@babylonjs/lite 1.14.0 → 1.15.0

package/lib/navigation/navigation.js

@@ -380,6 +380,17 @@ function raycast(plugin, start, end) {
     }
   };
 }
+function navRayBlocked(plugin, start, end) {
+  _assertReady(plugin);
+  const q = plugin._navMeshQuery;
+  const nearest = q.findNearestPoly(start, { halfExtents: _tmpHalfExtents });
+  if (!nearest.success || nearest.nearestRef === 0) {
+    return true;
+  }
+  const r = q.raycast(nearest.nearestRef, start, end);
+  const t = r?.t;
+  return !(r?.success === true && typeof t === "number" && Number.isFinite(t) && t > 1);
+}
 function addBoxObstacle(plugin, position, halfExtents, angle) {
   _assertTileCache(plugin);
   const r = plugin._tileCache.addBoxObstacle(position, halfExtents, angle);
@@ -421,5 +432,5 @@ function _assertTileCache(plugin) {
   }
 }
 
-export { addAgent, addBoxObstacle, addCylinderObstacle, agentGoto, computePath, createDebugNavMeshGeometry, createNavCrowd, createNavMesh, createNavMeshFromSources, createNavigationPluginAsync, disposeNavigationPlugin, findClosestPointWithin, findRandomPoint, findRandomPointAroundCircle, getAgentPosition, getAgentVelocity, getClosestPoint, getNavigationRandomSeed, raycast, removeObstacle, setNavigationRandomSeed, updateNavCrowd, updateNavMeshObstacles };
+export { addAgent, addBoxObstacle, addCylinderObstacle, agentGoto, computePath, createDebugNavMeshGeometry, createNavCrowd, createNavMesh, createNavMeshFromSources, createNavigationPluginAsync, disposeNavigationPlugin, findClosestPointWithin, findRandomPoint, findRandomPointAroundCircle, getAgentPosition, getAgentVelocity, getClosestPoint, getNavigationRandomSeed, navRayBlocked, raycast, removeObstacle, setNavigationRandomSeed, updateNavCrowd, updateNavMeshObstacles };
 //# sourceMappingURL=navigation.js.map

package/lib/navigation/navigation.js.map

@@ -1 +1 @@
-{"version":3,"file":"navigation.js","sources":["../../../src/navigation/navigation.ts"],"sourcesContent":["/**\n * Recast Navigation V2 integration for Babylon Lite.\n *\n * Pure-state interfaces + standalone factory functions, matching Lite conventions.\n * The recast wasm is loaded lazily inside `createNavigationPluginAsync` so scenes\n * that do not use navigation pay zero bundle cost.\n *\n * Usage:\n * ```ts\n *   const nav = await createNavigationPluginAsync();\n *   createNavMesh(nav, [ground, sphere, box], params);\n *   const debug = createDebugNavMeshGeometry(nav);\n *   const closest = getClosestPoint(nav, { x, y, z });\n *   const crowd = createNavCrowd(nav, 10, 0.1);\n *   const idx = addAgent(crowd, spawnPos, agentParams);\n *   updateNavCrowd(crowd, 1 / 60);\n * ```\n *\n * For obstacles (tile-cache navmesh):\n * ```ts\n *   createNavMesh(nav, [...], { ..., maxObstacles: 32, tileSize: 32 });\n *   const ref = addBoxObstacle(nav, { x, y, z }, { x: 1, y: 1, z: 1 }, angle);\n *   removeObstacle(nav, ref);\n * ```\n *\n * For off-mesh connections:\n * ```ts\n *   createNavMesh(nav, [...], { ..., offMeshConnections: [...] });\n * ```\n *\n * For raycast:\n * ```ts\n *   const r = raycast(nav, start, end);\n *   if (r.hit) console.log(r.hitPoint);\n * ```\n */\n\nimport { F32, U32 } from \"../engine/typed-arrays.js\";\nimport type { Vec3 } from \"../math/types.js\";\nimport type { Mesh } from \"../mesh/mesh.js\";\n\n// ─── Public types ────────────────────────────────────────────────────\n\n/** NavMesh build parameters (Recast solo / tiled / tile-cache navmesh config). */\nexport interface NavMeshParameters {\n    cs?: number;\n    ch?: number;\n    walkableSlopeAngle?: number;\n    walkableHeight?: number;\n    walkableClimb?: number;\n    walkableRadius?: number;\n    maxEdgeLen?: number;\n    maxSimplificationError?: number;\n    minRegionArea?: number;\n    mergeRegionArea?: number;\n    maxVertsPerPoly?: number;\n    detailSampleDist?: number;\n    detailSampleMaxError?: number;\n    /** Skip reversing winding when extracting positions (right-handed input). */\n    doNotReverseIndices?: boolean;\n    /** Tile size for tiled / tile-cache navmesh. Recommended 32-64 for tile cache. */\n    tileSize?: number;\n    /**\n     * Maximum number of obstacles. If `> 0` the navmesh is built with a tile cache\n     * so obstacles can be added/removed dynamically.\n     */\n    maxObstacles?: number;\n    /** Expected layers per tile for tile-cache navmesh. Default 1. */\n    expectedLayersPerTile?: number;\n    /** Off-mesh connection segments (teleports) baked into the navmesh. */\n    offMeshConnections?: OffMeshConnection[];\n    /** Keep intermediates for debug visualization. */\n    keepIntermediates?: boolean;\n}\n\n/** Off-mesh connection (teleport segment) baked into the navmesh. */\nexport interface OffMeshConnection {\n    startPosition: Vec3;\n    endPosition: Vec3;\n    radius: number;\n    bidirectional: boolean;\n    /** @defaultValue 0 */\n    area?: number;\n    /** @defaultValue 1 */\n    flags?: number;\n    userId?: number;\n}\n\n/** Crowd agent parameters. */\nexport interface AgentParameters {\n    radius: number;\n    height: number;\n    maxAcceleration: number;\n    maxSpeed: number;\n    collisionQueryRange: number;\n    pathOptimizationRange: number;\n    separationWeight: number;\n    updateFlags?: number;\n    obstacleAvoidanceType?: number;\n    queryFilterType?: number;\n    reachRadius?: number;\n}\n\n/** A single mesh source for navmesh construction. */\nexport interface NavMeshSource {\n    positions: ArrayLike<number>;\n    indices: ArrayLike<number>;\n}\n\n/** Pure-state handle for the navigation plugin. */\nexport interface NavigationPlugin {\n    /** @internal */ readonly _recast: any;\n    /** @internal */ readonly _generators: any;\n    /** @internal */ _navMesh?: any;\n    /** @internal */ _navMeshQuery?: any;\n    /** @internal */ _tileCache?: any;\n}\n\n/** Opaque handle returned by `addBoxObstacle` / `addCylinderObstacle`. */\nexport interface ObstacleHandle {\n    /** @internal */ readonly _obstacle: any;\n}\n\n/** Pure-state handle for a crowd. */\nexport interface NavCrowd {\n    /** @internal */ readonly _plugin: NavigationPlugin;\n    /** @internal */ readonly _crowd: any;\n}\n\n// ─── Factory ─────────────────────────────────────────────────────────\n\nlet _coreModule: any = null;\nlet _generatorsModule: any = null;\nlet _initPromise: Promise<void> | null = null;\n\nasync function _ensureRecast(locateFile?: (url: string) => string): Promise<{ core: any; gens: any }> {\n    if (!_coreModule || !_generatorsModule) {\n        if (!_initPromise) {\n            _initPromise = (async () => {\n                const core = await import(\"@recast-navigation/core\");\n                const gens = await import(\"@recast-navigation/generators\");\n                if (locateFile) {\n                    const wasmFactory = (await import(\"@recast-navigation/wasm/wasm\")).default;\n                    // core.init types impl as typeof Recast but calls it as impl() at runtime;\n                    // bind pre-fills locateFile and cast to satisfy the declaration.\n                    await core.init(wasmFactory.bind(null, { locateFile }) as typeof wasmFactory);\n                } else {\n                    await core.init();\n                }\n                _coreModule = core;\n                _generatorsModule = gens;\n            })();\n        }\n        await _initPromise;\n    }\n    return { core: _coreModule, gens: _generatorsModule };\n}\n\n/**\n * Create a navigation plugin. Loads the Recast wasm internally on first call;\n * subsequent calls reuse the loaded module.\n *\n * Pass `locateFile` to serve the wasm from a public path instead of bundling\n * it inline — same pattern as `HavokPhysics({ locateFile: () => \"/HavokPhysics.wasm\" })`.\n *\n * @example\n * ```ts\n *   const nav = await createNavigationPluginAsync({ locateFile: () => \"/recast-navigation.wasm\" });\n * ```\n */\nexport async function createNavigationPluginAsync(options?: { locateFile?: (url: string) => string }): Promise<NavigationPlugin> {\n    const { core, gens } = await _ensureRecast(options?.locateFile);\n    return {\n        _recast: core,\n        _generators: gens,\n    };\n}\n\n/**\n * Release the native navmesh resources a plugin holds: the navmesh query, the navmesh, and the tile cache (if\n * one was built). These are Detour objects living on the wasm heap — they are NOT reclaimed by JS garbage\n * collection, so dropping the plugin reference alone leaks them. Call this when a navmesh is rebuilt or a\n * plugin is discarded. Idempotent and safe on a plugin that never built a navmesh.\n */\nexport function disposeNavigationPlugin(plugin: NavigationPlugin): void {\n    const internal = plugin as { _navMesh?: any; _navMeshQuery?: any; _tileCache?: any };\n    internal._navMeshQuery?.destroy?.();\n    internal._tileCache?.destroy?.();\n    internal._navMesh?.destroy?.();\n    internal._navMeshQuery = undefined;\n    internal._tileCache = undefined;\n    internal._navMesh = undefined;\n}\n\n// ─── NavMesh ─────────────────────────────────────────────────────────\n\n/**\n * Build a navmesh from one or more meshes. Each mesh's CPU positions are\n * transformed by its worldMatrix (matching BJS GetPositionsAndIndices), merged\n * into a single stream, and index winding is reversed (left-handed convention)\n * unless `doNotReverseIndices` is set.\n *\n * - Solo navmesh by default.\n * - If `maxObstacles > 0`, builds a tile-cache navmesh so obstacles can be\n *   added/removed dynamically.\n * - Off-mesh connections can be supplied for either solo or tile-cache.\n */\nexport function createNavMesh(plugin: NavigationPlugin, meshes: Mesh[], params: NavMeshParameters): void {\n    const { positions, indices } = _mergeMeshes(meshes, params.doNotReverseIndices === true);\n    _createNavMeshFromMerged(plugin, positions, indices, params);\n}\n\n/** Build a navmesh from raw CPU geometry sources. This is the non-rendering twin of\n * `createNavMesh`: callers that already own procedural navigation geometry can avoid\n * creating hidden GPU meshes just to feed Recast. */\nexport function createNavMeshFromSources(plugin: NavigationPlugin, sources: NavMeshSource[], params: NavMeshParameters): void {\n    const { positions, indices } = _mergeSources(sources, params.doNotReverseIndices === true);\n    _createNavMeshFromMerged(plugin, positions, indices, params);\n}\n\nfunction _createNavMeshFromMerged(plugin: NavigationPlugin, positions: Float32Array, indices: Uint32Array, params: NavMeshParameters): void {\n    const cfg: Record<string, unknown> = {};\n    if (params.cs !== undefined) {\n        cfg.cs = params.cs;\n    }\n    if (params.ch !== undefined) {\n        cfg.ch = params.ch;\n    }\n    if (params.walkableSlopeAngle !== undefined) {\n        cfg.walkableSlopeAngle = params.walkableSlopeAngle;\n    }\n    if (params.walkableHeight !== undefined) {\n        cfg.walkableHeight = params.walkableHeight;\n    }\n    if (params.walkableClimb !== undefined) {\n        cfg.walkableClimb = params.walkableClimb;\n    }\n    if (params.walkableRadius !== undefined) {\n        cfg.walkableRadius = params.walkableRadius;\n    }\n    if (params.maxEdgeLen !== undefined) {\n        cfg.maxEdgeLen = params.maxEdgeLen;\n    }\n    if (params.maxSimplificationError !== undefined) {\n        cfg.maxSimplificationError = params.maxSimplificationError;\n    }\n    if (params.minRegionArea !== undefined) {\n        cfg.minRegionArea = params.minRegionArea;\n    }\n    if (params.mergeRegionArea !== undefined) {\n        cfg.mergeRegionArea = params.mergeRegionArea;\n    }\n    if (params.maxVertsPerPoly !== undefined) {\n        cfg.maxVertsPerPoly = params.maxVertsPerPoly;\n    }\n    if (params.detailSampleDist !== undefined) {\n        cfg.detailSampleDist = params.detailSampleDist;\n    }\n    if (params.detailSampleMaxError !== undefined) {\n        cfg.detailSampleMaxError = params.detailSampleMaxError;\n    }\n    if (params.offMeshConnections !== undefined && params.offMeshConnections.length > 0) {\n        cfg.offMeshConnections = params.offMeshConnections;\n    }\n\n    const internal = plugin as { _navMesh: any; _navMeshQuery: any; _tileCache?: any };\n    const needsTileCache = (params.maxObstacles ?? 0) > 0;\n    const needsTiled = (params.tileSize ?? 0) > 0;\n\n    if (needsTileCache) {\n        // Tile cache config: requires tileSize, expectedLayersPerTile, maxObstacles,\n        // and a tile cache mesh process. Mirrors BJS Addons CreateTileCacheNavMeshConfig.\n        cfg.tileSize = params.tileSize ?? 32;\n        cfg.expectedLayersPerTile = params.expectedLayersPerTile ?? 1;\n        cfg.maxObstacles = params.maxObstacles!;\n\n        if (params.offMeshConnections !== undefined && params.offMeshConnections.length > 0) {\n            cfg.tileCacheMeshProcess = _createDefaultTileCacheMeshProcess(plugin._recast, params.offMeshConnections);\n        }\n\n        const result = plugin._generators.generateTileCache(positions, indices, cfg, params.keepIntermediates === true);\n        if (!result.success) {\n            throw new Error(`createNavMesh (tile cache) failed: ${result.error}`);\n        }\n        internal._navMesh = result.navMesh;\n        internal._tileCache = result.tileCache;\n        internal._navMeshQuery = new plugin._recast.NavMeshQuery(result.navMesh);\n        return;\n    }\n\n    if (needsTiled) {\n        cfg.tileSize = params.tileSize;\n        const result = plugin._generators.generateTiledNavMesh(positions, indices, cfg, params.keepIntermediates === true);\n        if (!result.success) {\n            throw new Error(`createNavMesh (tiled) failed: ${result.error}`);\n        }\n        internal._navMesh = result.navMesh;\n        internal._navMeshQuery = new plugin._recast.NavMeshQuery(result.navMesh);\n        return;\n    }\n\n    const result = plugin._generators.generateSoloNavMesh(positions, indices, cfg, params.keepIntermediates === true);\n    if (!result.success) {\n        throw new Error(`createNavMesh failed: ${result.error}`);\n    }\n    internal._navMesh = result.navMesh;\n    internal._navMeshQuery = new plugin._recast.NavMeshQuery(result.navMesh);\n}\n\n/**\n * Default tile-cache mesh process that copies area/flags from input polys and\n * appends off-mesh connections. Mirrors BJS Addons CreateDefaultTileCacheMeshProcess.\n */\nfunction _createDefaultTileCacheMeshProcess(recast: any, offMeshConnections: OffMeshConnection[]): any {\n    const area = 0;\n    const flags = 1;\n    return new recast.TileCacheMeshProcess((navMeshCreateParams: any, polyAreas: any, polyFlags: any) => {\n        for (let i = 0; i < navMeshCreateParams.polyCount(); ++i) {\n            polyAreas.set(i, area);\n            polyFlags.set(i, flags);\n        }\n        if (offMeshConnections.length > 0) {\n            navMeshCreateParams.setOffMeshConnections(offMeshConnections);\n        }\n    });\n}\n\nfunction _mergeMeshes(meshes: Mesh[], doNotReverseIndices: boolean): { positions: Float32Array; indices: Uint32Array } {\n    let totalVerts = 0;\n    let totalIdx = 0;\n    for (const mesh of meshes) {\n        if (!mesh._cpuPositions || !mesh._cpuIndices) {\n            throw new Error(`Mesh \"${mesh.name}\" missing CPU geometry for navmesh`);\n        }\n        totalVerts += mesh._cpuPositions.length;\n        totalIdx += mesh._cpuIndices.length;\n    }\n    const positions = new F32(totalVerts);\n    const indices = new U32(totalIdx);\n\n    let pOff = 0;\n    let iOff = 0;\n    let vertBase = 0;\n    for (const mesh of meshes) {\n        const src = mesh._cpuPositions!;\n        const wm = mesh.worldMatrix;\n\n        for (let i = 0; i < src.length; i += 3) {\n            const x = src[i]!,\n                y = src[i + 1]!,\n                z = src[i + 2]!;\n            positions[pOff++] = x * wm[0]! + y * wm[4]! + z * wm[8]! + wm[12]!;\n            positions[pOff++] = x * wm[1]! + y * wm[5]! + z * wm[9]! + wm[13]!;\n            positions[pOff++] = x * wm[2]! + y * wm[6]! + z * wm[10]! + wm[14]!;\n        }\n\n        const meshIdx = mesh._cpuIndices!;\n        const n = meshIdx.length;\n        if (doNotReverseIndices) {\n            for (let i = 0; i < n; i++) {\n                indices[iOff++] = meshIdx[i]! + vertBase;\n            }\n        } else {\n            for (let i = 0; i < n; i += 3) {\n                indices[iOff++] = meshIdx[i]! + vertBase;\n                indices[iOff++] = meshIdx[i + 2]! + vertBase;\n                indices[iOff++] = meshIdx[i + 1]! + vertBase;\n            }\n        }\n        vertBase += src.length / 3;\n    }\n\n    return { positions, indices };\n}\n\nfunction _mergeSources(sources: NavMeshSource[], doNotReverseIndices: boolean): { positions: Float32Array; indices: Uint32Array } {\n    let totalVerts = 0;\n    let totalIdx = 0;\n    for (const source of sources) {\n        totalVerts += source.positions.length;\n        totalIdx += source.indices.length;\n    }\n    const positions = new F32(totalVerts);\n    const indices = new U32(totalIdx);\n\n    let pOff = 0;\n    let iOff = 0;\n    let vertBase = 0;\n    for (const source of sources) {\n        for (let i = 0; i < source.positions.length; i++) {\n            positions[pOff++] = source.positions[i]!;\n        }\n        if (doNotReverseIndices) {\n            for (let i = 0; i < source.indices.length; i++) {\n                indices[iOff++] = source.indices[i]! + vertBase;\n            }\n        } else {\n            for (let i = 0; i < source.indices.length; i += 3) {\n                indices[iOff++] = source.indices[i]! + vertBase;\n                indices[iOff++] = source.indices[i + 2]! + vertBase;\n                indices[iOff++] = source.indices[i + 1]! + vertBase;\n            }\n        }\n        vertBase += source.positions.length / 3;\n    }\n\n    return { positions, indices };\n}\n\n// ─── Debug navmesh geometry ──────────────────────────────────────────\n\n/**\n * Extract debug visualization geometry from the generated navmesh.\n * Faces are detached (each triangle gets its own 3 vertices) and per-vertex\n * normals are set to the face normal — yielding flat shading without the need\n * for a separate normal-computation pass in callers.\n * Returns positions, normals, indices, and a hash of the positions for\n * cross-engine parity checks.\n */\nexport function createDebugNavMeshGeometry(plugin: NavigationPlugin): { positions: Float32Array; normals: Float32Array; indices: Uint32Array; positionsHash: number } {\n    if (!plugin._navMesh) {\n        throw new Error(\"No navmesh generated. Call createNavMesh first.\");\n    }\n    const [positionsArr, indicesArr] = plugin._recast.getNavMeshPositionsAndIndices(plugin._navMesh);\n    const triCount = (indicesArr.length / 3) | 0;\n    const vertCount = triCount * 3;\n    const positions = new F32(vertCount * 3);\n    const normals = new F32(vertCount * 3);\n    const indices = new U32(vertCount);\n\n    for (let t = 0; t < triCount; t++) {\n        // Recast outputs triangles with original winding such that the face\n        // normal computed from (i0,i1,i2) order points UP. We reverse the\n        // stored winding to match BJS CreateDebugNavMesh for back-face culling\n        // parity (stored as i0,i2,i1) — but compute the face normal from the\n        // ORIGINAL winding so it still points UP.\n        const i0 = indicesArr[t * 3]! * 3;\n        const i1Orig = indicesArr[t * 3 + 1]! * 3;\n        const i2Orig = indicesArr[t * 3 + 2]! * 3;\n\n        const ax = positionsArr[i0]!,\n            ay = positionsArr[i0 + 1]!,\n            az = positionsArr[i0 + 2]!;\n        const b1x = positionsArr[i1Orig]!,\n            b1y = positionsArr[i1Orig + 1]!,\n            b1z = positionsArr[i1Orig + 2]!;\n        const c1x = positionsArr[i2Orig]!,\n            c1y = positionsArr[i2Orig + 1]!,\n            c1z = positionsArr[i2Orig + 2]!;\n\n        const e1x = b1x - ax,\n            e1y = b1y - ay,\n            e1z = b1z - az;\n        const e2x = c1x - ax,\n            e2y = c1y - ay,\n            e2z = c1z - az;\n        let nx = e1y * e2z - e1z * e2y;\n        let ny = e1z * e2x - e1x * e2z;\n        let nz = e1x * e2y - e1y * e2x;\n        const len = Math.hypot(nx, ny, nz);\n        if (len > 0) {\n            nx /= len;\n            ny /= len;\n            nz /= len;\n        }\n\n        // Store positions in reversed winding (i0, i2, i1) for back-face parity.\n        const v = t * 9;\n        positions[v] = ax;\n        positions[v + 1] = ay;\n        positions[v + 2] = az;\n        positions[v + 3] = c1x;\n        positions[v + 4] = c1y;\n        positions[v + 5] = c1z;\n        positions[v + 6] = b1x;\n        positions[v + 7] = b1y;\n        positions[v + 8] = b1z;\n\n        normals[v] = nx;\n        normals[v + 1] = ny;\n        normals[v + 2] = nz;\n        normals[v + 3] = nx;\n        normals[v + 4] = ny;\n        normals[v + 5] = nz;\n        normals[v + 6] = nx;\n        normals[v + 7] = ny;\n        normals[v + 8] = nz;\n\n        const idx = t * 3;\n        indices[idx] = idx;\n        indices[idx + 1] = idx + 1;\n        indices[idx + 2] = idx + 2;\n    }\n\n    let hash = 0x811c9dc5;\n    for (let i = 0; i < positions.length; i++) {\n        hash ^= Math.round(positions[i]! * 100000);\n        hash = Math.imul(hash, 0x01000193);\n    }\n\n    return { positions, normals, indices, positionsHash: hash };\n}\n\n// ─── Queries ─────────────────────────────────────────────────────────\n\nconst _tmpHalfExtents = { x: 1, y: 1, z: 1 };\n\n/** Snap a position to the closest point on the navmesh. */\nexport function getClosestPoint(plugin: NavigationPlugin, position: Vec3): Vec3 {\n    _assertReady(plugin);\n    const res = plugin._navMeshQuery.findClosestPoint(position, { halfExtents: _tmpHalfExtents });\n    return { x: res.point.x, y: res.point.y, z: res.point.z };\n}\n\n/** Snap a position to the closest point on the navmesh within a search box, or null when no part of the\n *  mesh lies inside it. Unlike getClosestPoint — which does not inspect the query's success flag, so a\n *  position outside its fixed ±1-unit box returns an UNSPECIFIED point (whatever the query left in its\n *  output) rather than signalling a miss — the search extent is explicit here and a failed query is\n *  reported as null, so callers can distinguish \"snapped\" from \"nothing nearby\". */\nexport function findClosestPointWithin(plugin: NavigationPlugin, position: Vec3, halfExtents: Vec3): Vec3 | null {\n    _assertReady(plugin);\n    const res = plugin._navMeshQuery.findClosestPoint(position, { halfExtents });\n    if (!res.success) {\n        return null;\n    }\n    return { x: res.point.x, y: res.point.y, z: res.point.z };\n}\n\n/** Compute a path between two world positions, snapped to the navmesh. */\nexport function computePath(plugin: NavigationPlugin, start: Vec3, end: Vec3): Vec3[] {\n    _assertReady(plugin);\n    const q = plugin._navMeshQuery;\n    const startSnap = q.findClosestPoint(start, { halfExtents: _tmpHalfExtents });\n    const endSnap = q.findClosestPoint(end, { halfExtents: _tmpHalfExtents });\n    const res = q.computePath(startSnap.point, endSnap.point);\n    if (!res.success) {\n        return [];\n    }\n    const out: Vec3[] = [];\n    for (const p of res.path) {\n        out.push({ x: p.x, y: p.y, z: p.z });\n    }\n    return out;\n}\n\nfunction _assertReady(plugin: NavigationPlugin): void {\n    if (!plugin._navMesh || !plugin._navMeshQuery) {\n        throw new Error(\"Navmesh not ready. Call createNavMesh first.\");\n    }\n}\n\n// ─── Crowd ───────────────────────────────────────────────────────────\n\n/**\n * Create a crowd attached to the navmesh. The crowd is NOT auto-updated;\n * call `updateNavCrowd(crowd, dt)` each frame for full determinism.\n */\nexport function createNavCrowd(plugin: NavigationPlugin, maxAgents: number, maxAgentRadius: number): NavCrowd {\n    _assertReady(plugin);\n    const Crowd = plugin._recast.Crowd;\n    const crowd = new Crowd(plugin._navMesh, { maxAgents, maxAgentRadius });\n    return { _plugin: plugin, _crowd: crowd };\n}\n\n/** Add an agent to the crowd. Returns the agent index. */\nexport function addAgent(crowd: NavCrowd, position: Vec3, params: AgentParameters): number {\n    const agentParams = {\n        radius: params.radius,\n        height: params.height,\n        maxAcceleration: params.maxAcceleration,\n        maxSpeed: params.maxSpeed,\n        collisionQueryRange: params.collisionQueryRange,\n        pathOptimizationRange: params.pathOptimizationRange,\n        separationWeight: params.separationWeight,\n        updateFlags: params.updateFlags ?? 7,\n        obstacleAvoidanceType: params.obstacleAvoidanceType ?? 0,\n        queryFilterType: params.queryFilterType ?? 0,\n        userData: 0,\n    };\n    const agent = crowd._crowd.addAgent({ x: position.x, y: position.y, z: position.z }, agentParams);\n    return agent.agentIndex;\n}\n\n/** Get the current world position of an agent. */\nexport function getAgentPosition(crowd: NavCrowd, index: number): Vec3 {\n    const p = crowd._crowd.getAgent(index)?.position();\n    return p ? { x: p.x, y: p.y, z: p.z } : { x: 0, y: 0, z: 0 };\n}\n\n/** Get the current world-space velocity of an agent. */\nexport function getAgentVelocity(crowd: NavCrowd, index: number): Vec3 {\n    const v = crowd._crowd.getAgent(index)?.velocity();\n    return v ? { x: v.x, y: v.y, z: v.z } : { x: 0, y: 0, z: 0 };\n}\n\n/** Request the agent to move toward a world target (constrained by navmesh). */\nexport function agentGoto(crowd: NavCrowd, index: number, destination: Vec3): void {\n    crowd._crowd.getAgent(index)?.requestMoveTarget(destination);\n}\n\n/** Advance the crowd simulation by `dt` seconds. */\nexport function updateNavCrowd(crowd: NavCrowd, dt: number): void {\n    crowd._crowd.update(dt);\n}\n\n// ─── Random queries ──────────────────────────────────────────────────\n\n/**\n * Return a random point on the navmesh inside a circle of `radius` around `position`.\n * Determinism: seeded by Recast's internal RNG; call `setNavigationRandomSeed`\n * to make results reproducible across runs.\n */\nexport function findRandomPointAroundCircle(plugin: NavigationPlugin, position: Vec3, radius: number): Vec3 {\n    _assertReady(plugin);\n    const res = plugin._navMeshQuery.findRandomPointAroundCircle(position, radius, { halfExtents: _tmpHalfExtents });\n    return { x: res.randomPoint.x, y: res.randomPoint.y, z: res.randomPoint.z };\n}\n\n/** Return any random point on the navmesh. */\nexport function findRandomPoint(plugin: NavigationPlugin): Vec3 {\n    _assertReady(plugin);\n    const res = plugin._navMeshQuery.findRandomPoint();\n    return { x: res.randomPoint.x, y: res.randomPoint.y, z: res.randomPoint.z };\n}\n\n/** Set the seed used by Recast's randomized queries (e.g. `findRandomPointAroundCircle`). */\nexport function setNavigationRandomSeed(plugin: NavigationPlugin, seed: number): void {\n    plugin._recast.setRandomSeed(seed);\n}\n\n/** Get the current seed used by Recast's randomized queries. */\nexport function getNavigationRandomSeed(plugin: NavigationPlugin): number {\n    return plugin._recast.getRandomSeed();\n}\n\n// ─── Raycast ────────────────────────────────────────────────────────\n\n/**\n * Cast a 'walkability' ray on the navmesh from `start` to `end`.\n * Matches BJS Addons semantics: `hit` is true only when `0 < t < 1` and\n * `hitPoint` is the linear interpolation between start and end at parameter t.\n *\n * Recast's raycast ignores the y component of the end position (2D check).\n */\nexport function raycast(plugin: NavigationPlugin, start: Vec3, end: Vec3): { hit: boolean; hitPoint?: Vec3 } {\n    _assertReady(plugin);\n    const q = plugin._navMeshQuery;\n    const nearest = q.findNearestPoly(start, { halfExtents: _tmpHalfExtents });\n    if (!nearest.success || nearest.nearestRef === 0) {\n        return { hit: false };\n    }\n    const r = q.raycast(nearest.nearestRef, start, end);\n    const t = r?.t ?? 0;\n    if (!(t > 0 && t < 1)) {\n        return { hit: false };\n    }\n    return {\n        hit: true,\n        hitPoint: {\n            x: start.x + (end.x - start.x) * t,\n            y: start.y + (end.y - start.y) * t,\n            z: start.z + (end.z - start.z) * t,\n        },\n    };\n}\n\n// ─── Obstacles (tile-cache navmeshes only) ───────────────────────────\n\n/**\n * Add a box obstacle to a tile-cache navmesh. The navmesh must have been\n * built with `maxObstacles > 0`. The tile cache is fully updated before\n * returning (matching BJS Addons default behavior).\n *\n * @param halfExtents - box half-size on each axis\n * @param angle - rotation around the Y axis, in radians\n */\nexport function addBoxObstacle(plugin: NavigationPlugin, position: Vec3, halfExtents: Vec3, angle: number): ObstacleHandle | null {\n    _assertTileCache(plugin);\n    const r = plugin._tileCache.addBoxObstacle(position, halfExtents, angle);\n    if (!r.success) {\n        return null;\n    }\n    _waitForFullTileCacheUpdate(plugin);\n    return { _obstacle: r.obstacle };\n}\n\n/**\n * Add a cylinder obstacle to a tile-cache navmesh.\n *\n * @param radius - cylinder radius\n * @param height - cylinder height\n */\nexport function addCylinderObstacle(plugin: NavigationPlugin, position: Vec3, radius: number, height: number): ObstacleHandle | null {\n    _assertTileCache(plugin);\n    const r = plugin._tileCache.addCylinderObstacle(position, radius, height);\n    if (!r.success) {\n        return null;\n    }\n    _waitForFullTileCacheUpdate(plugin);\n    return { _obstacle: r.obstacle };\n}\n\n/** Remove an obstacle previously added by `addBoxObstacle` / `addCylinderObstacle`. */\nexport function removeObstacle(plugin: NavigationPlugin, obstacle: ObstacleHandle): void {\n    _assertTileCache(plugin);\n    plugin._tileCache.removeObstacle(obstacle._obstacle);\n    _waitForFullTileCacheUpdate(plugin);\n}\n\n/** Run `tileCache.update()` until all pending obstacle requests are resolved. */\nexport function updateNavMeshObstacles(plugin: NavigationPlugin): void {\n    _assertTileCache(plugin);\n    _waitForFullTileCacheUpdate(plugin);\n}\n\nfunction _waitForFullTileCacheUpdate(plugin: NavigationPlugin): void {\n    let upToDate = false;\n    while (!upToDate) {\n        const r = plugin._tileCache.update(plugin._navMesh);\n        upToDate = r.upToDate;\n    }\n}\n\nfunction _assertTileCache(plugin: NavigationPlugin): void {\n    _assertReady(plugin);\n    if (!plugin._tileCache) {\n        throw new Error(\"Navmesh has no tile cache. 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+{"version":3,"file":"navigation.js","sources":["../../../src/navigation/navigation.ts"],"sourcesContent":["/**\n * Recast Navigation V2 integration for Babylon Lite.\n *\n * Pure-state interfaces + standalone factory functions, matching Lite conventions.\n * The recast wasm is loaded lazily inside `createNavigationPluginAsync` so scenes\n * that do not use navigation pay zero bundle cost.\n *\n * Usage:\n * ```ts\n *   const nav = await createNavigationPluginAsync();\n *   createNavMesh(nav, [ground, sphere, box], params);\n *   const debug = createDebugNavMeshGeometry(nav);\n *   const closest = getClosestPoint(nav, { x, y, z });\n *   const crowd = createNavCrowd(nav, 10, 0.1);\n *   const idx = addAgent(crowd, spawnPos, agentParams);\n *   updateNavCrowd(crowd, 1 / 60);\n * ```\n *\n * For obstacles (tile-cache navmesh):\n * ```ts\n *   createNavMesh(nav, [...], { ..., maxObstacles: 32, tileSize: 32 });\n *   const ref = addBoxObstacle(nav, { x, y, z }, { x: 1, y: 1, z: 1 }, angle);\n *   removeObstacle(nav, ref);\n * ```\n *\n * For off-mesh connections:\n * ```ts\n *   createNavMesh(nav, [...], { ..., offMeshConnections: [...] });\n * ```\n *\n * For raycast:\n * ```ts\n *   const r = raycast(nav, start, end);\n *   if (r.hit) console.log(r.hitPoint);\n * ```\n */\n\nimport { F32, U32 } from \"../engine/typed-arrays.js\";\nimport type { Vec3 } from \"../math/types.js\";\nimport type { Mesh } from \"../mesh/mesh.js\";\n\n// ─── Public types ────────────────────────────────────────────────────\n\n/** NavMesh build parameters (Recast solo / tiled / tile-cache navmesh config). */\nexport interface NavMeshParameters {\n    cs?: number;\n    ch?: number;\n    walkableSlopeAngle?: number;\n    walkableHeight?: number;\n    walkableClimb?: number;\n    walkableRadius?: number;\n    maxEdgeLen?: number;\n    maxSimplificationError?: number;\n    minRegionArea?: number;\n    mergeRegionArea?: number;\n    maxVertsPerPoly?: number;\n    detailSampleDist?: number;\n    detailSampleMaxError?: number;\n    /** Skip reversing winding when extracting positions (right-handed input). */\n    doNotReverseIndices?: boolean;\n    /** Tile size for tiled / tile-cache navmesh. Recommended 32-64 for tile cache. */\n    tileSize?: number;\n    /**\n     * Maximum number of obstacles. If `> 0` the navmesh is built with a tile cache\n     * so obstacles can be added/removed dynamically.\n     */\n    maxObstacles?: number;\n    /** Expected layers per tile for tile-cache navmesh. Default 1. */\n    expectedLayersPerTile?: number;\n    /** Off-mesh connection segments (teleports) baked into the navmesh. */\n    offMeshConnections?: OffMeshConnection[];\n    /** Keep intermediates for debug visualization. */\n    keepIntermediates?: boolean;\n}\n\n/** Off-mesh connection (teleport segment) baked into the navmesh. */\nexport interface OffMeshConnection {\n    startPosition: Vec3;\n    endPosition: Vec3;\n    radius: number;\n    bidirectional: boolean;\n    /** @defaultValue 0 */\n    area?: number;\n    /** @defaultValue 1 */\n    flags?: number;\n    userId?: number;\n}\n\n/** Crowd agent parameters. */\nexport interface AgentParameters {\n    radius: number;\n    height: number;\n    maxAcceleration: number;\n    maxSpeed: number;\n    collisionQueryRange: number;\n    pathOptimizationRange: number;\n    separationWeight: number;\n    updateFlags?: number;\n    obstacleAvoidanceType?: number;\n    queryFilterType?: number;\n    reachRadius?: number;\n}\n\n/** A single mesh source for navmesh construction. */\nexport interface NavMeshSource {\n    positions: ArrayLike<number>;\n    indices: ArrayLike<number>;\n}\n\n/** Pure-state handle for the navigation plugin. */\nexport interface NavigationPlugin {\n    /** @internal */ readonly _recast: any;\n    /** @internal */ readonly _generators: any;\n    /** @internal */ _navMesh?: any;\n    /** @internal */ _navMeshQuery?: any;\n    /** @internal */ _tileCache?: any;\n}\n\n/** Opaque handle returned by `addBoxObstacle` / `addCylinderObstacle`. */\nexport interface ObstacleHandle {\n    /** @internal */ readonly _obstacle: any;\n}\n\n/** Pure-state handle for a crowd. */\nexport interface NavCrowd {\n    /** @internal */ readonly _plugin: NavigationPlugin;\n    /** @internal */ readonly _crowd: any;\n}\n\n// ─── Factory ─────────────────────────────────────────────────────────\n\nlet _coreModule: any = null;\nlet _generatorsModule: any = null;\nlet _initPromise: Promise<void> | null = null;\n\nasync function _ensureRecast(locateFile?: (url: string) => string): Promise<{ core: any; gens: any }> {\n    if (!_coreModule || !_generatorsModule) {\n        if (!_initPromise) {\n            _initPromise = (async () => {\n                const core = await import(\"@recast-navigation/core\");\n                const gens = await import(\"@recast-navigation/generators\");\n                if (locateFile) {\n                    const wasmFactory = (await import(\"@recast-navigation/wasm/wasm\")).default;\n                    // core.init types impl as typeof Recast but calls it as impl() at runtime;\n                    // bind pre-fills locateFile and cast to satisfy the declaration.\n                    await core.init(wasmFactory.bind(null, { locateFile }) as typeof wasmFactory);\n                } else {\n                    await core.init();\n                }\n                _coreModule = core;\n                _generatorsModule = gens;\n            })();\n        }\n        await _initPromise;\n    }\n    return { core: _coreModule, gens: _generatorsModule };\n}\n\n/**\n * Create a navigation plugin. Loads the Recast wasm internally on first call;\n * subsequent calls reuse the loaded module.\n *\n * Pass `locateFile` to serve the wasm from a public path instead of bundling\n * it inline — same pattern as `HavokPhysics({ locateFile: () => \"/HavokPhysics.wasm\" })`.\n *\n * @example\n * ```ts\n *   const nav = await createNavigationPluginAsync({ locateFile: () => \"/recast-navigation.wasm\" });\n * ```\n */\nexport async function createNavigationPluginAsync(options?: { locateFile?: (url: string) => string }): Promise<NavigationPlugin> {\n    const { core, gens } = await _ensureRecast(options?.locateFile);\n    return {\n        _recast: core,\n        _generators: gens,\n    };\n}\n\n/**\n * Release the native navmesh resources a plugin holds: the navmesh query, the navmesh, and the tile cache (if\n * one was built). These are Detour objects living on the wasm heap — they are NOT reclaimed by JS garbage\n * collection, so dropping the plugin reference alone leaks them. Call this when a navmesh is rebuilt or a\n * plugin is discarded. Idempotent and safe on a plugin that never built a navmesh.\n */\nexport function disposeNavigationPlugin(plugin: NavigationPlugin): void {\n    const internal = plugin as { _navMesh?: any; _navMeshQuery?: any; _tileCache?: any };\n    internal._navMeshQuery?.destroy?.();\n    internal._tileCache?.destroy?.();\n    internal._navMesh?.destroy?.();\n    internal._navMeshQuery = undefined;\n    internal._tileCache = undefined;\n    internal._navMesh = undefined;\n}\n\n// ─── NavMesh ─────────────────────────────────────────────────────────\n\n/**\n * Build a navmesh from one or more meshes. Each mesh's CPU positions are\n * transformed by its worldMatrix (matching BJS GetPositionsAndIndices), merged\n * into a single stream, and index winding is reversed (left-handed convention)\n * unless `doNotReverseIndices` is set.\n *\n * - Solo navmesh by default.\n * - If `maxObstacles > 0`, builds a tile-cache navmesh so obstacles can be\n *   added/removed dynamically.\n * - Off-mesh connections can be supplied for either solo or tile-cache.\n */\nexport function createNavMesh(plugin: NavigationPlugin, meshes: Mesh[], params: NavMeshParameters): void {\n    const { positions, indices } = _mergeMeshes(meshes, params.doNotReverseIndices === true);\n    _createNavMeshFromMerged(plugin, positions, indices, params);\n}\n\n/** Build a navmesh from raw CPU geometry sources. This is the non-rendering twin of\n * `createNavMesh`: callers that already own procedural navigation geometry can avoid\n * creating hidden GPU meshes just to feed Recast. */\nexport function createNavMeshFromSources(plugin: NavigationPlugin, sources: NavMeshSource[], params: NavMeshParameters): void {\n    const { positions, indices } = _mergeSources(sources, params.doNotReverseIndices === true);\n    _createNavMeshFromMerged(plugin, positions, indices, params);\n}\n\nfunction _createNavMeshFromMerged(plugin: NavigationPlugin, positions: Float32Array, indices: Uint32Array, params: NavMeshParameters): void {\n    const cfg: Record<string, unknown> = {};\n    if (params.cs !== undefined) {\n        cfg.cs = params.cs;\n    }\n    if (params.ch !== undefined) {\n        cfg.ch = params.ch;\n    }\n    if (params.walkableSlopeAngle !== undefined) {\n        cfg.walkableSlopeAngle = params.walkableSlopeAngle;\n    }\n    if (params.walkableHeight !== undefined) {\n        cfg.walkableHeight = params.walkableHeight;\n    }\n    if (params.walkableClimb !== undefined) {\n        cfg.walkableClimb = params.walkableClimb;\n    }\n    if (params.walkableRadius !== undefined) {\n        cfg.walkableRadius = params.walkableRadius;\n    }\n    if (params.maxEdgeLen !== undefined) {\n        cfg.maxEdgeLen = params.maxEdgeLen;\n    }\n    if (params.maxSimplificationError !== undefined) {\n        cfg.maxSimplificationError = params.maxSimplificationError;\n    }\n    if (params.minRegionArea !== undefined) {\n        cfg.minRegionArea = params.minRegionArea;\n    }\n    if (params.mergeRegionArea !== undefined) {\n        cfg.mergeRegionArea = params.mergeRegionArea;\n    }\n    if (params.maxVertsPerPoly !== undefined) {\n        cfg.maxVertsPerPoly = params.maxVertsPerPoly;\n    }\n    if (params.detailSampleDist !== undefined) {\n        cfg.detailSampleDist = params.detailSampleDist;\n    }\n    if (params.detailSampleMaxError !== undefined) {\n        cfg.detailSampleMaxError = params.detailSampleMaxError;\n    }\n    if (params.offMeshConnections !== undefined && params.offMeshConnections.length > 0) {\n        cfg.offMeshConnections = params.offMeshConnections;\n    }\n\n    const internal = plugin as { _navMesh: any; _navMeshQuery: any; _tileCache?: any };\n    const needsTileCache = (params.maxObstacles ?? 0) > 0;\n    const needsTiled = (params.tileSize ?? 0) > 0;\n\n    if (needsTileCache) {\n        // Tile cache config: requires tileSize, expectedLayersPerTile, maxObstacles,\n        // and a tile cache mesh process. Mirrors BJS Addons CreateTileCacheNavMeshConfig.\n        cfg.tileSize = params.tileSize ?? 32;\n        cfg.expectedLayersPerTile = params.expectedLayersPerTile ?? 1;\n        cfg.maxObstacles = params.maxObstacles!;\n\n        if (params.offMeshConnections !== undefined && params.offMeshConnections.length > 0) {\n            cfg.tileCacheMeshProcess = _createDefaultTileCacheMeshProcess(plugin._recast, params.offMeshConnections);\n        }\n\n        const result = plugin._generators.generateTileCache(positions, indices, cfg, params.keepIntermediates === true);\n        if (!result.success) {\n            throw new Error(`createNavMesh (tile cache) failed: ${result.error}`);\n        }\n        internal._navMesh = result.navMesh;\n        internal._tileCache = result.tileCache;\n        internal._navMeshQuery = new plugin._recast.NavMeshQuery(result.navMesh);\n        return;\n    }\n\n    if (needsTiled) {\n        cfg.tileSize = params.tileSize;\n        const result = plugin._generators.generateTiledNavMesh(positions, indices, cfg, params.keepIntermediates === true);\n        if (!result.success) {\n            throw new Error(`createNavMesh (tiled) failed: ${result.error}`);\n        }\n        internal._navMesh = result.navMesh;\n        internal._navMeshQuery = new plugin._recast.NavMeshQuery(result.navMesh);\n        return;\n    }\n\n    const result = plugin._generators.generateSoloNavMesh(positions, indices, cfg, params.keepIntermediates === true);\n    if (!result.success) {\n        throw new Error(`createNavMesh failed: ${result.error}`);\n    }\n    internal._navMesh = result.navMesh;\n    internal._navMeshQuery = new plugin._recast.NavMeshQuery(result.navMesh);\n}\n\n/**\n * Default tile-cache mesh process that copies area/flags from input polys and\n * appends off-mesh connections. Mirrors BJS Addons CreateDefaultTileCacheMeshProcess.\n */\nfunction _createDefaultTileCacheMeshProcess(recast: any, offMeshConnections: OffMeshConnection[]): any {\n    const area = 0;\n    const flags = 1;\n    return new recast.TileCacheMeshProcess((navMeshCreateParams: any, polyAreas: any, polyFlags: any) => {\n        for (let i = 0; i < navMeshCreateParams.polyCount(); ++i) {\n            polyAreas.set(i, area);\n            polyFlags.set(i, flags);\n        }\n        if (offMeshConnections.length > 0) {\n            navMeshCreateParams.setOffMeshConnections(offMeshConnections);\n        }\n    });\n}\n\nfunction _mergeMeshes(meshes: Mesh[], doNotReverseIndices: boolean): { positions: Float32Array; indices: Uint32Array } {\n    let totalVerts = 0;\n    let totalIdx = 0;\n    for (const mesh of meshes) {\n        if (!mesh._cpuPositions || !mesh._cpuIndices) {\n            throw new Error(`Mesh \"${mesh.name}\" missing CPU geometry for navmesh`);\n        }\n        totalVerts += mesh._cpuPositions.length;\n        totalIdx += mesh._cpuIndices.length;\n    }\n    const positions = new F32(totalVerts);\n    const indices = new U32(totalIdx);\n\n    let pOff = 0;\n    let iOff = 0;\n    let vertBase = 0;\n    for (const mesh of meshes) {\n        const src = mesh._cpuPositions!;\n        const wm = mesh.worldMatrix;\n\n        for (let i = 0; i < src.length; i += 3) {\n            const x = src[i]!,\n                y = src[i + 1]!,\n                z = src[i + 2]!;\n            positions[pOff++] = x * wm[0]! + y * wm[4]! + z * wm[8]! + wm[12]!;\n            positions[pOff++] = x * wm[1]! + y * wm[5]! + z * wm[9]! + wm[13]!;\n            positions[pOff++] = x * wm[2]! + y * wm[6]! + z * wm[10]! + wm[14]!;\n        }\n\n        const meshIdx = mesh._cpuIndices!;\n        const n = meshIdx.length;\n        if (doNotReverseIndices) {\n            for (let i = 0; i < n; i++) {\n                indices[iOff++] = meshIdx[i]! + vertBase;\n            }\n        } else {\n            for (let i = 0; i < n; i += 3) {\n                indices[iOff++] = meshIdx[i]! + vertBase;\n                indices[iOff++] = meshIdx[i + 2]! + vertBase;\n                indices[iOff++] = meshIdx[i + 1]! + vertBase;\n            }\n        }\n        vertBase += src.length / 3;\n    }\n\n    return { positions, indices };\n}\n\nfunction _mergeSources(sources: NavMeshSource[], doNotReverseIndices: boolean): { positions: Float32Array; indices: Uint32Array } {\n    let totalVerts = 0;\n    let totalIdx = 0;\n    for (const source of sources) {\n        totalVerts += source.positions.length;\n        totalIdx += source.indices.length;\n    }\n    const positions = new F32(totalVerts);\n    const indices = new U32(totalIdx);\n\n    let pOff = 0;\n    let iOff = 0;\n    let vertBase = 0;\n    for (const source of sources) {\n        for (let i = 0; i < source.positions.length; i++) {\n            positions[pOff++] = source.positions[i]!;\n        }\n        if (doNotReverseIndices) {\n            for (let i = 0; i < source.indices.length; i++) {\n                indices[iOff++] = source.indices[i]! + vertBase;\n            }\n        } else {\n            for (let i = 0; i < source.indices.length; i += 3) {\n                indices[iOff++] = source.indices[i]! + vertBase;\n                indices[iOff++] = source.indices[i + 2]! + vertBase;\n                indices[iOff++] = source.indices[i + 1]! + vertBase;\n            }\n        }\n        vertBase += source.positions.length / 3;\n    }\n\n    return { positions, indices };\n}\n\n// ─── Debug navmesh geometry ──────────────────────────────────────────\n\n/**\n * Extract debug visualization geometry from the generated navmesh.\n * Faces are detached (each triangle gets its own 3 vertices) and per-vertex\n * normals are set to the face normal — yielding flat shading without the need\n * for a separate normal-computation pass in callers.\n * Returns positions, normals, indices, and a hash of the positions for\n * cross-engine parity checks.\n */\nexport function createDebugNavMeshGeometry(plugin: NavigationPlugin): { positions: Float32Array; normals: Float32Array; indices: Uint32Array; positionsHash: number } {\n    if (!plugin._navMesh) {\n        throw new Error(\"No navmesh generated. Call createNavMesh first.\");\n    }\n    const [positionsArr, indicesArr] = plugin._recast.getNavMeshPositionsAndIndices(plugin._navMesh);\n    const triCount = (indicesArr.length / 3) | 0;\n    const vertCount = triCount * 3;\n    const positions = new F32(vertCount * 3);\n    const normals = new F32(vertCount * 3);\n    const indices = new U32(vertCount);\n\n    for (let t = 0; t < triCount; t++) {\n        // Recast outputs triangles with original winding such that the face\n        // normal computed from (i0,i1,i2) order points UP. We reverse the\n        // stored winding to match BJS CreateDebugNavMesh for back-face culling\n        // parity (stored as i0,i2,i1) — but compute the face normal from the\n        // ORIGINAL winding so it still points UP.\n        const i0 = indicesArr[t * 3]! * 3;\n        const i1Orig = indicesArr[t * 3 + 1]! * 3;\n        const i2Orig = indicesArr[t * 3 + 2]! * 3;\n\n        const ax = positionsArr[i0]!,\n            ay = positionsArr[i0 + 1]!,\n            az = positionsArr[i0 + 2]!;\n        const b1x = positionsArr[i1Orig]!,\n            b1y = positionsArr[i1Orig + 1]!,\n            b1z = positionsArr[i1Orig + 2]!;\n        const c1x = positionsArr[i2Orig]!,\n            c1y = positionsArr[i2Orig + 1]!,\n            c1z = positionsArr[i2Orig + 2]!;\n\n        const e1x = b1x - ax,\n            e1y = b1y - ay,\n            e1z = b1z - az;\n        const e2x = c1x - ax,\n            e2y = c1y - ay,\n            e2z = c1z - az;\n        let nx = e1y * e2z - e1z * e2y;\n        let ny = e1z * e2x - e1x * e2z;\n        let nz = e1x * e2y - e1y * e2x;\n        const len = Math.hypot(nx, ny, nz);\n        if (len > 0) {\n            nx /= len;\n            ny /= len;\n            nz /= len;\n        }\n\n        // Store positions in reversed winding (i0, i2, i1) for back-face parity.\n        const v = t * 9;\n        positions[v] = ax;\n        positions[v + 1] = ay;\n        positions[v + 2] = az;\n        positions[v + 3] = c1x;\n        positions[v + 4] = c1y;\n        positions[v + 5] = c1z;\n        positions[v + 6] = b1x;\n        positions[v + 7] = b1y;\n        positions[v + 8] = b1z;\n\n        normals[v] = nx;\n        normals[v + 1] = ny;\n        normals[v + 2] = nz;\n        normals[v + 3] = nx;\n        normals[v + 4] = ny;\n        normals[v + 5] = nz;\n        normals[v + 6] = nx;\n        normals[v + 7] = ny;\n        normals[v + 8] = nz;\n\n        const idx = t * 3;\n        indices[idx] = idx;\n        indices[idx + 1] = idx + 1;\n        indices[idx + 2] = idx + 2;\n    }\n\n    let hash = 0x811c9dc5;\n    for (let i = 0; i < positions.length; i++) {\n        hash ^= Math.round(positions[i]! * 100000);\n        hash = Math.imul(hash, 0x01000193);\n    }\n\n    return { positions, normals, indices, positionsHash: hash };\n}\n\n// ─── Queries ─────────────────────────────────────────────────────────\n\nconst _tmpHalfExtents = { x: 1, y: 1, z: 1 };\n\n/** Snap a position to the closest point on the navmesh. */\nexport function getClosestPoint(plugin: NavigationPlugin, position: Vec3): Vec3 {\n    _assertReady(plugin);\n    const res = plugin._navMeshQuery.findClosestPoint(position, { halfExtents: _tmpHalfExtents });\n    return { x: res.point.x, y: res.point.y, z: res.point.z };\n}\n\n/** Snap a position to the closest point on the navmesh within a search box, or null when no part of the\n *  mesh lies inside it. Unlike getClosestPoint — which does not inspect the query's success flag, so a\n *  position outside its fixed ±1-unit box returns an UNSPECIFIED point (whatever the query left in its\n *  output) rather than signalling a miss — the search extent is explicit here and a failed query is\n *  reported as null, so callers can distinguish \"snapped\" from \"nothing nearby\". */\nexport function findClosestPointWithin(plugin: NavigationPlugin, position: Vec3, halfExtents: Vec3): Vec3 | null {\n    _assertReady(plugin);\n    const res = plugin._navMeshQuery.findClosestPoint(position, { halfExtents });\n    if (!res.success) {\n        return null;\n    }\n    return { x: res.point.x, y: res.point.y, z: res.point.z };\n}\n\n/** Compute a path between two world positions, snapped to the navmesh. */\nexport function computePath(plugin: NavigationPlugin, start: Vec3, end: Vec3): Vec3[] {\n    _assertReady(plugin);\n    const q = plugin._navMeshQuery;\n    const startSnap = q.findClosestPoint(start, { halfExtents: _tmpHalfExtents });\n    const endSnap = q.findClosestPoint(end, { halfExtents: _tmpHalfExtents });\n    const res = q.computePath(startSnap.point, endSnap.point);\n    if (!res.success) {\n        return [];\n    }\n    const out: Vec3[] = [];\n    for (const p of res.path) {\n        out.push({ x: p.x, y: p.y, z: p.z });\n    }\n    return out;\n}\n\nfunction _assertReady(plugin: NavigationPlugin): void {\n    if (!plugin._navMesh || !plugin._navMeshQuery) {\n        throw new Error(\"Navmesh not ready. Call createNavMesh first.\");\n    }\n}\n\n// ─── Crowd ───────────────────────────────────────────────────────────\n\n/**\n * Create a crowd attached to the navmesh. The crowd is NOT auto-updated;\n * call `updateNavCrowd(crowd, dt)` each frame for full determinism.\n */\nexport function createNavCrowd(plugin: NavigationPlugin, maxAgents: number, maxAgentRadius: number): NavCrowd {\n    _assertReady(plugin);\n    const Crowd = plugin._recast.Crowd;\n    const crowd = new Crowd(plugin._navMesh, { maxAgents, maxAgentRadius });\n    return { _plugin: plugin, _crowd: crowd };\n}\n\n/** Add an agent to the crowd. Returns the agent index. */\nexport function addAgent(crowd: NavCrowd, position: Vec3, params: AgentParameters): number {\n    const agentParams = {\n        radius: params.radius,\n        height: params.height,\n        maxAcceleration: params.maxAcceleration,\n        maxSpeed: params.maxSpeed,\n        collisionQueryRange: params.collisionQueryRange,\n        pathOptimizationRange: params.pathOptimizationRange,\n        separationWeight: params.separationWeight,\n        updateFlags: params.updateFlags ?? 7,\n        obstacleAvoidanceType: params.obstacleAvoidanceType ?? 0,\n        queryFilterType: params.queryFilterType ?? 0,\n        userData: 0,\n    };\n    const agent = crowd._crowd.addAgent({ x: position.x, y: position.y, z: position.z }, agentParams);\n    return agent.agentIndex;\n}\n\n/** Get the current world position of an agent. */\nexport function getAgentPosition(crowd: NavCrowd, index: number): Vec3 {\n    const p = crowd._crowd.getAgent(index)?.position();\n    return p ? { x: p.x, y: p.y, z: p.z } : { x: 0, y: 0, z: 0 };\n}\n\n/** Get the current world-space velocity of an agent. */\nexport function getAgentVelocity(crowd: NavCrowd, index: number): Vec3 {\n    const v = crowd._crowd.getAgent(index)?.velocity();\n    return v ? { x: v.x, y: v.y, z: v.z } : { x: 0, y: 0, z: 0 };\n}\n\n/** Request the agent to move toward a world target (constrained by navmesh). */\nexport function agentGoto(crowd: NavCrowd, index: number, destination: Vec3): void {\n    crowd._crowd.getAgent(index)?.requestMoveTarget(destination);\n}\n\n/** Advance the crowd simulation by `dt` seconds. */\nexport function updateNavCrowd(crowd: NavCrowd, dt: number): void {\n    crowd._crowd.update(dt);\n}\n\n// ─── Random queries ──────────────────────────────────────────────────\n\n/**\n * Return a random point on the navmesh inside a circle of `radius` around `position`.\n * Determinism: seeded by Recast's internal RNG; call `setNavigationRandomSeed`\n * to make results reproducible across runs.\n */\nexport function findRandomPointAroundCircle(plugin: NavigationPlugin, position: Vec3, radius: number): Vec3 {\n    _assertReady(plugin);\n    const res = plugin._navMeshQuery.findRandomPointAroundCircle(position, radius, { halfExtents: _tmpHalfExtents });\n    return { x: res.randomPoint.x, y: res.randomPoint.y, z: res.randomPoint.z };\n}\n\n/** Return any random point on the navmesh. */\nexport function findRandomPoint(plugin: NavigationPlugin): Vec3 {\n    _assertReady(plugin);\n    const res = plugin._navMeshQuery.findRandomPoint();\n    return { x: res.randomPoint.x, y: res.randomPoint.y, z: res.randomPoint.z };\n}\n\n/** Set the seed used by Recast's randomized queries (e.g. `findRandomPointAroundCircle`). */\nexport function setNavigationRandomSeed(plugin: NavigationPlugin, seed: number): void {\n    plugin._recast.setRandomSeed(seed);\n}\n\n/** Get the current seed used by Recast's randomized queries. */\nexport function getNavigationRandomSeed(plugin: NavigationPlugin): number {\n    return plugin._recast.getRandomSeed();\n}\n\n// ─── Raycast ────────────────────────────────────────────────────────\n\n/**\n * Cast a 'walkability' ray on the navmesh from `start` to `end`.\n * Matches BJS Addons semantics: `hit` is true only when `0 < t < 1` and\n * `hitPoint` is the linear interpolation between start and end at parameter t.\n *\n * Recast's raycast ignores the y component of the end position (2D check).\n */\nexport function raycast(plugin: NavigationPlugin, start: Vec3, end: Vec3): { hit: boolean; hitPoint?: Vec3 } {\n    _assertReady(plugin);\n    const q = plugin._navMeshQuery;\n    const nearest = q.findNearestPoly(start, { halfExtents: _tmpHalfExtents });\n    if (!nearest.success || nearest.nearestRef === 0) {\n        return { hit: false };\n    }\n    const r = q.raycast(nearest.nearestRef, start, end);\n    const t = r?.t ?? 0;\n    if (!(t > 0 && t < 1)) {\n        return { hit: false };\n    }\n    return {\n        hit: true,\n        hitPoint: {\n            x: start.x + (end.x - start.x) * t,\n            y: start.y + (end.y - start.y) * t,\n            z: start.z + (end.z - start.z) * t,\n        },\n    };\n}\n\n/**\n * Strict walkability ray: `true` when the straight segment from `start` to `end` is NOT provably\n * clear on the navmesh. Unlike {@link raycast} (BJS Addons parity: `hit` only for `0 < t < 1`),\n * an unresolvable start polygon and a wall at the very origin (Detour reports `t = 0`, which\n * happens whenever the probe origin lies on a boundary edge - e.g. a funnel corner) are BLOCKED:\n * \"cannot prove clear\" is blocked. Recast's raycast ignores the y component (2D check).\n */\nexport function navRayBlocked(plugin: NavigationPlugin, start: Vec3, end: Vec3): boolean {\n    _assertReady(plugin);\n    const q = plugin._navMeshQuery;\n    const nearest = q.findNearestPoly(start, { halfExtents: _tmpHalfExtents });\n    if (!nearest.success || nearest.nearestRef === 0) {\n        return true;\n    }\n    const r = q.raycast(nearest.nearestRef, start, end);\n    // Detour t semantics: t in [0,1] = wall at parameter t (0 = blocked at the origin);\n    // Finite FLT_MAX = the end was reached unobstructed. Fail closed: only a\n    // successful query with that \"reached the end\" value proves clear.\n    const t = r?.t;\n    return !(r?.success === true && typeof t === \"number\" && Number.isFinite(t) && t > 1);\n}\n\n// ─── Obstacles (tile-cache navmeshes only) ───────────────────────────\n\n/**\n * Add a box obstacle to a tile-cache navmesh. The navmesh must have been\n * built with `maxObstacles > 0`. The tile cache is fully updated before\n * returning (matching BJS Addons default behavior).\n *\n * @param halfExtents - box half-size on each axis\n * @param angle - rotation around the Y axis, in radians\n */\nexport function addBoxObstacle(plugin: NavigationPlugin, position: Vec3, halfExtents: Vec3, angle: number): ObstacleHandle | null {\n    _assertTileCache(plugin);\n    const r = plugin._tileCache.addBoxObstacle(position, halfExtents, angle);\n    if (!r.success) {\n        return null;\n    }\n    _waitForFullTileCacheUpdate(plugin);\n    return { _obstacle: r.obstacle };\n}\n\n/**\n * Add a cylinder obstacle to a tile-cache navmesh.\n *\n * @param radius - cylinder radius\n * @param height - cylinder height\n */\nexport function addCylinderObstacle(plugin: NavigationPlugin, position: Vec3, radius: number, height: number): ObstacleHandle | null {\n    _assertTileCache(plugin);\n    const r = plugin._tileCache.addCylinderObstacle(position, radius, height);\n    if (!r.success) {\n        return null;\n    }\n    _waitForFullTileCacheUpdate(plugin);\n    return { _obstacle: r.obstacle };\n}\n\n/** Remove an obstacle previously added by `addBoxObstacle` / `addCylinderObstacle`. */\nexport function removeObstacle(plugin: NavigationPlugin, obstacle: ObstacleHandle): void {\n    _assertTileCache(plugin);\n    plugin._tileCache.removeObstacle(obstacle._obstacle);\n    _waitForFullTileCacheUpdate(plugin);\n}\n\n/** Run `tileCache.update()` until all pending obstacle requests are resolved. */\nexport function updateNavMeshObstacles(plugin: NavigationPlugin): void {\n    _assertTileCache(plugin);\n    _waitForFullTileCacheUpdate(plugin);\n}\n\nfunction _waitForFullTileCacheUpdate(plugin: NavigationPlugin): void {\n    let upToDate = false;\n    while (!upToDate) {\n        const r = plugin._tileCache.update(plugin._navMesh);\n        upToDate = r.upToDate;\n    }\n}\n\nfunction _assertTileCache(plugin: NavigationPlugin): void {\n    _assertReady(plugin);\n    if (!plugin._tileCache) {\n        throw new Error(\"Navmesh has no tile cache. Build with `maxObstacles > 0` to enable obstacles.\");\n    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package/lib/post-process/taa.js

@@ -1,4 +1,5 @@
 import { F32 } from '../engine/typed-arrays.js';
+import { _cameraChangeKey } from '../camera/camera.js';
 import { createRenderTarget, disposeRenderTarget, buildRenderTarget } from '../engine/render-target.js';
 import { createPostProcessTask } from '../frame-graph/post-process-task.js';
 
@@ -96,7 +97,7 @@ function createTaaPostProcessTask(config, engine, scene) {
     },
     execute() {
       const cam = task._sourceRenderTask.scene.camera;
-      const camVer = cam ? cam.worldMatrixVersion : 0;
+      const camVer = cam ? _cameraChangeKey(cam) : 0;
       const moved = camVer !== task._lastCamVer;
       task._lastCamVer = camVer;
       const reset = task._firstUpdate || moved && task.disableOnCameraMove;

package/lib/post-process/taa.js.map

@@ -1 +1 @@
-{"version":3,"file":"taa.js","sources":["../../../src/post-process/taa.ts"],"sourcesContent":["// Temporal Anti-Aliasing (TAA) — a frame-graph post-process task.\n//\n// TAA jitters the camera projection by a sub-pixel Halton offset every frame and\n// accumulates a moving average of consecutive (jittered) frames. Spreading the\n// supersampling over time yields high-quality edge anti-aliasing without rendering\n// the scene multiple times per frame. The accumulated history converges to a\n// supersampled image after a few dozen frames.\n//\n// This task is a pure frame-graph node: add it at the END of a chain whose source\n// render task draws the scene into `sourceTexture`. Each frame it:\n//   1. blend     : temp = mix(history, current, factor)   (history bound as extra)\n//   2. present    : temp -> targetTexture (e.g. the swapchain)\n//   3. historyUpd : temp -> history        (becomes next frame's history)\n//   4. advances the Halton sequence and writes the jittered viewProjection into the\n//      *source render task's* scene UBO so the NEXT frame renders sub-pixel shifted.\n//\n// `factor` is the blend weight of the current frame (BJS default 0.05). On the first\n// frame and on a camera-move reset it is forced to 1 (output == current) so no stale\n// history bleeds in.\n//\n// The jitter is injected by overwriting only the viewProjection slice (bytes 0..63)\n// of the source task's already-packed scene UBO. The source task's UBO write is\n// cached on the camera's worldMatrixVersion, so with a static camera our jittered\n// matrix survives each frame; when the camera moves the source re-packs a clean\n// matrix (a natural reset) and we set factor=1 for that frame. This needs zero\n// changes to the shared camera / scene-uniform hot path — so scenes that do not use\n// TAA pay nothing.\n\nimport { F32 } from \"../engine/typed-arrays.js\";\nimport type { EngineContext } from \"../engine/engine.js\";\nimport type { RenderTarget } from \"../engine/render-target.js\";\nimport { buildRenderTarget, createRenderTarget, disposeRenderTarget } from \"../engine/render-target.js\";\nimport { createPostProcessTask, type PostProcessTask, type PostProcessTaskSettings } from \"../frame-graph/post-process-task.js\";\nimport type { RenderTask } from \"../frame-graph/render-task.js\";\nimport type { Task } from \"../frame-graph/task.js\";\nimport type { SceneContext } from \"../scene/scene-core.js\";\n\n/** Configuration for `createTaaPostProcessTask`. */\nexport interface TaaPostProcessTaskConfig extends PostProcessTaskSettings {\n    /** The render task that draws the scene into `sourceTexture`. TAA jitters this\n     *  task's camera projection each frame (mirrors BJS `FrameGraphTAATask.objectRendererTask`). */\n    sourceRenderTask: RenderTask;\n    /** Blend weight of the current frame against the accumulated history (default: 0.05). */\n    factor?: number;\n    /** Number of jitter samples in the Halton sequence (default: 8). */\n    samples?: number;\n    /** Force a one-frame reset (output == current) whenever the camera moves (default: true).\n     *  Avoids ghosting while the view changes. */\n    disableOnCameraMove?: boolean;\n}\n\n/** A Temporal Anti-Aliasing post-process task: accumulates jittered frames into an\n *  anti-aliased image. Inject at the end of a frame-graph chain. */\nexport interface TaaPostProcessTask extends Task, PostProcessTaskSettings {\n    readonly name: string;\n    sourceTexture: RenderTarget;\n    targetTexture: RenderTarget | null;\n    outputTexture: RenderTarget;\n    /** Blend weight of the current frame (smaller = smoother / slower convergence). */\n    factor: number;\n    /** Number of Halton jitter samples. */\n    readonly samples: number;\n    /** Reset to the current frame whenever the camera moves. */\n    disableOnCameraMove: boolean;\n    /** Recompute and upload the blend pass uniforms from current settings. */\n    updateUniforms(): void;\n}\n\ninterface TaaTaskInternal extends TaaPostProcessTask {\n    _blend: PostProcessTask;\n    _present: PostProcessTask;\n    _historyUpdate: PostProcessTask;\n    _history: RenderTarget;\n    _temp: RenderTarget;\n    _sourceRenderTask: RenderTask;\n    /** Raw Halton offsets in [-0.5, 0.5): [x0,y0, x1,y1, ...]. Scaled per-frame by source size. */\n    _halton: Float32Array;\n    _haltonIndex: number;\n    _jitterScratch: Float32Array;\n    _firstUpdate: boolean;\n    _lastCamVer: number;\n    _factor: number;\n}\n\nconst TAA_HISTORY_TEXTURE_WGSL = `@group(0) @binding(2) var taaHistory:texture_2d<f32>;`;\n\nconst TAA_UNIFORM_WGSL = `struct TaaParams{factor:f32,p0:f32,p1:f32,p2:f32}\n@group(0) @binding(3) var<uniform> taaParams:TaaParams;`;\n\n// mix(history, current, factor): factor=1 -> current only (first frame / reset).\nconst TAA_FRAGMENT_WGSL = `fn applyPostProcess(color:vec4f, uv:vec2f)->vec4f{let h=textureSample(taaHistory,sourceSampler,uv);return mix(h,color,taaParams.factor);}`;\n\n// Identity passthrough used by the present + history-update copies.\nconst TAA_COPY_FRAGMENT_WGSL = `fn applyPostProcess(color:vec4f, uv:vec2f)->vec4f{return color;}`;\n\n/**\n * Create a Temporal Anti-Aliasing post-process task.\n * @param config - Source texture + source render task, blend factor, sample count.\n * @param engine - The owning engine.\n * @param scene - Optional owning scene.\n * @returns The TAA post-process task. Add it at the end of the frame-graph chain.\n */\nexport function createTaaPostProcessTask(config: TaaPostProcessTaskConfig, engine: EngineContext, scene?: SceneContext): TaaPostProcessTask {\n    const name = config.name ?? \"taa\";\n    const source = config.sourceTexture;\n    const target = config.targetTexture ?? null;\n    // Clamp to >= 1: a zero/negative sample count would make `generateHalton` return an\n    // empty sequence and `advanceJitter` write NaN jitter offsets into the source UBO.\n    const samples = Math.max(1, Math.floor(config.samples ?? 8));\n    const sizeRef = source._descriptor.size;\n\n    // History accumulates at RGBA16F so the 0.05 moving average does not band on\n    // an 8-bit buffer (matches BJS half-float history).\n    const history = createRenderTarget({ lbl: `${name}-history`, format: \"rgba16float\", samples: 1, size: sizeRef });\n    const temp = createRenderTarget({ lbl: `${name}-temp`, format: \"rgba16float\", samples: 1, size: sizeRef });\n\n    const blend = createPostProcessTask(\n        {\n            name: `${name}-blend`,\n            sourceTexture: source,\n            // Nearest sampling reads the exact co-located texel of both the current\n            // frame and the history (all three targets share a resolution).\n            sourceSamplingMode: \"nearest\",\n            targetTexture: temp,\n            _shader: {\n                extraTextureWGSL: TAA_HISTORY_TEXTURE_WGSL,\n                extraTextures: [history],\n                uniformWGSL: TAA_UNIFORM_WGSL,\n                uniformBinding: 3,\n                uniformByteLength: 16,\n                writeUniforms(data) {\n                    data[0] = task._factor;\n                },\n                fragmentWGSL: TAA_FRAGMENT_WGSL,\n            },\n        },\n        engine,\n        scene\n    );\n    const present = createPostProcessTask(\n        {\n            name: `${name}-present`,\n            sourceTexture: temp,\n            sourceSamplingMode: \"nearest\",\n            targetTexture: target ?? engine.scRT,\n            _shader: { fragmentWGSL: TAA_COPY_FRAGMENT_WGSL },\n        },\n        engine,\n        scene\n    );\n    const historyUpdate = createPostProcessTask(\n        {\n            name: `${name}-history-update`,\n            sourceTexture: temp,\n            sourceSamplingMode: \"nearest\",\n            targetTexture: history,\n            _shader: { fragmentWGSL: TAA_COPY_FRAGMENT_WGSL },\n        },\n        engine,\n        scene\n    );\n\n    const task: TaaTaskInternal = {\n        name,\n        engine,\n        scene,\n        _passes: [],\n        sourceTexture: source,\n        targetTexture: target,\n        outputTexture: target ?? engine.scRT,\n        factor: config.factor ?? 0.05,\n        samples,\n        disableOnCameraMove: config.disableOnCameraMove ?? true,\n        _blend: blend,\n        _present: present,\n        _historyUpdate: historyUpdate,\n        _history: history,\n        _temp: temp,\n        _sourceRenderTask: config.sourceRenderTask,\n        _halton: generateHalton(samples),\n        _haltonIndex: 0,\n        _jitterScratch: new F32(16),\n        _firstUpdate: true,\n        _lastCamVer: -1,\n        _factor: 1,\n        record(): void {\n            // History + temp are persistent ping-pong buffers: allocate them once\n            // (eager), sized to the source, and only reallocate on a real size change.\n            // Marking them eager makes the sub-tasks' internal `buildRenderTarget`\n            // no-op on them — critical because `historyUpdate` targets `history`, and a\n            // rebuild there would destroy the texture `blend`'s bind group references.\n            const { width: w, height: h } = resolveSourceSize(task.sourceTexture);\n            ensurePersistentTarget(history, engine, w, h);\n            ensurePersistentTarget(temp, engine, w, h);\n            blend.record();\n            present.record();\n            historyUpdate.record();\n            task._firstUpdate = true;\n            task._haltonIndex = 0;\n            task._lastCamVer = -1;\n        },\n        execute(): number {\n            const cam = task._sourceRenderTask.scene.camera;\n            const camVer = cam ? cam.worldMatrixVersion : 0;\n            const moved = camVer !== task._lastCamVer;\n            task._lastCamVer = camVer;\n\n            // factor=1 on the first frame and on camera-move reset: take the current\n            // (un-jittered) frame verbatim, discarding stale history.\n            const reset = task._firstUpdate || (moved && task.disableOnCameraMove);\n            task._factor = reset ? 1 : task.factor;\n            blend.updateUniforms();\n\n            let draws = blend.execute?.() ?? 0;\n            draws += present.execute?.() ?? 0;\n            draws += historyUpdate.execute?.() ?? 0;\n\n            task._firstUpdate = false;\n\n            // Prepare the NEXT frame's jitter: advance the Halton sequence and write the\n            // jittered viewProjection into the source task's UBO. Always done — even on a\n            // reset frame — so accumulation starts immediately on the following frame.\n            // The blend `factor` reset already prevents stale-history bleed, and a still-\n            // moving camera re-packs a clean matrix next frame anyway (overwriting this).\n            advanceJitter(task);\n            return draws;\n        },\n        updateUniforms(): void {\n            blend.updateUniforms();\n        },\n        dispose(): void {\n            task._passes.length = 0;\n            blend.dispose();\n            present.dispose();\n            historyUpdate.dispose();\n            // Clear the eager flag so the persistent buffers are actually freed.\n            history._eager = false;\n            temp._eager = false;\n            disposeRenderTarget(history);\n            disposeRenderTarget(temp);\n        },\n    };\n    return task;\n}\n\n/** Allocate (or, on a size change, reallocate) a persistent ping-pong target sized\n *  `width`×`height`. The target is marked `_eager` so the post-process sub-tasks'\n *  internal `buildRenderTarget` no-ops on it, keeping accumulated history alive across\n *  frames and preventing a rebuild from destroying a texture still bound elsewhere. */\nfunction ensurePersistentTarget(rt: RenderTarget, engine: EngineContext, width: number, height: number): void {\n    if (rt._eager && rt._width === width && rt._height === height) {\n        return;\n    }\n    rt._eager = false;\n    disposeRenderTarget(rt);\n    rt._descriptor.size = { width, height };\n    buildRenderTarget(rt, engine);\n    rt._eager = true;\n}\n\n/** Resolve a render target's pixel size: prefer its allocated dimensions, falling back\n *  to the descriptor's surface (multi-surface safe — does not assume the engine canvas)\n *  or explicit pixel size before the target has been built. */\nfunction resolveSourceSize(source: RenderTarget): { width: number; height: number } {\n    if (source._width > 0 && source._height > 0) {\n        return { width: source._width, height: source._height };\n    }\n    const size = source._descriptor.size;\n    if (\"canvas\" in size) {\n        return { width: size.canvas.width, height: size.canvas.height };\n    }\n    return { width: size.width, height: size.height };\n}\n\n/** Generate `samples` 2D Halton offsets (base 2 / base 3) centered on [-0.5, 0.5). */\nfunction generateHalton(samples: number): Float32Array {\n    const seq = new F32(samples * 2);\n    for (let i = 1; i <= samples; i++) {\n        seq[(i - 1) * 2] = halton(i, 2) - 0.5;\n        seq[(i - 1) * 2 + 1] = halton(i, 3) - 0.5;\n    }\n    return seq;\n}\n\nfunction halton(index: number, base: number): number {\n    let fraction = 1;\n    let result = 0;\n    while (index > 0) {\n        fraction /= base;\n        result += fraction * (index % base);\n        index = Math.floor(index / base);\n    }\n    return result;\n}\n\n/** Advance the Halton sequence and overwrite the source task's viewProjection\n *  (column-major bytes 0..63 of its scene UBO) with a sub-pixel jittered matrix. */\nfunction advanceJitter(task: TaaTaskInternal): void {\n    const src = task._sourceRenderTask;\n    const clean = src._suData;\n    const w = task.sourceTexture._width;\n    const h = task.sourceTexture._height;\n    if (w <= 0 || h <= 0) {\n        return;\n    }\n\n    // NDC sub-pixel offset: one pixel spans 2/size in NDC, so size/2 is the denominator.\n    const jx = task._halton[task._haltonIndex]! / (w / 2);\n    const jy = task._halton[task._haltonIndex + 1]! / (h / 2);\n    task._haltonIndex += 2;\n    if (task._haltonIndex >= task._halton.length) {\n        task._haltonIndex = 0;\n    }\n\n    // Translate the projected image by (jx, jy) in NDC: clip.xy += (jx,jy)*clip.w.\n    // Column-major: row r, col c lives at c*4+r. 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Each frame it:\n//   1. blend     : temp = mix(history, current, factor)   (history bound as extra)\n//   2. present    : temp -> targetTexture (e.g. the swapchain)\n//   3. historyUpd : temp -> history        (becomes next frame's history)\n//   4. advances the Halton sequence and writes the jittered viewProjection into the\n//      *source render task's* scene UBO so the NEXT frame renders sub-pixel shifted.\n//\n// `factor` is the blend weight of the current frame (BJS default 0.05). On the first\n// frame and on a camera-move reset it is forced to 1 (output == current) so no stale\n// history bleeds in.\n//\n// The jitter is injected by overwriting only the viewProjection slice (bytes 0..63)\n// of the source task's already-packed scene UBO. The source task's UBO write is\n// cached on the camera's worldMatrixVersion, so with a static camera our jittered\n// matrix survives each frame; when the camera moves the source re-packs a clean\n// matrix (a natural reset) and we set factor=1 for that frame. This needs zero\n// changes to the shared camera / scene-uniform hot path — so scenes that do not use\n// TAA pay nothing.\n\nimport { F32 } from \"../engine/typed-arrays.js\";\nimport { _cameraChangeKey } from \"../camera/camera.js\";\nimport type { EngineContext } from \"../engine/engine.js\";\nimport type { RenderTarget } from \"../engine/render-target.js\";\nimport { buildRenderTarget, createRenderTarget, disposeRenderTarget } from \"../engine/render-target.js\";\nimport { createPostProcessTask, type PostProcessTask, type PostProcessTaskSettings } from \"../frame-graph/post-process-task.js\";\nimport type { RenderTask } from \"../frame-graph/render-task.js\";\nimport type { Task } from \"../frame-graph/task.js\";\nimport type { SceneContext } from \"../scene/scene-core.js\";\n\n/** Configuration for `createTaaPostProcessTask`. */\nexport interface TaaPostProcessTaskConfig extends PostProcessTaskSettings {\n    /** The render task that draws the scene into `sourceTexture`. TAA jitters this\n     *  task's camera projection each frame (mirrors BJS `FrameGraphTAATask.objectRendererTask`). */\n    sourceRenderTask: RenderTask;\n    /** Blend weight of the current frame against the accumulated history (default: 0.05). */\n    factor?: number;\n    /** Number of jitter samples in the Halton sequence (default: 8). */\n    samples?: number;\n    /** Force a one-frame reset (output == current) whenever the camera moves (default: true).\n     *  Avoids ghosting while the view changes. */\n    disableOnCameraMove?: boolean;\n}\n\n/** A Temporal Anti-Aliasing post-process task: accumulates jittered frames into an\n *  anti-aliased image. Inject at the end of a frame-graph chain. */\nexport interface TaaPostProcessTask extends Task, PostProcessTaskSettings {\n    readonly name: string;\n    sourceTexture: RenderTarget;\n    targetTexture: RenderTarget | null;\n    outputTexture: RenderTarget;\n    /** Blend weight of the current frame (smaller = smoother / slower convergence). */\n    factor: number;\n    /** Number of Halton jitter samples. */\n    readonly samples: number;\n    /** Reset to the current frame whenever the camera moves. */\n    disableOnCameraMove: boolean;\n    /** Recompute and upload the blend pass uniforms from current settings. */\n    updateUniforms(): void;\n}\n\ninterface TaaTaskInternal extends TaaPostProcessTask {\n    _blend: PostProcessTask;\n    _present: PostProcessTask;\n    _historyUpdate: PostProcessTask;\n    _history: RenderTarget;\n    _temp: RenderTarget;\n    _sourceRenderTask: RenderTask;\n    /** Raw Halton offsets in [-0.5, 0.5): [x0,y0, x1,y1, ...]. Scaled per-frame by source size. */\n    _halton: Float32Array;\n    _haltonIndex: number;\n    _jitterScratch: Float32Array;\n    _firstUpdate: boolean;\n    _lastCamVer: number;\n    _factor: number;\n}\n\nconst TAA_HISTORY_TEXTURE_WGSL = `@group(0) @binding(2) var taaHistory:texture_2d<f32>;`;\n\nconst TAA_UNIFORM_WGSL = `struct TaaParams{factor:f32,p0:f32,p1:f32,p2:f32}\n@group(0) @binding(3) var<uniform> taaParams:TaaParams;`;\n\n// mix(history, current, factor): factor=1 -> current only (first frame / reset).\nconst TAA_FRAGMENT_WGSL = `fn applyPostProcess(color:vec4f, uv:vec2f)->vec4f{let h=textureSample(taaHistory,sourceSampler,uv);return mix(h,color,taaParams.factor);}`;\n\n// Identity passthrough used by the present + history-update copies.\nconst TAA_COPY_FRAGMENT_WGSL = `fn applyPostProcess(color:vec4f, uv:vec2f)->vec4f{return color;}`;\n\n/**\n * Create a Temporal Anti-Aliasing post-process task.\n * @param config - Source texture + source render task, blend factor, sample count.\n * @param engine - The owning engine.\n * @param scene - Optional owning scene.\n * @returns The TAA post-process task. Add it at the end of the frame-graph chain.\n */\nexport function createTaaPostProcessTask(config: TaaPostProcessTaskConfig, engine: EngineContext, scene?: SceneContext): TaaPostProcessTask {\n    const name = config.name ?? \"taa\";\n    const source = config.sourceTexture;\n    const target = config.targetTexture ?? null;\n    // Clamp to >= 1: a zero/negative sample count would make `generateHalton` return an\n    // empty sequence and `advanceJitter` write NaN jitter offsets into the source UBO.\n    const samples = Math.max(1, Math.floor(config.samples ?? 8));\n    const sizeRef = source._descriptor.size;\n\n    // History accumulates at RGBA16F so the 0.05 moving average does not band on\n    // an 8-bit buffer (matches BJS half-float history).\n    const history = createRenderTarget({ lbl: `${name}-history`, format: \"rgba16float\", samples: 1, size: sizeRef });\n    const temp = createRenderTarget({ lbl: `${name}-temp`, format: \"rgba16float\", samples: 1, size: sizeRef });\n\n    const blend = createPostProcessTask(\n        {\n            name: `${name}-blend`,\n            sourceTexture: source,\n            // Nearest sampling reads the exact co-located texel of both the current\n            // frame and the history (all three targets share a resolution).\n            sourceSamplingMode: \"nearest\",\n            targetTexture: temp,\n            _shader: {\n                extraTextureWGSL: TAA_HISTORY_TEXTURE_WGSL,\n                extraTextures: [history],\n                uniformWGSL: TAA_UNIFORM_WGSL,\n                uniformBinding: 3,\n                uniformByteLength: 16,\n                writeUniforms(data) {\n                    data[0] = task._factor;\n                },\n                fragmentWGSL: TAA_FRAGMENT_WGSL,\n            },\n        },\n        engine,\n        scene\n    );\n    const present = createPostProcessTask(\n        {\n            name: `${name}-present`,\n            sourceTexture: temp,\n            sourceSamplingMode: \"nearest\",\n            targetTexture: target ?? engine.scRT,\n            _shader: { fragmentWGSL: TAA_COPY_FRAGMENT_WGSL },\n        },\n        engine,\n        scene\n    );\n    const historyUpdate = createPostProcessTask(\n        {\n            name: `${name}-history-update`,\n            sourceTexture: temp,\n            sourceSamplingMode: \"nearest\",\n            targetTexture: history,\n            _shader: { fragmentWGSL: TAA_COPY_FRAGMENT_WGSL },\n        },\n        engine,\n        scene\n    );\n\n    const task: TaaTaskInternal = {\n        name,\n        engine,\n        scene,\n        _passes: [],\n        sourceTexture: source,\n        targetTexture: target,\n        outputTexture: target ?? engine.scRT,\n        factor: config.factor ?? 0.05,\n        samples,\n        disableOnCameraMove: config.disableOnCameraMove ?? true,\n        _blend: blend,\n        _present: present,\n        _historyUpdate: historyUpdate,\n        _history: history,\n        _temp: temp,\n        _sourceRenderTask: config.sourceRenderTask,\n        _halton: generateHalton(samples),\n        _haltonIndex: 0,\n        _jitterScratch: new F32(16),\n        _firstUpdate: true,\n        _lastCamVer: -1,\n        _factor: 1,\n        record(): void {\n            // History + temp are persistent ping-pong buffers: allocate them once\n            // (eager), sized to the source, and only reallocate on a real size change.\n            // Marking them eager makes the sub-tasks' internal `buildRenderTarget`\n            // no-op on them — critical because `historyUpdate` targets `history`, and a\n            // rebuild there would destroy the texture `blend`'s bind group references.\n            const { width: w, height: h } = resolveSourceSize(task.sourceTexture);\n            ensurePersistentTarget(history, engine, w, h);\n            ensurePersistentTarget(temp, engine, w, h);\n            blend.record();\n            present.record();\n            historyUpdate.record();\n            task._firstUpdate = true;\n            task._haltonIndex = 0;\n            task._lastCamVer = -1;\n        },\n        execute(): number {\n            const cam = task._sourceRenderTask.scene.camera;\n            const camVer = cam ? _cameraChangeKey(cam) : 0;\n            const moved = camVer !== task._lastCamVer;\n            task._lastCamVer = camVer;\n\n            // factor=1 on the first frame and on camera-move reset: take the current\n            // (un-jittered) frame verbatim, discarding stale history.\n            const reset = task._firstUpdate || (moved && task.disableOnCameraMove);\n            task._factor = reset ? 1 : task.factor;\n            blend.updateUniforms();\n\n            let draws = blend.execute?.() ?? 0;\n            draws += present.execute?.() ?? 0;\n            draws += historyUpdate.execute?.() ?? 0;\n\n            task._firstUpdate = false;\n\n            // Prepare the NEXT frame's jitter: advance the Halton sequence and write the\n            // jittered viewProjection into the source task's UBO. Always done — even on a\n            // reset frame — so accumulation starts immediately on the following frame.\n            // The blend `factor` reset already prevents stale-history bleed, and a still-\n            // moving camera re-packs a clean matrix next frame anyway (overwriting this).\n            advanceJitter(task);\n            return draws;\n        },\n        updateUniforms(): void {\n            blend.updateUniforms();\n        },\n        dispose(): void {\n            task._passes.length = 0;\n            blend.dispose();\n            present.dispose();\n            historyUpdate.dispose();\n            // Clear the eager flag so the persistent buffers are actually freed.\n            history._eager = false;\n            temp._eager = false;\n            disposeRenderTarget(history);\n            disposeRenderTarget(temp);\n        },\n    };\n    return task;\n}\n\n/** Allocate (or, on a size change, reallocate) a persistent ping-pong target sized\n *  `width`×`height`. The target is marked `_eager` so the post-process sub-tasks'\n *  internal `buildRenderTarget` no-ops on it, keeping accumulated history alive across\n *  frames and preventing a rebuild from destroying a texture still bound elsewhere. */\nfunction ensurePersistentTarget(rt: RenderTarget, engine: EngineContext, width: number, height: number): void {\n    if (rt._eager && rt._width === width && rt._height === height) {\n        return;\n    }\n    rt._eager = false;\n    disposeRenderTarget(rt);\n    rt._descriptor.size = { width, height };\n    buildRenderTarget(rt, engine);\n    rt._eager = true;\n}\n\n/** Resolve a render target's pixel size: prefer its allocated dimensions, falling back\n *  to the descriptor's surface (multi-surface safe — does not assume the engine canvas)\n *  or explicit pixel size before the target has been built. */\nfunction resolveSourceSize(source: RenderTarget): { width: number; height: number } {\n    if (source._width > 0 && source._height > 0) {\n        return { width: source._width, height: source._height };\n    }\n    const size = source._descriptor.size;\n    if (\"canvas\" in size) {\n        return { width: size.canvas.width, height: size.canvas.height };\n    }\n    return { width: size.width, height: size.height };\n}\n\n/** Generate `samples` 2D Halton offsets (base 2 / base 3) centered on [-0.5, 0.5). */\nfunction generateHalton(samples: number): Float32Array {\n    const seq = new F32(samples * 2);\n    for (let i = 1; i <= samples; i++) {\n        seq[(i - 1) * 2] = halton(i, 2) - 0.5;\n        seq[(i - 1) * 2 + 1] = halton(i, 3) - 0.5;\n    }\n    return seq;\n}\n\nfunction halton(index: number, base: number): number {\n    let fraction = 1;\n    let result = 0;\n    while (index > 0) {\n        fraction /= base;\n        result += fraction * (index % base);\n        index = Math.floor(index / base);\n    }\n    return result;\n}\n\n/** Advance the Halton sequence and overwrite the source task's viewProjection\n *  (column-major bytes 0..63 of its scene UBO) with a sub-pixel jittered matrix. */\nfunction advanceJitter(task: TaaTaskInternal): void {\n    const src = task._sourceRenderTask;\n    const clean = src._suData;\n    const w = task.sourceTexture._width;\n    const h = task.sourceTexture._height;\n    if (w <= 0 || h <= 0) {\n        return;\n    }\n\n    // NDC sub-pixel offset: one pixel spans 2/size in NDC, so size/2 is the denominator.\n    const jx = task._halton[task._haltonIndex]! / (w / 2);\n    const jy = task._halton[task._haltonIndex + 1]! / (h / 2);\n    task._haltonIndex += 2;\n    if (task._haltonIndex >= task._halton.length) {\n        task._haltonIndex = 0;\n    }\n\n    // Translate the projected image by (jx, jy) in NDC: clip.xy += (jx,jy)*clip.w.\n    // Column-major: row r, col c lives at c*4+r. 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package/lib/shadow/csm-shadow-task-hooks.js

@@ -1,5 +1,5 @@
 import { removeMeshFromTask, createRenderTask } from '../frame-graph/render-task.js';
-import { getViewProjectionMatrix } from '../camera/camera.js';
+import { _cameraChangeKey, getEffectiveAspectRatio, getViewProjectionMatrix } from '../camera/camera.js';
 import { mat4Invert } from '../math/mat4-invert.js';
 import { createShadowCamera, casterVersionSum, updateShadowCameraBase, buildLightViewMatrix, multiply4x4 } from './shadow-base.js';
 import { preloadPcfShadowTaskState, getNoColorView } from './pcf-shadow-task-hooks.js';
@@ -139,6 +139,7 @@ function ensureCsmShadowTaskState(engine, scene, sg, cfg, casterMeshes, existing
     _lastCasterVersion: -1,
     _lastLightVersion: -1,
     _lastCamVersion: -1,
+    _lastCamAspect: -1,
     _uboData: new Float32Array(80),
     _casterMeshes: casterMeshes,
     _renderableVersion: scene._renderableVersion,
@@ -156,11 +157,12 @@ function renderCsmShadowMap(engine, sg, state, cfg) {
   }
   const casterVersion = casterVersionSum(casterMeshes);
   const lightVersion = sg._light.worldMatrixVersion;
-  const camVersion = camera.worldMatrixVersion;
-  if (!cfg._forceRefreshEveryFrame && casterVersion === state._lastCasterVersion && lightVersion === state._lastLightVersion && camVersion === state._lastCamVersion) {
+  const camVersion = _cameraChangeKey(camera);
+  const camAspect = csmCameraAspect(state._scene, camera);
+  if (!cfg._forceRefreshEveryFrame && casterVersion === state._lastCasterVersion && lightVersion === state._lastLightVersion && camVersion === state._lastCamVersion && camAspect === state._lastCamAspect) {
     return 0;
   }
-  const cascades = _computeCsmCascades(engine, camera, sg._light, cfg, casterMeshes);
+  const cascades = _computeCsmCascades(state._scene, camera, sg._light, cfg, casterMeshes);
   _writeCsmUbo(state._uboData, cascades, cfg);
   sg._version++;
   engine._device.queue.writeBuffer(sg._shadowUBO, 0, state._uboData);
@@ -180,6 +182,7 @@ function renderCsmShadowMap(engine, sg, state, cfg) {
   state._lastCasterVersion = casterVersion;
   state._lastLightVersion = lightVersion;
   state._lastCamVersion = camVersion;
+  state._lastCamAspect = camAspect;
   return state._task.execute?.() ?? 0;
 }
 const FRUSTUM_NDC = [
@@ -210,7 +213,11 @@ function orthoOffCenterLH(l, r, b, t, n, f) {
   m[15] = 1;
   return m;
 }
-function _computeCsmCascades(engine, camera, light, cfg, casterMeshes) {
+function csmCameraAspect(scene, camera) {
+  const rt = scene.surface.scRT;
+  return getEffectiveAspectRatio(camera, rt._width, rt._height);
+}
+function _computeCsmCascades(scene, camera, light, cfg, casterMeshes) {
   const near = camera.nearPlane;
   const far = camera.farPlane;
   const cameraRange = far - near;
@@ -245,7 +252,7 @@ function _computeCsmCascades(engine, camera, light, cfg, casterMeshes) {
   if (Math.abs(dy) >= 1) {
     dz = 1e-13;
   }
-  const aspect = engine.canvas.width / engine.canvas.height;
+  const aspect = csmCameraAspect(scene, camera);
   const vp = getViewProjectionMatrix(camera, aspect);
   const inv = mat4Invert(vp);
   const invViewProj = inv ?? vp;