeight * rcConfig.ch);\n  navMeshCreateParams.setWalkableRadius(rcConfig.walkableRadius * rcConfig.cs);\n  navMeshCreateParams.setWalkableClimb(rcConfig.walkableClimb * rcConfig.ch);\n  navMeshCreateParams.setCellSize(rcConfig.cs);\n  navMeshCreateParams.setCellHeight(rcConfig.ch);\n  navMeshCreateParams.setBuildBvTree(config.buildBvTree);\n  if (navMeshGeneratorConfig.offMeshConnections) {\n    navMeshCreateParams.setOffMeshConnections(navMeshGeneratorConfig.offMeshConnections);\n  }\n  const createNavMeshDataResult = createNavMeshData(navMeshCreateParams);\n  if (!createNavMeshDataResult.success) {\n    return fail('Failed to create Detour navmesh data');\n  }\n  cleanup();\n  return {\n    navMeshData: createNavMeshDataResult.navMeshData,\n    success: true,\n    intermediates\n  };\n};\n/**\n * Builds a Solo NavMesh from the given positions and indices.\n * @param positions a flat array of positions\n * @param indices a flat array of indices\n * @param navMeshGeneratorConfig optional configuration for the NavMesh generator\n * @param keepIntermediates if true intermediates will be returned\n */\nconst generateSoloNavMesh = (positions, indices, navMeshGeneratorConfig = {}, keepIntermediates = false) => {\n  if (!Raw.Module) {\n    throw new Error('\"init\" must be called before using any recast-navigation-js APIs. See: https://github.com/isaac-mason/recast-navigation-js?tab=readme-ov-file#initialization');\n  }\n  const createNavMeshDataResult = generateSoloNavMeshData(positions, indices, navMeshGeneratorConfig, keepIntermediates);\n  if (!createNavMeshDataResult.success) {\n    return {\n      navMesh: undefined,\n      success: false,\n      intermediates: createNavMeshDataResult.intermediates,\n      error: createNavMeshDataResult.error\n    };\n  }\n  const {\n    navMeshData\n  } = createNavMeshDataResult;\n  const navMesh = new NavMesh();\n  if (!navMesh.initSolo(navMeshData)) {\n    navMeshData.destroy();\n    return {\n      navMesh: undefined,\n      success: false,\n      intermediates: createNavMeshDataResult.intermediates,\n      error: 'Failed to initialize solo NavMesh'\n    };\n  }\n  return {\n    success: true,\n    navMesh,\n    intermediates: createNavMeshDataResult.intermediates\n  };\n};\n\nconst tileCacheGeneratorConfigDefaults = {\n  ...recastConfigDefaults,\n  tileSize: 32,\n  expectedLayersPerTile: 4,\n  maxObstacles: 128\n};\nconst createDefaultTileCacheMeshProcess = () => new TileCacheMeshProcess((navMeshCreateParams, polyAreas, polyFlags) => {\n  for (let i = 0; i < navMeshCreateParams.polyCount(); ++i) {\n    polyAreas.set(i, 0);\n    polyFlags.set(i, 1);\n  }\n});\n/**\n * Builds a TileCache and NavMesh from the given positions and indices.\n * TileCache assumes small tiles (around 32-64 squared) and does some tricks to make the update fast.\n * @param positions a flat array of positions\n * @param indices a flat array of indices\n * @param navMeshConfig optional configuration for the NavMesh\n * @param keepIntermediates if true intermediates will be returned\n */\nconst generateTileCache = (positions, indices, navMeshGeneratorConfig = {}, keepIntermediates = false) => {\n  if (!Raw.Module) {\n    throw new Error('\"init\" must be called before using any recast-navigation-js APIs. See: https://github.com/isaac-mason/recast-navigation-js?tab=readme-ov-file#initialization');\n  }\n  const buildContext = new RecastBuildContext();\n  const intermediates = {\n    type: 'tilecache',\n    buildContext,\n    chunkyTriMesh: undefined,\n    tileIntermediates: []\n  };\n  const tileCache = new TileCache();\n  const navMesh = new NavMesh();\n  /* input geometry */\n  const vertices = positions;\n  const numVertices = indices.length;\n  const verticesArray = new VerticesArray();\n  verticesArray.copy(vertices);\n  const triangles = indices;\n  const numTriangles = indices.length / 3;\n  const trianglesArray = new TrianglesArray();\n  trianglesArray.copy(triangles);\n  let bbMin;\n  let bbMax;\n  if (navMeshGeneratorConfig.bounds) {\n    bbMin = navMeshGeneratorConfig.bounds[0];\n    bbMax = navMeshGeneratorConfig.bounds[1];\n  } else {\n    const boundingBox = getBoundingBox(positions, indices);\n    bbMin = boundingBox.bbMin;\n    bbMax = boundingBox.bbMax;\n  }\n  const {\n    expectedLayersPerTile,\n    maxObstacles,\n    ...recastConfig\n  } = {\n    ...tileCacheGeneratorConfigDefaults,\n    ...navMeshGeneratorConfig\n  };\n  const cleanup = () => {\n    verticesArray.destroy();\n    trianglesArray.destroy();\n    if (!keepIntermediates) {\n      for (let i = 0; i < intermediates.tileIntermediates.length; i++) {\n        const tileIntermediate = intermediates.tileIntermediates[i];\n        if (tileIntermediate.heightfield) {\n          freeHeightfield(tileIntermediate.heightfield);\n          tileIntermediate.heightfield = undefined;\n        }\n        if (tileIntermediate.compactHeightfield) {\n          freeCompactHeightfield(tileIntermediate.compactHeightfield);\n          tileIntermediate.compactHeightfield = undefined;\n        }\n        if (tileIntermediate.heightfieldLayerSet) {\n          freeHeightfieldLayerSet(tileIntermediate.heightfieldLayerSet);\n          tileIntermediate.heightfieldLayerSet = undefined;\n        }\n      }\n    }\n  };\n  const fail = error => {\n    cleanup();\n    tileCache.destroy();\n    navMesh.destroy();\n    return {\n      success: false,\n      navMesh: undefined,\n      tileCache: undefined,\n      intermediates,\n      error\n    };\n  };\n  //\n  // Step 1. Initialize build config.\n  //\n  const config = createRcConfig(recastConfig);\n  const gridSize = calcGridSize(bbMin, bbMax, config.cs);\n  config.width = gridSize.width;\n  config.height = gridSize.height;\n  config.minRegionArea = config.minRegionArea * config.minRegionArea; // Note: area = size*size\n  config.mergeRegionArea = config.mergeRegionArea * config.mergeRegionArea; // Note: area = size*size\n  config.detailSampleDist = config.detailSampleDist < 0.9 ? 0 : config.cs * config.detailSampleDist;\n  config.detailSampleMaxError = config.ch * config.detailSampleMaxError;\n  const tileSize = Math.floor(config.tileSize);\n  const tileWidth = Math.floor((config.width + tileSize - 1) / tileSize);\n  const tileHeight = Math.floor((config.height + tileSize - 1) / tileSize);\n  // Generation params\n  config.borderSize = config.walkableRadius + 3; // Reserve enough padding.\n  config.width = config.tileSize + config.borderSize * 2;\n  config.height = config.tileSize + config.borderSize * 2;\n  // Tile cache params\n  const tileCacheParams = DetourTileCacheParams.create({\n    orig: bbMin,\n    cs: config.cs,\n    ch: config.ch,\n    width: config.tileSize,\n    height: config.tileSize,\n    walkableHeight: config.walkableHeight * config.ch,\n    walkableRadius: config.walkableRadius * config.cs,\n    walkableClimb: config.walkableClimb * config.ch,\n    maxSimplificationError: config.maxSimplificationError,\n    maxTiles: tileWidth * tileHeight * expectedLayersPerTile,\n    maxObstacles\n  });\n  const allocator = new Raw.RecastLinearAllocator(32000);\n  const compressor = new Raw.RecastFastLZCompressor();\n  const tileCacheMeshProcess = navMeshGeneratorConfig.tileCacheMeshProcess ?? createDefaultTileCacheMeshProcess();\n  if (!tileCache.init(tileCacheParams, allocator, compressor, tileCacheMeshProcess)) {\n    return fail('Failed to initialize tile cache');\n  }\n  const orig = vec3.fromArray(bbMin);\n  // Max tiles and max polys affect how the tile IDs are caculated.\n  // There are 22 bits available for identifying a tile and a polygon.\n  let tileBits = Math.min(Math.floor(dtIlog2(dtNextPow2(tileWidth * tileHeight * expectedLayersPerTile))), 14);\n  if (tileBits > 14) {\n    tileBits = 14;\n  }\n  const polyBits = 22 - tileBits;\n  const maxTiles = 1 << tileBits;\n  const maxPolysPerTile = 1 << polyBits;\n  const navMeshParams = NavMeshParams.create({\n    orig,\n    tileWidth: config.tileSize * config.cs,\n    tileHeight: config.tileSize * config.cs,\n    maxTiles,\n    maxPolys: maxPolysPerTile\n  });\n  if (!navMesh.initTiled(navMeshParams)) {\n    return fail('Failed to initialize tiled navmesh');\n  }\n  const chunkyTriMesh = new RecastChunkyTriMesh();\n  intermediates.chunkyTriMesh = chunkyTriMesh;\n  if (!chunkyTriMesh.init(verticesArray, trianglesArray, numTriangles, 256)) {\n    return fail('Failed to build chunky triangle mesh');\n  }\n  const rasterizeTileLayers = (tileX, tileY) => {\n    // Tile intermediates\n    const tileIntermediates = {\n      tileX,\n      tileY\n    };\n    // Tile bounds\n    const tcs = config.tileSize * config.cs;\n    const tileConfig = cloneRcConfig(config);\n    const tileBoundsMin = [bbMin[0] + tileX * tcs, bbMin[1], bbMin[2] + tileY * tcs];\n    const tileBoundsMax = [bbMin[0] + (tileX + 1) * tcs, bbMax[1], bbMin[2] + (tileY + 1) * tcs];\n    tileBoundsMin[0] -= tileConfig.borderSize * tileConfig.cs;\n    tileBoundsMin[2] -= tileConfig.borderSize * tileConfig.cs;\n    tileBoundsMax[0] += tileConfig.borderSize * tileConfig.cs;\n    tileBoundsMax[2] += tileConfig.borderSize * tileConfig.cs;\n    tileConfig.set_bmin(0, tileBoundsMin[0]);\n    tileConfig.set_bmin(1, tileBoundsMin[1]);\n    tileConfig.set_bmin(2, tileBoundsMin[2]);\n    tileConfig.set_bmax(0, tileBoundsMax[0]);\n    tileConfig.set_bmax(1, tileBoundsMax[1]);\n    tileConfig.set_bmax(2, tileBoundsMax[2]);\n    // Allocate voxel heightfield where we rasterize our input data to.\n    const heightfield = allocHeightfield();\n    tileIntermediates.heightfield = heightfield;\n    if (!createHeightfield(buildContext, heightfield, tileConfig.width, tileConfig.height, tileBoundsMin, tileBoundsMax, tileConfig.cs, tileConfig.ch)) {\n      return {\n        n: 0\n      };\n    }\n    const tbmin = [tileBoundsMin[0], tileBoundsMin[2]];\n    const tbmax = [tileBoundsMax[0], tileBoundsMax[2]];\n    // TODO: Make grow when returning too many items.\n    const maxChunkIds = 512;\n    const chunkIdsArray = new ChunkIdsArray();\n    chunkIdsArray.resize(maxChunkIds);\n    const nChunksOverlapping = chunkyTriMesh.getChunksOverlappingRect(tbmin, tbmax, chunkIdsArray, maxChunkIds);\n    if (nChunksOverlapping === 0) {\n      return {\n        n: 0\n      };\n    }\n    for (let i = 0; i < nChunksOverlapping; ++i) {\n      const nodeId = chunkIdsArray.get(i);\n      const node = chunkyTriMesh.nodes(nodeId);\n      const nNodeTris = node.n;\n      const nodeTrianglesArray = chunkyTriMesh.getNodeTris(nodeId);\n      const triangleAreasArray = new TriangleAreasArray();\n      triangleAreasArray.resize(nNodeTris);\n      // Find triangles which are walkable based on their slope and rasterize them.\n      // If your input data is multiple meshes, you can transform them here, calculate\n      // the are type for each of the meshes and rasterize them.\n      markWalkableTriangles(buildContext, tileConfig.walkableSlopeAngle, verticesArray, numVertices, nodeTrianglesArray, nNodeTris, triangleAreasArray);\n      const success = rasterizeTriangles(buildContext, verticesArray, numVertices, nodeTrianglesArray, triangleAreasArray, nNodeTris, heightfield, tileConfig.walkableClimb);\n      triangleAreasArray.destroy();\n      if (!success) {\n        return {\n          n: 0\n        };\n      }\n    }\n    // Once all geometry is rasterized, we do initial pass of filtering to\n    // remove unwanted overhangs caused by the conservative rasterization\n    // as well as filter spans where the character cannot possibly stand.\n    filterLowHangingWalkableObstacles(buildContext, config.walkableClimb, heightfield);\n    filterLedgeSpans(buildContext, config.walkableHeight, config.walkableClimb, heightfield);\n    filterWalkableLowHeightSpans(buildContext, config.walkableHeight, heightfield);\n    const compactHeightfield = allocCompactHeightfield();\n    if (!buildCompactHeightfield(buildContext, config.walkableHeight, config.walkableClimb, heightfield, compactHeightfield)) {\n      return {\n        n: 0\n      };\n    }\n    if (!keepIntermediates) {\n      freeHeightfield(tileIntermediates.heightfield);\n      tileIntermediates.heightfield = undefined;\n    }\n    // Erode the walkable area by agent radius\n    if (!erodeWalkableArea(buildContext, config.walkableRadius, compactHeightfield)) {\n      return {\n        n: 0\n      };\n    }\n    const heightfieldLayerSet = allocHeightfieldLayerSet();\n    if (!buildHeightfieldLayers(buildContext, compactHeightfield, config.borderSize, config.walkableHeight, heightfieldLayerSet)) {\n      return {\n        n: 0\n      };\n    }\n    if (!keepIntermediates) {\n      freeCompactHeightfield(compactHeightfield);\n      tileIntermediates.compactHeightfield = undefined;\n    }\n    const tiles = [];\n    for (let i = 0; i < heightfieldLayerSet.nlayers(); i++) {\n      const tile = new TileCacheData();\n      const heightfieldLayer = heightfieldLayerSet.layers(i);\n      // Store header\n      const header = new Raw.dtTileCacheLayerHeader();\n      header.magic = Detour.DT_TILECACHE_MAGIC;\n      header.version = Detour.DT_TILECACHE_VERSION;\n      // Tile layer location in the navmesh\n      header.tx = tileX;\n      header.ty = tileY;\n      header.tlayer = i;\n      const heightfieldLayerBin = heightfieldLayer.bmin();\n      const heightfieldLayerBmax = heightfieldLayer.bmax();\n      header.set_bmin(0, heightfieldLayerBin.x);\n      header.set_bmin(1, heightfieldLayerBin.y);\n      header.set_bmin(2, heightfieldLayerBin.z);\n      header.set_bmax(0, heightfieldLayerBmax.x);\n      header.set_bmax(1, heightfieldLayerBmax.y);\n      header.set_bmax(2, heightfieldLayerBmax.z);\n      // Tile info\n      header.width = heightfieldLayer.width();\n      header.height = heightfieldLayer.height();\n      header.minx = heightfieldLayer.minx();\n      header.maxx = heightfieldLayer.maxx();\n      header.miny = heightfieldLayer.miny();\n      header.maxy = heightfieldLayer.maxy();\n      header.hmin = heightfieldLayer.hmin();\n      header.hmax = heightfieldLayer.hmax();\n      const heights = getHeightfieldLayerHeights(heightfieldLayer);\n      const areas = getHeightfieldLayerAreas(heightfieldLayer);\n      const cons = getHeightfieldLayerCons(heightfieldLayer);\n      const status = buildTileCacheLayer(compressor, header, heights, areas, cons, tile);\n      if (statusFailed(status)) {\n        return {\n          n: 0\n        };\n      }\n      tiles.push(tile);\n    }\n    if (!keepIntermediates) {\n      freeHeightfieldLayerSet(heightfieldLayerSet);\n      tileIntermediates.heightfieldLayerSet = undefined;\n    }\n    intermediates.tileIntermediates.push(tileIntermediates);\n    return {\n      n: tiles.length,\n      tiles\n    };\n  };\n  // Preprocess tiles\n  for (let y = 0; y < tileHeight; ++y) {\n    for (let x = 0; x < tileWidth; ++x) {\n      const {\n        n,\n        tiles: newTiles\n      } = rasterizeTileLayers(x, y);\n      if (n > 0 && newTiles) {\n        for (let i = 0; i < n; i++) {\n          const tileCacheData = newTiles[i];\n          const addResult = tileCache.addTile(tileCacheData);\n          if (statusFailed(addResult.status)) {\n            buildContext.log(Recast.RC_LOG_WARNING, `Failed to add tile to tile cache - tx: ${x}, ty: ${y}`);\n          }\n        }\n      }\n    }\n  }\n  // Build initial meshes\n  for (let y = 0; y < tileHeight; y++) {\n    for (let x = 0; x < tileWidth; x++) {\n      const dtStatus = tileCache.buildNavMeshTilesAt(x, y, navMesh);\n      if (statusFailed(dtStatus)) {\n        return fail(`Failed to build nav mesh tiles at ${x}, ${y}`);\n      }\n    }\n  }\n  cleanup();\n  return {\n    success: true,\n    tileCache,\n    navMesh,\n    intermediates\n  };\n};\n\nconst buildTiledNavMeshRcConfig = ({\n  recastConfig,\n  navMeshBounds: [navMeshBoundsMin, navMeshBoundsMax]\n}) => {\n  //\n  // Initialize build config.\n  //\n  const config = createRcConfig(recastConfig);\n  /* grid size */\n  const gridSize = calcGridSize(navMeshBoundsMin, navMeshBoundsMax, config.cs);\n  config.width = gridSize.width;\n  config.height = gridSize.height;\n  config.minRegionArea = config.minRegionArea * config.minRegionArea; // Note: area = size*size\n  config.mergeRegionArea = config.mergeRegionArea * config.mergeRegionArea; // Note: area = size*size\n  config.tileSize = Math.floor(config.tileSize);\n  config.borderSize = config.walkableRadius + 3; // Reserve enough padding.\n  config.width = config.tileSize + config.borderSize * 2;\n  config.height = config.tileSize + config.borderSize * 2;\n  config.detailSampleDist = config.detailSampleDist < 0.9 ? 0 : config.cs * config.detailSampleDist;\n  config.detailSampleMaxError = config.ch * config.detailSampleMaxError;\n  // tile size\n  const tileSize = Math.floor(config.tileSize);\n  const tileWidth = Math.floor((gridSize.width + tileSize - 1) / tileSize);\n  const tileHeight = Math.floor((gridSize.height + tileSize - 1) / tileSize);\n  const tcs = config.tileSize * config.cs;\n  /* Create dtNavMeshParams, initialise nav mesh for tiled use */\n  const orig = vec3.fromArray(navMeshBoundsMin);\n  // Max tiles and max polys affect how the tile IDs are caculated.\n  // There are 22 bits available for identifying a tile and a polygon.\n  let tileBits = Math.min(Math.floor(dtIlog2(dtNextPow2(tileWidth * tileHeight))), 14);\n  if (tileBits > 14) tileBits = 14;\n  const polyBits = 22 - tileBits;\n  const maxTiles = 1 << tileBits;\n  const maxPolysPerTile = 1 << polyBits;\n  return {\n    config,\n    gridSize,\n    tileSize,\n    tileWidth,\n    tileHeight,\n    tcs,\n    orig,\n    maxTiles,\n    maxPolysPerTile\n  };\n};\nconst tiledNavMeshGeneratorConfigDefaults = {\n  ...recastConfigDefaults,\n  chunkyTriMeshTrisPerChunk: 256,\n  buildBvTree: true\n};\nconst generateTileNavMeshData = (positions, indices, rcConfig, chunkyTriMesh, tile, options = {}, keepIntermediates = false, buildContext = new RecastBuildContext()) => {\n  const tileIntermediate = {\n    x: tile.x,\n    y: tile.y\n  };\n  const cleanup = () => {\n    if (keepIntermediates) return;\n    if (tileIntermediate.compactHeightfield) {\n      freeCompactHeightfield(tileIntermediate.compactHeightfield);\n      tileIntermediate.compactHeightfield = undefined;\n    }\n    if (tileIntermediate.heightfield) {\n      freeHeightfield(tileIntermediate.heightfield);\n      tileIntermediate.heightfield = undefined;\n    }\n    if (tileIntermediate.contourSet) {\n      freeContourSet(tileIntermediate.contourSet);\n      tileIntermediate.contourSet = undefined;\n    }\n    if (tileIntermediate.polyMesh) {\n      freePolyMesh(tileIntermediate.polyMesh);\n      tileIntermediate.polyMesh = undefined;\n    }\n    if (tileIntermediate.polyMeshDetail) {\n      freePolyMeshDetail(tileIntermediate.polyMeshDetail);\n      tileIntermediate.polyMeshDetail = undefined;\n    }\n  };\n  const failTileMesh = error => {\n    buildContext.log(Recast.RC_LOG_ERROR, error);\n    cleanup();\n    return {\n      success: false,\n      error,\n      intermediates: tileIntermediate\n    };\n  };\n  const tileConfig = cloneRcConfig(rcConfig);\n  // Expand the heightfield bounding box by border size to find the extents of geometry we need to build this tile.\n  //\n  // This is done in order to make sure that the navmesh tiles connect correctly at the borders,\n  // and the obstacles close to the border work correctly with the dilation process.\n  // No polygons (or contours) will be created on the border area.\n  //\n  // IMPORTANT!\n  //\n  //   :''''''''':\n  //   : +-----+ :\n  //   : |     | :\n  //   : |     |<--- tile to build\n  //   : |     | :\n  //   : +-----+ :<-- geometry needed\n  //   :.........:\n  //\n  // You should use this bounding box to query your input geometry.\n  //\n  // For example if you build a navmesh for terrain, and want the navmesh tiles to match the terrain tile size\n  // you will need to pass in data from neighbour terrain tiles too! In a simple case, just pass in all the 8 neighbours,\n  // or use the bounding box below to only pass in a sliver of each of the 8 neighbours.\n  const expandedTileBoundsMin = [...tile.bmin];\n  const expandedTileBoundsMax = [...tile.bmax];\n  expandedTileBoundsMin[0] -= tileConfig.borderSize * tileConfig.cs;\n  expandedTileBoundsMin[2] -= tileConfig.borderSize * tileConfig.cs;\n  expandedTileBoundsMax[0] += tileConfig.borderSize * tileConfig.cs;\n  expandedTileBoundsMax[2] += tileConfig.borderSize * tileConfig.cs;\n  tileConfig.set_bmin(0, expandedTileBoundsMin[0]);\n  tileConfig.set_bmin(1, expandedTileBoundsMin[1]);\n  tileConfig.set_bmin(2, expandedTileBoundsMin[2]);\n  tileConfig.set_bmax(0, expandedTileBoundsMax[0]);\n  tileConfig.set_bmax(1, expandedTileBoundsMax[1]);\n  tileConfig.set_bmax(2, expandedTileBoundsMax[2]);\n  // Reset build timer\n  buildContext.resetTimers();\n  // Start the build process\n  buildContext.startTimer(Recast.RC_TIMER_TOTAL);\n  buildContext.log(Recast.RC_LOG_PROGRESS, `Building tile at x: ${tile.x}, y: ${tile.y}`);\n  buildContext.log(Recast.RC_LOG_PROGRESS, ` - ${tileConfig.width} x ${tileConfig.height} cells`);\n  buildContext.log(Recast.RC_LOG_PROGRESS, ` - ${positions.size / 3 / 1000}K verts, ${indices.size / 3 / 1000}K tris`);\n  // Allocate voxel heightfield where we rasterize our input data to.\n  const heightfield = allocHeightfield();\n  tileIntermediate.heightfield = heightfield;\n  if (!createHeightfield(buildContext, heightfield, tileConfig.width, tileConfig.height, expandedTileBoundsMin, expandedTileBoundsMax, tileConfig.cs, tileConfig.ch)) {\n    return failTileMesh('Could not create heightfield');\n  }\n  // Allocate array that can hold triangle flags.\n  // If you have multiple meshes you need to process, allocate\n  // and array which can hold the max number of triangles you need to process.\n  const triAreas = new TriangleAreasArray();\n  triAreas.resize(chunkyTriMesh.maxTrisPerChunk());\n  const tbmin = [expandedTileBoundsMin[0], expandedTileBoundsMin[2]];\n  const tbmax = [expandedTileBoundsMax[0], expandedTileBoundsMax[2]];\n  // TODO: Make grow when returning too many items.\n  const maxChunkIds = 512;\n  const chunkIdsArray = new ChunkIdsArray();\n  chunkIdsArray.resize(maxChunkIds);\n  const nChunksOverlapping = chunkyTriMesh.getChunksOverlappingRect(tbmin, tbmax, chunkIdsArray, maxChunkIds);\n  if (nChunksOverlapping === 0) {\n    return {\n      success: true,\n      intermediates: tileIntermediate\n    };\n  }\n  for (let i = 0; i < nChunksOverlapping; ++i) {\n    const nodeId = chunkIdsArray.get(i);\n    const node = chunkyTriMesh.nodes(nodeId);\n    const nNodeTris = node.n;\n    const nodeTrianglesArray = chunkyTriMesh.getNodeTris(nodeId);\n    const triangleAreasArray = new TriangleAreasArray();\n    triangleAreasArray.resize(nNodeTris);\n    // Find triangles which are walkable based on their slope and rasterize them.\n    // If your input data is multiple meshes, you can transform them here, calculate\n    // the are type for each of the meshes and rasterize them.\n    markWalkableTriangles(buildContext, tileConfig.walkableSlopeAngle, positions, indices.size, nodeTrianglesArray, nNodeTris, triangleAreasArray);\n    const success = rasterizeTriangles(buildContext, positions, indices.size, nodeTrianglesArray, triangleAreasArray, nNodeTris, heightfield, tileConfig.walkableClimb);\n    triangleAreasArray.destroy();\n    if (!success) {\n      return failTileMesh('Could not rasterize triangles');\n    }\n  }\n  // Once all geometry is rasterized, we do initial pass of filtering to\n  // remove unwanted overhangs caused by the conservative rasterization\n  // as well as filter spans where the character cannot possibly stand.\n  filterLowHangingWalkableObstacles(buildContext, tileConfig.walkableClimb, heightfield);\n  filterLedgeSpans(buildContext, tileConfig.walkableHeight, tileConfig.walkableClimb, heightfield);\n  filterWalkableLowHeightSpans(buildContext, tileConfig.walkableHeight, heightfield);\n  // Compact the heightfield so that it is faster to handle from now on.\n  // This will result more cache coherent data as well as the neighbours\n  // between walkable cells will be calculated.\n  const compactHeightfield = allocCompactHeightfield();\n  tileIntermediate.compactHeightfield = compactHeightfield;\n  if (!buildCompactHeightfield(buildContext, tileConfig.walkableHeight, tileConfig.walkableClimb, heightfield, compactHeightfield)) {\n    return failTileMesh('Could not build compact heightfield');\n  }\n  if (!keepIntermediates) {\n    freeHeightfield(tileIntermediate.heightfield);\n    tileIntermediate.heightfield = undefined;\n  }\n  // Erode the walkable area by agent radius\n  if (!erodeWalkableArea(buildContext, tileConfig.walkableRadius, compactHeightfield)) {\n    return failTileMesh('Could not erode walkable area');\n  }\n  // (Optional) Mark areas\n  // markConvexPolyArea(...)\n  // Prepare for region partitioning, by calculating Distance field along the walkable surface.\n  if (!buildDistanceField(buildContext, compactHeightfield)) {\n    return failTileMesh('Failed to build distance field');\n  }\n  // Partition the walkable surface into simple regions without holes.\n  if (!buildRegions(buildContext, compactHeightfield, tileConfig.borderSize, tileConfig.minRegionArea, tileConfig.mergeRegionArea)) {\n    return failTileMesh('Failed to build regions');\n  }\n  //\n  // Trace and simplify region contours.\n  //\n  const contourSet = allocContourSet();\n  tileIntermediate.contourSet = contourSet;\n  if (!buildContours(buildContext, compactHeightfield, tileConfig.maxSimplificationError, tileConfig.maxEdgeLen, contourSet, Recast.RC_CONTOUR_TESS_WALL_EDGES)) {\n    return failTileMesh('Failed to create contours');\n  }\n  //\n  // Build polygons mesh from contours.\n  //\n  const polyMesh = allocPolyMesh();\n  tileIntermediate.polyMesh = polyMesh;\n  if (!buildPolyMesh(buildContext, contourSet, tileConfig.maxVertsPerPoly, polyMesh)) {\n    return failTileMesh('Failed to triangulate contours');\n  }\n  //\n  // Create detail mesh which allows to access approximate height on each polygon.\n  //\n  const polyMeshDetail = allocPolyMeshDetail();\n  tileIntermediate.polyMeshDetail = polyMeshDetail;\n  if (!buildPolyMeshDetail(buildContext, polyMesh, compactHeightfield, tileConfig.detailSampleDist, tileConfig.detailSampleMaxError, polyMeshDetail)) {\n    return failTileMesh('Failed to build detail mesh');\n  }\n  if (!keepIntermediates) {\n    freeCompactHeightfield(compactHeightfield);\n    tileIntermediate.compactHeightfield = undefined;\n    freeContourSet(contourSet);\n    tileIntermediate.contourSet = undefined;\n  }\n  // Update poly flags from areas.\n  for (let i = 0; i < polyMesh.npolys(); i++) {\n    if (polyMesh.areas(i) === Recast.RC_WALKABLE_AREA) {\n      polyMesh.setAreas(i, 0);\n    }\n    if (polyMesh.areas(i) === 0) {\n      polyMesh.setFlags(i, 1);\n    }\n  }\n  const navMeshCreateParams = new NavMeshCreateParams();\n  navMeshCreateParams.setPolyMeshCreateParams(polyMesh);\n  navMeshCreateParams.setPolyMeshDetailCreateParams(polyMeshDetail);\n  navMeshCreateParams.setWalkableHeight(tileConfig.walkableHeight * tileConfig.ch);\n  navMeshCreateParams.setWalkableRadius(tileConfig.walkableRadius * tileConfig.cs);\n  navMeshCreateParams.setWalkableClimb(tileConfig.walkableClimb * tileConfig.ch);\n  navMeshCreateParams.setCellSize(tileConfig.cs);\n  navMeshCreateParams.setCellHeight(tileConfig.ch);\n  navMeshCreateParams.setBuildBvTree(options.buildBvTree ?? tiledNavMeshGeneratorConfigDefaults.buildBvTree);\n  if (options.offMeshConnections) {\n    navMeshCreateParams.setOffMeshConnections(options.offMeshConnections);\n  }\n  navMeshCreateParams.setTileX(tile.x);\n  navMeshCreateParams.setTileY(tile.y);\n  const createNavMeshDataResult = createNavMeshData(navMeshCreateParams);\n  if (!createNavMeshDataResult.success) {\n    return failTileMesh('Failed to create Detour navmesh data');\n  }\n  buildContext.log(Recast.RC_LOG_PROGRESS, `>> Polymesh: ${polyMesh.nverts()} vertices  ${polyMesh.npolys()} polygons`);\n  return {\n    success: true,\n    data: createNavMeshDataResult.navMeshData,\n    intermediates: tileIntermediate\n  };\n};\n/**\n * Builds a Tiled NavMesh\n * @param positions a flat array of positions\n * @param indices a flat array of indices\n * @param navMeshGeneratorConfig optional configuration for the NavMesh generator\n * @param keepIntermediates if true intermediates will be returned\n */\nconst generateTiledNavMesh = (positions, indices, navMeshGeneratorConfig = {}, keepIntermediates = false) => {\n  if (!Raw.Module) {\n    throw new Error('\"init\" must be called before using any recast-navigation-js APIs. See: https://github.com/isaac-mason/recast-navigation-js?tab=readme-ov-file#initialization');\n  }\n  const buildContext = new RecastBuildContext();\n  const intermediates = {\n    type: 'tiled',\n    buildContext,\n    chunkyTriMesh: undefined,\n    tileIntermediates: []\n  };\n  const navMesh = new NavMesh();\n  /* input geometry */\n  const vertices = positions;\n  const verticesArray = new VerticesArray();\n  verticesArray.copy(vertices);\n  const triangles = indices;\n  const numTriangles = indices.length / 3;\n  const trianglesArray = new TrianglesArray();\n  trianglesArray.copy(triangles);\n  const cleanup = () => {\n    verticesArray.destroy();\n    trianglesArray.destroy();\n    if (keepIntermediates) return;\n    if (intermediates.chunkyTriMesh) {\n      intermediates.chunkyTriMesh = undefined;\n    }\n  };\n  const fail = error => {\n    cleanup();\n    navMesh.destroy();\n    return {\n      success: false,\n      navMesh: undefined,\n      intermediates,\n      error\n    };\n  };\n  //\n  // Initialize build config.\n  //\n  const generatorConfig = {\n    ...tiledNavMeshGeneratorConfigDefaults,\n    ...navMeshGeneratorConfig\n  };\n  let bbMin;\n  let bbMax;\n  if (navMeshGeneratorConfig.bounds) {\n    bbMin = navMeshGeneratorConfig.bounds[0];\n    bbMax = navMeshGeneratorConfig.bounds[1];\n  } else {\n    const boundingBox = getBoundingBox(positions, indices);\n    bbMin = boundingBox.bbMin;\n    bbMax = boundingBox.bbMax;\n  }\n  const {\n    config: rcConfig,\n    tileWidth,\n    tileHeight,\n    tcs,\n    orig,\n    maxTiles,\n    maxPolysPerTile\n  } = buildTiledNavMeshRcConfig({\n    recastConfig: generatorConfig,\n    navMeshBounds: [bbMin, bbMax]\n  });\n  const navMeshParams = NavMeshParams.create({\n    orig,\n    tileWidth: generatorConfig.tileSize * generatorConfig.cs,\n    tileHeight: generatorConfig.tileSize * generatorConfig.cs,\n    maxTiles,\n    maxPolys: maxPolysPerTile\n  });\n  if (!navMesh.initTiled(navMeshParams)) {\n    return fail('Could not init nav mesh for tiled use');\n  }\n  /* create chunky tri mesh */\n  const chunkyTriMesh = new RecastChunkyTriMesh();\n  intermediates.chunkyTriMesh = chunkyTriMesh;\n  if (!chunkyTriMesh.init(verticesArray, trianglesArray, numTriangles, generatorConfig.chunkyTriMeshTrisPerChunk)) {\n    return fail('Failed to build chunky triangle mesh');\n  }\n  buildContext.startTimer(Recast.RC_TIMER_TEMP);\n  const lastBuiltTileBmin = [0, 0, 0];\n  const lastBuiltTileBmax = [0, 0, 0];\n  for (let y = 0; y < tileHeight; y++) {\n    for (let x = 0; x < tileWidth; x++) {\n      lastBuiltTileBmin[0] = bbMin[0] + x * tcs;\n      lastBuiltTileBmin[1] = bbMin[1];\n      lastBuiltTileBmin[2] = bbMin[2] + y * tcs;\n      lastBuiltTileBmax[0] = bbMin[0] + (x + 1) * tcs;\n      lastBuiltTileBmax[1] = bbMax[1];\n      lastBuiltTileBmax[2] = bbMin[2] + (y + 1) * tcs;\n      const tile = {\n        x,\n        y,\n        bmin: lastBuiltTileBmin,\n        bmax: lastBuiltTileBmax\n      };\n      const generatorOptions = {\n        offMeshConnections: generatorConfig.offMeshConnections,\n        buildBvTree: generatorConfig.buildBvTree\n      };\n      const result = generateTileNavMeshData(verticesArray, trianglesArray, rcConfig, chunkyTriMesh, tile, generatorOptions, keepIntermediates, buildContext);\n      intermediates.tileIntermediates.push(result.intermediates);\n      if (result.success && result.data) {\n        navMesh.removeTile(navMesh.getTileRefAt(x, y, 0));\n        const addTileResult = navMesh.addTile(result.data, Detour.DT_TILE_FREE_DATA, 0);\n        if (statusFailed(addTileResult.status)) {\n          buildContext.log(Recast.RC_LOG_WARNING, `Failed to add tile to nav mesh tx: ${x}, ty: ${y}, status: ${statusToReadableString(addTileResult.status)} (${addTileResult.status})`);\n          result.data.destroy();\n        }\n      }\n    }\n  }\n  buildContext.stopTimer(Recast.RC_TIMER_TEMP);\n  if (!keepIntermediates) {\n    cleanup();\n  }\n  return {\n    success: true,\n    navMesh,\n    intermediates\n  };\n};\n\nconst mergePositionsAndIndices = meshes => {\n  const mergedPositions = [];\n  const mergedIndices = [];\n  const positionToIndex = {};\n  let indexCounter = 0;\n  for (const {\n    positions,\n    indices\n  } of meshes) {\n    for (let i = 0; i < indices.length; i++) {\n      const pt = indices[i] * 3;\n      const x = positions[pt];\n      const y = positions[pt + 1];\n      const z = positions[pt + 2];\n      const key = `${x}_${y}_${z}`;\n      let idx = positionToIndex[key];\n      if (!idx) {\n        positionToIndex[key] = idx = indexCounter;\n        mergedPositions.push(x, y, z);\n        indexCounter++;\n      }\n      mergedIndices.push(idx);\n    }\n  }\n  return [Float32Array.from(mergedPositions), Uint32Array.from(mergedIndices)];\n};\n\nexport { buildTiledNavMeshRcConfig, createDefaultTileCacheMeshProcess, dtIlog2, dtNextPow2, generateSoloNavMesh, generateSoloNavMeshData, generateTileCache, generateTileNavMeshData, generateTiledNavMesh, getBoundingBox, mergePositionsAndIndices, soloNavMeshGeneratorConfigDefaults, tileCacheGeneratorConfigDefaults, tiledNavMeshGeneratorConfigDefaults 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