@babylonjs/lite 1.6.0 → 1.8.0

package/lib/mesh/thin-instance-gpu-culling.js.map

@@ -1 +1 @@
-{"version":3,"file":"thin-instance-gpu-culling.js","sources":["../../../src/mesh/thin-instance-gpu-culling.ts"],"sourcesContent":["/** GPU frustum culling for opt-in thin instances.\n *\n * Dynamically imported only when a scene enables thin-instance GPU culling.\n * Each render binding owns its own state so render tasks with different cameras\n * never clobber one another's compacted instance buffers or indirect args.\n */\n\nimport { F32, U32 } from \"../engine/typed-arrays.js\";\nimport { BU } from \"../engine/gpu-flags.js\";\nimport type { Camera } from \"../camera/camera.js\";\nimport { getViewProjectionMatrix } from \"../camera/camera.js\";\nimport type { EngineContext } from \"../engine/engine.js\";\nimport type { DrawUpdateContext } from \"../render/renderable.js\";\nimport type { Mat4 } from \"../math/types.js\";\nimport type { Mesh, MeshGPU } from \"./mesh.js\";\nimport type { ThinInstanceData } from \"./thin-instance.js\";\nimport { syncThinInstanceGpuData } from \"./thin-instance-gpu.js\";\nimport type { ThinInstanceDrawBuffers } from \"./thin-instance-gpu.js\";\n\nconst WORKGROUP_SIZE = 64;\nconst PARAM_BYTES = 192;\nconst COUNT_U32_OFFSET = 44;\nconst MESH_WORLD_FLOAT_OFFSET = 24;\nconst LOCAL_SPHERE_FLOAT_OFFSET = 40;\nconst INDIRECT_ARGS_BYTES = 20;\n\nconst CULL_WGSL_NO_COLOR = /* wgsl */ `\nstruct CullParams{planes:array<vec4<f32>,6>,meshWorld:mat4x4<f32>,localSphere:vec4<f32>,count:u32};\n@group(0)@binding(0)var<storage,read> srcMatrices:array<mat4x4<f32>>;\n@group(0)@binding(1)var<storage,read_write> dstMatrices:array<mat4x4<f32>>;\n@group(0)@binding(2)var<storage,read_write> args:array<atomic<u32>>;\n@group(0)@binding(3)var<uniform> params:CullParams;\nfn visible(world:mat4x4<f32>)->bool{\nlet center=(world*vec4<f32>(params.localSphere.xyz,1.0)).xyz;\nlet sx=length(world[0].xyz);\nlet sy=length(world[1].xyz);\nlet sz=length(world[2].xyz);\nlet radius=params.localSphere.w*max(max(sx,sy),sz)+0.0001;\nfor(var i=0u;i<6u;i++){\nlet p=params.planes[i];\nif(dot(p.xyz,center)+p.w < -radius){return false;}\n}\nreturn true;\n}\n@compute @workgroup_size(64)\nfn main(@builtin(global_invocation_id) gid:vec3<u32>){\nlet i=gid.x;\nif(i>=params.count){return;}\nlet world=params.meshWorld*srcMatrices[i];\nif(!visible(world)){return;}\nlet outIndex=atomicAdd(&args[1],1u);\ndstMatrices[outIndex]=srcMatrices[i];\n}`;\n\nconst CULL_WGSL_COLOR = `${CULL_WGSL_NO_COLOR}\n@group(0)@binding(4)var<storage,read> srcColors:array<vec4<f32>>;\n@group(0)@binding(5)var<storage,read_write> dstColors:array<vec4<f32>>;\n@compute @workgroup_size(64)\nfn mainColor(@builtin(global_invocation_id) gid:vec3<u32>){\nlet i=gid.x;\nif(i>=params.count){return;}\nlet world=params.meshWorld*srcMatrices[i];\nif(!visible(world)){return;}\nlet outIndex=atomicAdd(&args[1],1u);\ndstMatrices[outIndex]=srcMatrices[i];\ndstColors[outIndex]=srcColors[i];\n}`;\n\n/** Per-render-binding GPU culling state. */\nexport interface ThinInstanceGpuCullState {\n    /** @internal */\n    _capacity: number;\n    /** @internal */\n    _visibleMatrixBuffer: GPUBuffer | null;\n    /** @internal */\n    _visibleColorBuffer: GPUBuffer | null;\n    /** @internal */\n    _argsBuffer: GPUBuffer | null;\n    /** @internal */\n    _paramsBuffer: GPUBuffer | null;\n    /** @internal */\n    _bindGroup: GPUBindGroup | null;\n    /** @internal */\n    _srcMatrixBuffer: GPUBuffer | null;\n    /** @internal */\n    _srcColorBuffer: GPUBuffer | null;\n    /** @internal */\n    _hasColor: boolean;\n    /** @internal */\n    _localSphereReady: boolean;\n    /** @internal */\n    _localSphere: Float32Array;\n    /** @internal */\n    _paramsBytes: ArrayBuffer;\n    /** @internal */\n    _paramsF32: Float32Array;\n    /** @internal */\n    _paramsU32: Uint32Array;\n    /** @internal */\n    _argsData: Uint32Array;\n    /** @internal */\n    _drawBuffers: ThinInstanceDrawBuffers | null;\n}\n\n/** Result consumed by a material draw closure after culling has run for the active pass. */\nexport interface ThinInstanceGpuCullResult {\n    readonly drawBuffers: ThinInstanceDrawBuffers;\n    readonly argsBuffer: GPUBuffer;\n}\n\nlet _cachedDevice: GPUDevice | null = null;\nlet _pipelineNoColor: GPUComputePipeline | null = null;\nlet _pipelineColor: GPUComputePipeline | null = null;\n\n/** Create per-binding culling state. */\nexport function createTiCullState(): ThinInstanceGpuCullState {\n    const paramsBytes = new ArrayBuffer(PARAM_BYTES);\n    return {\n        _capacity: 0,\n        _visibleMatrixBuffer: null,\n        _visibleColorBuffer: null,\n        _argsBuffer: null,\n        _paramsBuffer: null,\n        _bindGroup: null,\n        _srcMatrixBuffer: null,\n        _srcColorBuffer: null,\n        _hasColor: false,\n        _localSphereReady: false,\n        _localSphere: new F32(4),\n        _paramsBytes: paramsBytes,\n        _paramsF32: new F32(paramsBytes),\n        _paramsU32: new U32(paramsBytes),\n        _argsData: new U32(5),\n        _drawBuffers: null,\n    };\n}\n\n/** Destroy GPU resources owned by a per-binding cull state. */\nexport function destroyTiCullState(state: ThinInstanceGpuCullState): void {\n    state._visibleMatrixBuffer?.destroy();\n    state._visibleColorBuffer?.destroy();\n    state._argsBuffer?.destroy();\n    state._paramsBuffer?.destroy();\n    state._visibleMatrixBuffer = null;\n    state._visibleColorBuffer = null;\n    state._argsBuffer = null;\n    state._paramsBuffer = null;\n    state._bindGroup = null;\n    state._drawBuffers = null;\n}\n\n/** Run culling for one render binding and return buffers for the subsequent indirect draw. */\nexport function prepareTiCull(\n    engine: EngineContext,\n    state: ThinInstanceGpuCullState,\n    mesh: Mesh,\n    gpu: MeshGPU,\n    ti: ThinInstanceData,\n    hasColor: boolean,\n    context: DrawUpdateContext\n): ThinInstanceGpuCullResult | null {\n    const camera = context._camera;\n    if (!ti._gpuCullingEnabled || !camera || mesh.visible === false || ti.count === 0) {\n        state._drawBuffers = null;\n        return null;\n    }\n    if (hasColor && !ti.colors) {\n        state._drawBuffers = null;\n        return null;\n    }\n    if (!state._localSphereReady && !computeLocalSphere(mesh as Mesh, state._localSphere)) {\n        state._drawBuffers = null;\n        return null;\n    }\n    state._localSphereReady = true;\n\n    syncThinInstanceGpuData(engine, ti, hasColor);\n    const sourceMatrixBuffer = ti._gpuBuffer;\n    const sourceColorBuffer = hasColor ? ti._colorGpuBuffer : null;\n    if (!sourceMatrixBuffer || (hasColor && !sourceColorBuffer)) {\n        state._drawBuffers = null;\n        return null;\n    }\n\n    ensureCullBuffers(engine, state, ti._capacity, hasColor);\n    const visibleMatrixBuffer = state._visibleMatrixBuffer!;\n    const visibleColorBuffer = hasColor ? state._visibleColorBuffer! : null;\n    const argsBuffer = state._argsBuffer!;\n    const paramsBuffer = state._paramsBuffer!;\n    const pipeline = getCullPipeline(engine, hasColor);\n\n    if (state._bindGroup === null || state._srcMatrixBuffer !== sourceMatrixBuffer || state._srcColorBuffer !== sourceColorBuffer || state._hasColor !== hasColor) {\n        const entries: GPUBindGroupEntry[] = [\n            { binding: 0, resource: { buffer: sourceMatrixBuffer } },\n            { binding: 1, resource: { buffer: visibleMatrixBuffer } },\n            { binding: 2, resource: { buffer: argsBuffer } },\n            { binding: 3, resource: { buffer: paramsBuffer } },\n        ];\n        if (hasColor) {\n            entries.push({ binding: 4, resource: { buffer: sourceColorBuffer! } }, { binding: 5, resource: { buffer: visibleColorBuffer! } });\n        }\n        state._bindGroup = engine._device.createBindGroup({ layout: pipeline.getBindGroupLayout(0), entries });\n        state._srcMatrixBuffer = sourceMatrixBuffer;\n        state._srcColorBuffer = sourceColorBuffer;\n        state._hasColor = hasColor;\n    }\n\n    const v = camera.viewport;\n    const aspect = (context.targetWidth / context.targetHeight) * (v ? v.width / v.height : 1);\n    writeCullParams(engine, state, mesh, gpu.indexCount, ti.count, camera, aspect);\n\n    const pass = engine._currentEncoder.beginComputePass();\n    pass.setPipeline(pipeline);\n    pass.setBindGroup(0, state._bindGroup);\n    pass.dispatchWorkgroups(Math.ceil(ti.count / WORKGROUP_SIZE));\n    pass.end();\n\n    state._drawBuffers = { matrixBuffer: visibleMatrixBuffer, colorBuffer: visibleColorBuffer };\n    return { drawBuffers: state._drawBuffers, argsBuffer };\n}\n\nfunction ensureCullBuffers(engine: EngineContext, state: ThinInstanceGpuCullState, capacity: number, hasColor: boolean): void {\n    const device = engine._device;\n    if (state._capacity < capacity) {\n        state._visibleMatrixBuffer?.destroy();\n        state._visibleColorBuffer?.destroy();\n        state._visibleMatrixBuffer = device.createBuffer({\n            size: Math.max(capacity * 64, 4),\n            usage: BU.VERTEX | BU.STORAGE,\n        });\n        state._visibleColorBuffer = hasColor\n            ? device.createBuffer({\n                  size: Math.max(capacity * 16, 4),\n                  usage: BU.VERTEX | BU.STORAGE,\n              })\n            : null;\n        state._capacity = capacity;\n        state._bindGroup = null;\n        state._drawBuffers = null;\n    } else if (hasColor && !state._visibleColorBuffer) {\n        state._visibleColorBuffer = device.createBuffer({\n            size: Math.max(state._capacity * 16, 4),\n            usage: BU.VERTEX | BU.STORAGE,\n        });\n        state._bindGroup = null;\n        state._drawBuffers = null;\n    }\n    if (!state._argsBuffer) {\n        state._argsBuffer = device.createBuffer({\n            size: INDIRECT_ARGS_BYTES,\n            usage: BU.INDIRECT | BU.STORAGE | BU.COPY_DST,\n        });\n    }\n    if (!state._paramsBuffer) {\n        state._paramsBuffer = device.createBuffer({\n            size: PARAM_BYTES,\n            usage: BU.UNIFORM | BU.COPY_DST,\n        });\n    }\n}\n\nfunction getCullPipeline(engine: EngineContext, hasColor: boolean): GPUComputePipeline {\n    const device = engine._device;\n    if (_cachedDevice !== device) {\n        _cachedDevice = device;\n        _pipelineNoColor = null;\n        _pipelineColor = null;\n    }\n    if (hasColor) {\n        _pipelineColor ??= device.createComputePipeline({\n            layout: \"auto\",\n            compute: { module: device.createShaderModule({ code: CULL_WGSL_COLOR }), entryPoint: \"mainColor\" },\n        });\n        return _pipelineColor;\n    }\n    _pipelineNoColor ??= device.createComputePipeline({\n        layout: \"auto\",\n        compute: { module: device.createShaderModule({ code: CULL_WGSL_NO_COLOR }), entryPoint: \"main\" },\n    });\n    return _pipelineNoColor;\n}\n\nfunction writeCullParams(engine: EngineContext, state: ThinInstanceGpuCullState, mesh: Mesh, indexCount: number, instanceCount: number, camera: Camera, aspect: number): void {\n    const params = state._paramsF32;\n    const viewProjection = getViewProjectionMatrix(camera, aspect);\n    writeFrustumPlanes(params, viewProjection);\n    params.set(mesh.worldMatrix, MESH_WORLD_FLOAT_OFFSET);\n    params.set(state._localSphere, LOCAL_SPHERE_FLOAT_OFFSET);\n    state._paramsU32[COUNT_U32_OFFSET] = instanceCount;\n\n    const args = state._argsData;\n    args[0] = indexCount;\n    args[1] = 0;\n    args[2] = 0;\n    args[3] = 0;\n    args[4] = 0;\n\n    engine._device.queue.writeBuffer(state._argsBuffer!, 0, args.buffer, args.byteOffset, args.byteLength);\n    engine._device.queue.writeBuffer(state._paramsBuffer!, 0, state._paramsBytes);\n}\n\nfunction writeFrustumPlanes(out: Float32Array, m: Mat4): void {\n    writePlane(out, 0, m[3]! + m[0]!, m[7]! + m[4]!, m[11]! + m[8]!, m[15]! + m[12]!);\n    writePlane(out, 4, m[3]! - m[0]!, m[7]! - m[4]!, m[11]! - m[8]!, m[15]! - m[12]!);\n    writePlane(out, 8, m[3]! + m[1]!, m[7]! + m[5]!, m[11]! + m[9]!, m[15]! + m[13]!);\n    writePlane(out, 12, m[3]! - m[1]!, m[7]! - m[5]!, m[11]! - m[9]!, m[15]! - m[13]!);\n    writePlane(out, 16, m[2]!, m[6]!, m[10]!, m[14]!);\n    writePlane(out, 20, m[3]! - m[2]!, m[7]! - m[6]!, m[11]! - m[10]!, m[15]! - m[14]!);\n}\n\nfunction writePlane(out: Float32Array, offset: number, x: number, y: number, z: number, w: number): void {\n    const invLen = 1 / Math.hypot(x, y, z);\n    out[offset] = x * invLen;\n    out[offset + 1] = y * invLen;\n    out[offset + 2] = z * invLen;\n    out[offset + 3] = w * invLen;\n}\n\nfunction computeLocalSphere(mesh: Mesh, out: Float32Array): boolean {\n    const positions = mesh._cpuPositions;\n    if (!positions || positions.length < 3) {\n        return false;\n    }\n    let minX = Infinity,\n        minY = Infinity,\n        minZ = Infinity;\n    let maxX = -Infinity,\n        maxY = -Infinity,\n        maxZ = -Infinity;\n    for (let i = 0; i < positions.length; i += 3) 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+{"version":3,"file":"thin-instance-gpu-culling.js","sources":["../../../src/mesh/thin-instance-gpu-culling.ts"],"sourcesContent":["/** GPU frustum culling for opt-in thin instances.\n *\n * Dynamically imported only when a scene enables thin-instance GPU culling.\n * Each render binding owns its own state so render tasks with different cameras\n * never clobber one another's compacted instance buffers or indirect args.\n */\n\nimport { F32, U32 } from \"../engine/typed-arrays.js\";\nimport { BU } from \"../engine/gpu-flags.js\";\nimport type { Camera } from \"../camera/camera.js\";\nimport { getViewProjectionMatrix } from \"../camera/camera.js\";\nimport type { EngineContext } from \"../engine/engine.js\";\nimport type { DrawUpdateContext } from \"../render/renderable.js\";\nimport type { Mat4 } from \"../math/types.js\";\nimport type { Mesh, MeshGPU } from \"./mesh.js\";\nimport type { ThinInstanceData } from \"./thin-instance.js\";\nimport { syncThinInstanceGpuData } from \"./thin-instance-gpu.js\";\nimport type { ThinInstanceDrawBuffers } from \"./thin-instance-gpu.js\";\n\nconst WORKGROUP_SIZE = 64;\nconst PARAM_BYTES = 192;\nconst COUNT_U32_OFFSET = 44;\nconst MESH_WORLD_FLOAT_OFFSET = 24;\nconst LOCAL_SPHERE_FLOAT_OFFSET = 40;\nconst BOUNDS_PAD_F32_OFFSET = 45;\nconst INDIRECT_ARGS_BYTES = 20;\n\nconst CULL_WGSL_NO_COLOR = /* wgsl */ `\nstruct CullParams{planes:array<vec4<f32>,6>,meshWorld:mat4x4<f32>,localSphere:vec4<f32>,count:u32,boundsPad:f32};\n@group(0)@binding(0)var<storage,read> srcMatrices:array<mat4x4<f32>>;\n@group(0)@binding(1)var<storage,read_write> dstMatrices:array<mat4x4<f32>>;\n@group(0)@binding(2)var<storage,read_write> args:array<atomic<u32>>;\n@group(0)@binding(3)var<uniform> params:CullParams;\nfn visible(world:mat4x4<f32>)->bool{\nlet center=(world*vec4<f32>(params.localSphere.xyz,1.0)).xyz;\nlet sx=length(world[0].xyz);\nlet sy=length(world[1].xyz);\nlet sz=length(world[2].xyz);\nlet radius=params.localSphere.w*max(max(sx,sy),sz)+params.boundsPad+0.0001;\nfor(var i=0u;i<6u;i++){\nlet p=params.planes[i];\nif(dot(p.xyz,center)+p.w < -radius){return false;}\n}\nreturn true;\n}\n@compute @workgroup_size(64)\nfn main(@builtin(global_invocation_id) gid:vec3<u32>){\nlet i=gid.x;\nif(i>=params.count){return;}\nlet world=params.meshWorld*srcMatrices[i];\nif(!visible(world)){return;}\nlet outIndex=atomicAdd(&args[1],1u);\ndstMatrices[outIndex]=srcMatrices[i];\n}`;\n\nconst CULL_WGSL_COLOR = `${CULL_WGSL_NO_COLOR}\n@group(0)@binding(4)var<storage,read> srcColors:array<vec4<f32>>;\n@group(0)@binding(5)var<storage,read_write> dstColors:array<vec4<f32>>;\n@compute @workgroup_size(64)\nfn mainColor(@builtin(global_invocation_id) gid:vec3<u32>){\nlet i=gid.x;\nif(i>=params.count){return;}\nlet world=params.meshWorld*srcMatrices[i];\nif(!visible(world)){return;}\nlet outIndex=atomicAdd(&args[1],1u);\ndstMatrices[outIndex]=srcMatrices[i];\ndstColors[outIndex]=srcColors[i];\n}`;\n\n/** Per-render-binding GPU culling state. */\nexport interface ThinInstanceGpuCullState {\n    /** @internal */\n    _capacity: number;\n    /** @internal */\n    _visibleMatrixBuffer: GPUBuffer | null;\n    /** @internal */\n    _visibleColorBuffer: GPUBuffer | null;\n    /** @internal */\n    _argsBuffer: GPUBuffer | null;\n    /** @internal */\n    _paramsBuffer: GPUBuffer | null;\n    /** @internal */\n    _bindGroup: GPUBindGroup | null;\n    /** @internal */\n    _srcMatrixBuffer: GPUBuffer | null;\n    /** @internal */\n    _srcColorBuffer: GPUBuffer | null;\n    /** @internal */\n    _hasColor: boolean;\n    /** @internal */\n    _localSphereReady: boolean;\n    /** @internal */\n    _localSphere: Float32Array;\n    /** @internal */\n    _paramsBytes: ArrayBuffer;\n    /** @internal */\n    _paramsF32: Float32Array;\n    /** @internal */\n    _paramsU32: Uint32Array;\n    /** @internal */\n    _argsData: Uint32Array;\n    /** @internal */\n    _drawBuffers: ThinInstanceDrawBuffers | null;\n}\n\n/** Result consumed by a material draw closure after culling has run for the active pass. */\nexport interface ThinInstanceGpuCullResult {\n    readonly drawBuffers: ThinInstanceDrawBuffers;\n    readonly argsBuffer: GPUBuffer;\n}\n\nlet _cachedDevice: GPUDevice | null = null;\nlet _pipelineNoColor: GPUComputePipeline | null = null;\nlet _pipelineColor: GPUComputePipeline | null = null;\n\n/** Create per-binding culling state. */\nexport function createTiCullState(): ThinInstanceGpuCullState {\n    const paramsBytes = new ArrayBuffer(PARAM_BYTES);\n    return {\n        _capacity: 0,\n        _visibleMatrixBuffer: null,\n        _visibleColorBuffer: null,\n        _argsBuffer: null,\n        _paramsBuffer: null,\n        _bindGroup: null,\n        _srcMatrixBuffer: null,\n        _srcColorBuffer: null,\n        _hasColor: false,\n        _localSphereReady: false,\n        _localSphere: new F32(4),\n        _paramsBytes: paramsBytes,\n        _paramsF32: new F32(paramsBytes),\n        _paramsU32: new U32(paramsBytes),\n        _argsData: new U32(5),\n        _drawBuffers: null,\n    };\n}\n\n/** Destroy GPU resources owned by a per-binding cull state. */\nexport function destroyTiCullState(state: ThinInstanceGpuCullState): void {\n    state._visibleMatrixBuffer?.destroy();\n    state._visibleColorBuffer?.destroy();\n    state._argsBuffer?.destroy();\n    state._paramsBuffer?.destroy();\n    state._visibleMatrixBuffer = null;\n    state._visibleColorBuffer = null;\n    state._argsBuffer = null;\n    state._paramsBuffer = null;\n    state._bindGroup = null;\n    state._drawBuffers = null;\n}\n\n/** Run culling for one render binding and return buffers for the subsequent indirect draw. */\nexport function prepareTiCull(\n    engine: EngineContext,\n    state: ThinInstanceGpuCullState,\n    mesh: Mesh,\n    gpu: MeshGPU,\n    ti: ThinInstanceData,\n    hasColor: boolean,\n    context: DrawUpdateContext\n): ThinInstanceGpuCullResult | null {\n    const camera = context._camera;\n    if (!ti._gpuCullingEnabled || !camera || mesh.visible === false || ti.count === 0) {\n        state._drawBuffers = null;\n        return null;\n    }\n    if (hasColor && !ti.colors) {\n        state._drawBuffers = null;\n        return null;\n    }\n    if (!state._localSphereReady && !computeLocalSphere(mesh as Mesh, state._localSphere)) {\n        state._drawBuffers = null;\n        return null;\n    }\n    state._localSphereReady = true;\n\n    syncThinInstanceGpuData(engine, ti, hasColor);\n    const sourceMatrixBuffer = ti._gpuBuffer;\n    const sourceColorBuffer = hasColor ? ti._colorGpuBuffer : null;\n    if (!sourceMatrixBuffer || (hasColor && !sourceColorBuffer)) {\n        state._drawBuffers = null;\n        return null;\n    }\n\n    ensureCullBuffers(engine, state, ti._capacity, hasColor);\n    const visibleMatrixBuffer = state._visibleMatrixBuffer!;\n    const visibleColorBuffer = hasColor ? state._visibleColorBuffer! : null;\n    const argsBuffer = state._argsBuffer!;\n    const paramsBuffer = state._paramsBuffer!;\n    const pipeline = getCullPipeline(engine, hasColor);\n\n    if (state._bindGroup === null || state._srcMatrixBuffer !== sourceMatrixBuffer || state._srcColorBuffer !== sourceColorBuffer || state._hasColor !== hasColor) {\n        const entries: GPUBindGroupEntry[] = [\n            { binding: 0, resource: { buffer: sourceMatrixBuffer } },\n            { binding: 1, resource: { buffer: visibleMatrixBuffer } },\n            { binding: 2, resource: { buffer: argsBuffer } },\n            { binding: 3, resource: { buffer: paramsBuffer } },\n        ];\n        if (hasColor) {\n            entries.push({ binding: 4, resource: { buffer: sourceColorBuffer! } }, { binding: 5, resource: { buffer: visibleColorBuffer! } });\n        }\n        state._bindGroup = engine._device.createBindGroup({ layout: pipeline.getBindGroupLayout(0), entries });\n        state._srcMatrixBuffer = sourceMatrixBuffer;\n        state._srcColorBuffer = sourceColorBuffer;\n        state._hasColor = hasColor;\n    }\n\n    const v = camera.viewport;\n    const aspect = (context.targetWidth / context.targetHeight) * (v ? v.width / v.height : 1);\n    writeCullParams(engine, state, mesh, gpu.indexCount, ti.count, camera, aspect);\n\n    const pass = engine._currentEncoder.beginComputePass();\n    pass.setPipeline(pipeline);\n    pass.setBindGroup(0, state._bindGroup);\n    pass.dispatchWorkgroups(Math.ceil(ti.count / WORKGROUP_SIZE));\n    pass.end();\n\n    state._drawBuffers = { matrixBuffer: visibleMatrixBuffer, colorBuffer: visibleColorBuffer };\n    return { drawBuffers: state._drawBuffers, argsBuffer };\n}\n\nfunction ensureCullBuffers(engine: EngineContext, state: ThinInstanceGpuCullState, capacity: number, hasColor: boolean): void {\n    const device = engine._device;\n    if (state._capacity < capacity) {\n        state._visibleMatrixBuffer?.destroy();\n        state._visibleColorBuffer?.destroy();\n        state._visibleMatrixBuffer = device.createBuffer({\n            size: Math.max(capacity * 64, 4),\n            usage: BU.VERTEX | BU.STORAGE,\n        });\n        state._visibleColorBuffer = hasColor\n            ? device.createBuffer({\n                  size: Math.max(capacity * 16, 4),\n                  usage: BU.VERTEX | BU.STORAGE,\n              })\n            : null;\n        state._capacity = capacity;\n        state._bindGroup = null;\n        state._drawBuffers = null;\n    } else if (hasColor && !state._visibleColorBuffer) {\n        state._visibleColorBuffer = device.createBuffer({\n            size: Math.max(state._capacity * 16, 4),\n            usage: BU.VERTEX | BU.STORAGE,\n        });\n        state._bindGroup = null;\n        state._drawBuffers = null;\n    }\n    if (!state._argsBuffer) {\n        state._argsBuffer = device.createBuffer({\n            size: INDIRECT_ARGS_BYTES,\n            usage: BU.INDIRECT | BU.STORAGE | BU.COPY_DST,\n        });\n    }\n    if (!state._paramsBuffer) {\n        state._paramsBuffer = device.createBuffer({\n            size: PARAM_BYTES,\n            usage: BU.UNIFORM | BU.COPY_DST,\n        });\n    }\n}\n\nfunction getCullPipeline(engine: EngineContext, hasColor: boolean): GPUComputePipeline {\n    const device = engine._device;\n    if (_cachedDevice !== device) {\n        _cachedDevice = device;\n        _pipelineNoColor = null;\n        _pipelineColor = null;\n    }\n    if (hasColor) {\n        _pipelineColor ??= device.createComputePipeline({\n            layout: \"auto\",\n            compute: { module: device.createShaderModule({ code: CULL_WGSL_COLOR }), entryPoint: \"mainColor\" },\n        });\n        return _pipelineColor;\n    }\n    _pipelineNoColor ??= device.createComputePipeline({\n        layout: \"auto\",\n        compute: { module: device.createShaderModule({ code: CULL_WGSL_NO_COLOR }), entryPoint: \"main\" },\n    });\n    return _pipelineNoColor;\n}\n\nfunction writeCullParams(engine: EngineContext, state: ThinInstanceGpuCullState, mesh: Mesh, indexCount: number, instanceCount: number, camera: Camera, aspect: number): void {\n    const params = state._paramsF32;\n    const viewProjection = getViewProjectionMatrix(camera, aspect);\n    writeFrustumPlanes(params, viewProjection);\n    params.set(mesh.worldMatrix, MESH_WORLD_FLOAT_OFFSET);\n    params.set(state._localSphere, LOCAL_SPHERE_FLOAT_OFFSET);\n    state._paramsU32[COUNT_U32_OFFSET] = instanceCount;\n    params[BOUNDS_PAD_F32_OFFSET] = mesh.thinInstances?._cullBoundsPad ?? 0;\n\n    const args = state._argsData;\n    args[0] = indexCount;\n    args[1] = 0;\n    args[2] = 0;\n    args[3] = 0;\n    args[4] = 0;\n\n    engine._device.queue.writeBuffer(state._argsBuffer!, 0, args.buffer, args.byteOffset, args.byteLength);\n    engine._device.queue.writeBuffer(state._paramsBuffer!, 0, state._paramsBytes);\n}\n\nfunction writeFrustumPlanes(out: Float32Array, m: Mat4): void {\n    writePlane(out, 0, m[3]! + m[0]!, m[7]! + m[4]!, m[11]! + m[8]!, m[15]! + m[12]!);\n    writePlane(out, 4, m[3]! - m[0]!, m[7]! - m[4]!, m[11]! - m[8]!, m[15]! - m[12]!);\n    writePlane(out, 8, m[3]! + m[1]!, m[7]! + m[5]!, m[11]! + m[9]!, m[15]! + m[13]!);\n    writePlane(out, 12, m[3]! - m[1]!, m[7]! - m[5]!, m[11]! - m[9]!, m[15]! - m[13]!);\n    writePlane(out, 16, m[2]!, m[6]!, m[10]!, m[14]!);\n    writePlane(out, 20, m[3]! - m[2]!, m[7]! - m[6]!, m[11]! - m[10]!, m[15]! - m[14]!);\n}\n\nfunction writePlane(out: Float32Array, offset: number, x: number, y: number, z: number, w: number): void {\n    const invLen = 1 / Math.hypot(x, y, z);\n    out[offset] = x * invLen;\n    out[offset + 1] = y * invLen;\n    out[offset + 2] = z * invLen;\n    out[offset + 3] = w * invLen;\n}\n\nfunction computeLocalSphere(mesh: Mesh, out: 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 const dx = maxX - cx;\n    const dy = maxY - cy;\n    const dz = maxZ - cz;\n    out[0] = cx;\n    out[1] = cy;\n    out[2] = cz;\n    out[3] = Math.hypot(dx, dy, dz);\n    return 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package/lib/mesh/thin-instance.js

@@ -135,6 +135,13 @@ function enableThinInstanceGpuCulling(mesh, enabled = true) {
   ti._gpuVersion = -1;
   ti._colorGpuVersion = -1;
 }
+function setThinInstanceCullBoundsPad(mesh, pad) {
+  const ti = mesh.thinInstances;
+  if (!ti) {
+    throw new Error("setThinInstanceCullBoundsPad requires mesh.thinInstances");
+  }
+  ti._cullBoundsPad = pad;
+}
 
-export { addThinInstance, enableThinInstanceGpuCulling, flushThinInstances, removeThinInstance, setThinInstanceColor, setThinInstanceColors, setThinInstanceCount, setThinInstanceMatrix, setThinInstances };
+export { addThinInstance, enableThinInstanceGpuCulling, flushThinInstances, removeThinInstance, setThinInstanceColor, setThinInstanceColors, setThinInstanceCount, setThinInstanceCullBoundsPad, setThinInstanceMatrix, setThinInstances };
 //# sourceMappingURL=thin-instance.js.map

package/lib/mesh/thin-instance.js.map

@@ -1 +1 @@
-{"version":3,"file":"thin-instance.js","sources":["../../../src/mesh/thin-instance.ts"],"sourcesContent":["/** Thin instances — CPU-side data for hardware-instanced rendering.\n *  Each instance carries a world matrix (16 floats) and optionally a\n *  per-instance color (4 floats). The render system creates and syncs\n *  GPU buffers automatically via version tracking. */\n\nimport { F32 } from \"../engine/typed-arrays.js\";\nimport type { Mat4 } from \"../math/types.js\";\nimport type { Mesh } from \"./mesh.js\";\n\n/** CPU-side data backing a thin-instanced mesh: world matrices, optional colors, and GPU sync state. */\nexport interface ThinInstanceData {\n    /** CPU-side instance world matrices (16 floats per instance). Storage may\n     *  be Float32Array (default) or Float64Array (after an HPM engine is\n     *  constructed; the caller built the slab via `allocateMat4()`). The GPU\n     *  upload path in thin-instance-gpu.ts handles both (REQ-API-3, D5). */\n    matrices: Float32Array | Float64Array;\n    /** Active instance count. */\n    count: number;\n    /** @internal Allocated capacity (in instances). */\n    _capacity: number;\n    /** @internal Version counter — bumped by helpers, checked by render system. */\n    _version: number;\n    /** @internal GPU buffer — created and managed by render system, not user. */\n    _gpuBuffer: GPUBuffer | null;\n    /** @internal Whether the current matrix GPU buffer was created with STORAGE usage. */\n    _gpuBufferStorage: boolean;\n    /** @internal Last version uploaded to GPU. */\n    _gpuVersion: number;\n\n    /** @internal Min dirty instance index (inclusive). */\n    _dirtyMin: number;\n    /** @internal Max dirty instance index (exclusive). */\n    _dirtyMax: number;\n\n    /** Optional per-instance RGBA colors (4 floats per instance). */\n    colors?: Float32Array | null;\n    /** @internal Color version counter — independent of matrix version. */\n    _colorVersion: number;\n    /** @internal Min dirty color instance index (inclusive) — mirrors the matrix dirty range so\n     *  per-instance color updates (setThinInstanceColor) upload only the touched span. */\n    _colorDirtyMin: number;\n    /** @internal Max dirty color instance index (exclusive). */\n    _colorDirtyMax: number;\n    /** @internal GPU buffer for per-instance colors. */\n    _colorGpuBuffer: GPUBuffer | null;\n    /** @internal Whether the current color GPU buffer was created with STORAGE usage. */\n    _colorGpuBufferStorage: boolean;\n    /** @internal Last color version uploaded to GPU. */\n    _colorGpuVersion: number;\n\n    /** @internal Lazy per-mesh F32 upload scratch. Allocated by thin-instance-gpu.ts only\n     *  when `matrices` is F64-backed (HPM-on); F32-backed input takes a direct\n     *  writeBuffer fast-path. Sized in floats = `_capacity * 16`. */\n    _uploadF32?: Float32Array;\n\n    /** @internal Opt-in flag for GPU frustum culling + indirect drawing. */\n    _gpuCullingEnabled: boolean;\n}\n\n/** Set all instances from a pre-built matrix array. */\nexport function setThinInstances(mesh: Mesh, matrices: Float32Array | Float64Array, count: number): void {\n    if (!mesh.thinInstances) {\n        mesh.thinInstances = {\n            matrices,\n            count,\n            _capacity: count,\n            _version: 1,\n            _gpuBuffer: null,\n            _gpuBufferStorage: false,\n            _gpuVersion: 0,\n            _dirtyMin: 0,\n            _dirtyMax: count,\n            _colorVersion: 0,\n            _colorDirtyMin: 0,\n            _colorDirtyMax: 0,\n            _colorGpuBuffer: null,\n            _colorGpuBufferStorage: false,\n            _colorGpuVersion: 0,\n            _gpuCullingEnabled: false,\n        };\n    } else {\n        mesh.thinInstances.matrices = matrices;\n        mesh.thinInstances.count = count;\n        mesh.thinInstances._capacity = count;\n        mesh.thinInstances._version++;\n        mesh.thinInstances._dirtyMin = 0;\n        mesh.thinInstances._dirtyMax = count;\n    }\n}\n\n/** Update ONLY the active instance count (and re-upload the [0,count) matrix range), leaving `_capacity`\n *  — and therefore the already-allocated GPU buffer — untouched. This is the way to vary how many instances\n *  draw FRAME-TO-FRAME on an established thin-instanced mesh WITHOUT recreating the GPU buffer (which would\n *  invalidate any cached render/shadow bundle that captured the old buffer handle). Pre-size the buffer once\n *  with `setThinInstances(mesh, matrices, capacity)`, then call this each update with `count <= capacity`.\n *  The draw reads `count` live, so the bundle stays valid. Caller must keep writing into the SAME `matrices`\n *  array the mesh already references. No-op if the mesh isn't thin-instanced yet. */\nexport function setThinInstanceCount(mesh: Mesh, count: number): void {\n    const ti = mesh.thinInstances;\n    if (!ti) {\n        return;\n    }\n    ti.count = count;\n    ti._version++;\n    ti._dirtyMin = 0;\n    ti._dirtyMax = count;\n}\n\n/** Add one instance. Returns its index. Grows capacity as needed. */\nexport function addThinInstance(mesh: Mesh, matrix: Mat4): number {\n    const ti = mesh.thinInstances;\n    if (!ti) {\n        const capacity = 16;\n        const matrices = new F32(capacity * 16);\n        matrices.set(matrix, 0);\n        mesh.thinInstances = {\n            matrices,\n            count: 1,\n            _capacity: capacity,\n            _version: 1,\n            _gpuBuffer: null,\n            _gpuBufferStorage: false,\n            _gpuVersion: 0,\n            _dirtyMin: 0,\n            _dirtyMax: 1,\n            _colorVersion: 0,\n            _colorDirtyMin: 0,\n            _colorDirtyMax: 0,\n            _colorGpuBuffer: null,\n            _colorGpuBufferStorage: false,\n            _colorGpuVersion: 0,\n            _gpuCullingEnabled: false,\n        };\n        return 0;\n    }\n\n    const index = ti.count;\n    if (index >= ti._capacity) {\n        const newCap = ti._capacity * 2;\n        const newData = new F32(newCap * 16);\n        newData.set(ti.matrices);\n        ti.matrices = newData;\n        ti._capacity = newCap;\n    }\n\n    ti.matrices.set(matrix, index * 16);\n    ti.count++;\n    ti._version++;\n    ti._dirtyMin = 0;\n    ti._dirtyMax = ti.count;\n    return index;\n}\n\n/** Update one instance's matrix. */\nexport function setThinInstanceMatrix(mesh: Mesh, index: number, matrix: Mat4): void {\n    const ti = mesh.thinInstances!;\n    ti.matrices.set(matrix, index * 16);\n    ti._version++;\n    ti._dirtyMin = Math.min(ti._dirtyMin, index);\n    ti._dirtyMax = Math.max(ti._dirtyMax, index + 1);\n}\n\n/** Remove instance by index. Swap-removes: last instance fills the gap. */\nexport function removeThinInstance(mesh: Mesh, index: number): void {\n    const ti = mesh.thinInstances!;\n    const last = ti.count - 1;\n    if (index !== last) {\n        ti.matrices.copyWithin(index * 16, last * 16, last * 16 + 16);\n    }\n    ti.count--;\n    ti._version++;\n    ti._dirtyMin = 0;\n    ti._dirtyMax = ti.count;\n}\n\n/** Mark thin instance data dirty after direct array manipulation. */\nexport function flushThinInstances(mesh: Mesh): void {\n    const ti = mesh.thinInstances!;\n    ti._version++;\n    ti._dirtyMin = 0;\n    ti._dirtyMax = ti.count;\n}\n\n/** Set per-instance RGBA colors for a thin-instanced mesh. */\nexport function setThinInstanceColors(mesh: Mesh, colors: Float32Array): void {\n    const ti = mesh.thinInstances!;\n    ti.colors = colors;\n    ti._colorVersion++;\n    ti._colorDirtyMin = 0;\n    ti._colorDirtyMax = ti.count;\n}\n\n/** Update ONE instance's RGBA color in place — the color twin of `setThinInstanceMatrix`. Only the\n *  touched span re-uploads (dirty-range), so per-instance color churn (e.g. streamed instances carrying\n *  per-slot animation timestamps) stays cheap on large pools. Requires colors to have been set via\n *  `setThinInstanceColors` first. */\nexport function setThinInstanceColor(mesh: Mesh, index: number, r: number, g: number, b: number, a: number): void {\n    const ti = mesh.thinInstances!;\n    const c = ti.colors!;\n    const o = index * 4;\n    c[o] = r;\n    c[o + 1] = g;\n    c[o + 2] = b;\n    c[o + 3] = a;\n    ti._colorVersion++;\n    ti._colorDirtyMin = Math.min(ti._colorDirtyMin, index);\n    ti._colorDirtyMax = Math.max(ti._colorDirtyMax, index + 1);\n}\n\n/** Enable or disable GPU frustum culling for an existing thin-instanced mesh.\n *\n * Call this after `setThinInstances()`/`addThinInstance()` and before `registerScene()`.\n * The render system keeps the feature opt-in so non-culled thin-instance scenes do not\n * fetch the compute-culling module or allocate compacted visible-instance buffers.\n */\nexport function enableThinInstanceGpuCulling(mesh: Mesh, enabled = true): void {\n    const ti = mesh.thinInstances;\n    if (!ti) {\n 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+{"version":3,"file":"thin-instance.js","sources":["../../../src/mesh/thin-instance.ts"],"sourcesContent":["/** Thin instances — CPU-side data for hardware-instanced rendering.\n *  Each instance carries a world matrix (16 floats) and optionally a\n *  per-instance color (4 floats). The render system creates and syncs\n *  GPU buffers automatically via version tracking. */\n\nimport { F32 } from \"../engine/typed-arrays.js\";\nimport type { Mat4 } from \"../math/types.js\";\nimport type { Mesh } from \"./mesh.js\";\n\n/** CPU-side data backing a thin-instanced mesh: world matrices, optional colors, and GPU sync state. */\nexport interface ThinInstanceData {\n    /** CPU-side instance world matrices (16 floats per instance). Storage may\n     *  be Float32Array (default) or Float64Array (after an HPM engine is\n     *  constructed; the caller built the slab via `allocateMat4()`). The GPU\n     *  upload path in thin-instance-gpu.ts handles both (REQ-API-3, D5). */\n    matrices: Float32Array | Float64Array;\n    /** Active instance count. */\n    count: number;\n    /** @internal Allocated capacity (in instances). */\n    _capacity: number;\n    /** @internal Version counter — bumped by helpers, checked by render system. */\n    _version: number;\n    /** @internal GPU buffer — created and managed by render system, not user. */\n    _gpuBuffer: GPUBuffer | null;\n    /** @internal Whether the current matrix GPU buffer was created with STORAGE usage. */\n    _gpuBufferStorage: boolean;\n    /** @internal Last version uploaded to GPU. */\n    _gpuVersion: number;\n\n    /** @internal Min dirty instance index (inclusive). */\n    _dirtyMin: number;\n    /** @internal Max dirty instance index (exclusive). */\n    _dirtyMax: number;\n\n    /** Optional per-instance RGBA colors (4 floats per instance). */\n    colors?: Float32Array | null;\n    /** @internal Color version counter — independent of matrix version. */\n    _colorVersion: number;\n    /** @internal Min dirty color instance index (inclusive) — mirrors the matrix dirty range so\n     *  per-instance color updates (setThinInstanceColor) upload only the touched span. */\n    _colorDirtyMin: number;\n    /** @internal Max dirty color instance index (exclusive). */\n    _colorDirtyMax: number;\n    /** @internal GPU buffer for per-instance colors. */\n    _colorGpuBuffer: GPUBuffer | null;\n    /** @internal Whether the current color GPU buffer was created with STORAGE usage. */\n    _colorGpuBufferStorage: boolean;\n    /** @internal Last color version uploaded to GPU. */\n    _colorGpuVersion: number;\n\n    /** @internal Lazy per-mesh F32 upload scratch. Allocated by thin-instance-gpu.ts only\n     *  when `matrices` is F64-backed (HPM-on); F32-backed input takes a direct\n     *  writeBuffer fast-path. Sized in floats = `_capacity * 16`. */\n    _uploadF32?: Float32Array;\n\n    /** @internal Opt-in flag for GPU frustum culling + indirect drawing. */\n    _gpuCullingEnabled: boolean;\n\n    /** @internal Extra world-space radius added to every instance's culling sphere\n     *  (see `setThinInstanceCullBoundsPad`). Undefined reads as 0. */\n    _cullBoundsPad?: number;\n}\n\n/** Set all instances from a pre-built matrix array. */\nexport function setThinInstances(mesh: Mesh, matrices: Float32Array | Float64Array, count: number): void {\n    if (!mesh.thinInstances) {\n        mesh.thinInstances = {\n            matrices,\n            count,\n            _capacity: count,\n            _version: 1,\n            _gpuBuffer: null,\n            _gpuBufferStorage: false,\n            _gpuVersion: 0,\n            _dirtyMin: 0,\n            _dirtyMax: count,\n            _colorVersion: 0,\n            _colorDirtyMin: 0,\n            _colorDirtyMax: 0,\n            _colorGpuBuffer: null,\n            _colorGpuBufferStorage: false,\n            _colorGpuVersion: 0,\n            _gpuCullingEnabled: false,\n        };\n    } else {\n        mesh.thinInstances.matrices = matrices;\n        mesh.thinInstances.count = count;\n        mesh.thinInstances._capacity = count;\n        mesh.thinInstances._version++;\n        mesh.thinInstances._dirtyMin = 0;\n        mesh.thinInstances._dirtyMax = count;\n    }\n}\n\n/** Update ONLY the active instance count (and re-upload the [0,count) matrix range), leaving `_capacity`\n *  — and therefore the already-allocated GPU buffer — untouched. This is the way to vary how many instances\n *  draw FRAME-TO-FRAME on an established thin-instanced mesh WITHOUT recreating the GPU buffer (which would\n *  invalidate any cached render/shadow bundle that captured the old buffer handle). Pre-size the buffer once\n *  with `setThinInstances(mesh, matrices, capacity)`, then call this each update with `count <= capacity`.\n *  The draw reads `count` live, so the bundle stays valid. Caller must keep writing into the SAME `matrices`\n *  array the mesh already references. No-op if the mesh isn't thin-instanced yet. */\nexport function setThinInstanceCount(mesh: Mesh, count: number): void {\n    const ti = mesh.thinInstances;\n    if (!ti) {\n        return;\n    }\n    ti.count = count;\n    ti._version++;\n    ti._dirtyMin = 0;\n    ti._dirtyMax = count;\n}\n\n/** Add one instance. Returns its index. Grows capacity as needed. */\nexport function addThinInstance(mesh: Mesh, matrix: Mat4): number {\n    const ti = mesh.thinInstances;\n    if (!ti) {\n        const capacity = 16;\n        const matrices = new F32(capacity * 16);\n        matrices.set(matrix, 0);\n        mesh.thinInstances = {\n            matrices,\n            count: 1,\n            _capacity: capacity,\n            _version: 1,\n            _gpuBuffer: null,\n            _gpuBufferStorage: false,\n            _gpuVersion: 0,\n            _dirtyMin: 0,\n            _dirtyMax: 1,\n            _colorVersion: 0,\n            _colorDirtyMin: 0,\n            _colorDirtyMax: 0,\n            _colorGpuBuffer: null,\n            _colorGpuBufferStorage: false,\n            _colorGpuVersion: 0,\n            _gpuCullingEnabled: false,\n        };\n        return 0;\n    }\n\n    const index = ti.count;\n    if (index >= ti._capacity) {\n        const newCap = ti._capacity * 2;\n        const newData = new F32(newCap * 16);\n        newData.set(ti.matrices);\n        ti.matrices = newData;\n        ti._capacity = newCap;\n    }\n\n    ti.matrices.set(matrix, index * 16);\n    ti.count++;\n    ti._version++;\n    ti._dirtyMin = 0;\n    ti._dirtyMax = ti.count;\n    return index;\n}\n\n/** Update one instance's matrix. */\nexport function setThinInstanceMatrix(mesh: Mesh, index: number, matrix: Mat4): void {\n    const ti = mesh.thinInstances!;\n    ti.matrices.set(matrix, index * 16);\n    ti._version++;\n    ti._dirtyMin = Math.min(ti._dirtyMin, index);\n    ti._dirtyMax = Math.max(ti._dirtyMax, index + 1);\n}\n\n/** Remove instance by index. Swap-removes: last instance fills the gap. */\nexport function removeThinInstance(mesh: Mesh, index: number): void {\n    const ti = mesh.thinInstances!;\n    const last = ti.count - 1;\n    if (index !== last) {\n        ti.matrices.copyWithin(index * 16, last * 16, last * 16 + 16);\n    }\n    ti.count--;\n    ti._version++;\n    ti._dirtyMin = 0;\n    ti._dirtyMax = ti.count;\n}\n\n/** Mark thin instance data dirty after direct array manipulation. */\nexport function flushThinInstances(mesh: Mesh): void {\n    const ti = mesh.thinInstances!;\n    ti._version++;\n    ti._dirtyMin = 0;\n    ti._dirtyMax = ti.count;\n}\n\n/** Set per-instance RGBA colors for a thin-instanced mesh. */\nexport function setThinInstanceColors(mesh: Mesh, colors: Float32Array): void {\n    const ti = mesh.thinInstances!;\n    ti.colors = colors;\n    ti._colorVersion++;\n    ti._colorDirtyMin = 0;\n    ti._colorDirtyMax = ti.count;\n}\n\n/** Update ONE instance's RGBA color in place — the color twin of `setThinInstanceMatrix`. Only the\n *  touched span re-uploads (dirty-range), so per-instance color churn (e.g. streamed instances carrying\n *  per-slot animation timestamps) stays cheap on large pools. Requires colors to have been set via\n *  `setThinInstanceColors` first. */\nexport function setThinInstanceColor(mesh: Mesh, index: number, r: number, g: number, b: number, a: number): void {\n    const ti = mesh.thinInstances!;\n    const c = ti.colors!;\n    const o = index * 4;\n    c[o] = r;\n    c[o + 1] = g;\n    c[o + 2] = b;\n    c[o + 3] = a;\n    ti._colorVersion++;\n    ti._colorDirtyMin = Math.min(ti._colorDirtyMin, index);\n    ti._colorDirtyMax = Math.max(ti._colorDirtyMax, index + 1);\n}\n\n/** Enable or disable GPU frustum culling for an existing thin-instanced mesh.\n *\n * Call this after `setThinInstances()`/`addThinInstance()` and before `registerScene()`.\n * The render system keeps the feature opt-in so non-culled thin-instance scenes do not\n * fetch the compute-culling module or allocate compacted visible-instance buffers.\n */\nexport function enableThinInstanceGpuCulling(mesh: Mesh, enabled = true): void {\n    const ti = mesh.thinInstances;\n    if (!ti) {\n        throw new Error(\"enableThinInstanceGpuCulling requires mesh.thinInstances\");\n    }\n    if (ti._gpuCullingEnabled === enabled) {\n        return;\n    }\n    ti._gpuCullingEnabled = enabled;\n    ti._gpuVersion = -1;\n    ti._colorGpuVersion = -1;\n}\n\n/** Set an extra WORLD-SPACE radius added to every instance's GPU-culling sphere.\n *\n * The culler derives each instance's sphere from the prototype's authored vertex bounds, so a\n * vertex shader that DISPLACES geometry beyond them — terrain-following height offsets, tall wind\n * sway, growth animations — can move a visible instance outside its sphere and pop it at the\n * screen edge. The usual workaround is disabling culling for the whole mesh; padding the sphere\n * by the maximum shader displacement instead keeps culling both correct and enabled.\n *\n * The pad is in world units, applied after per-instance scaling. 0 restores the exact authored\n * bounds. Takes effect on the next culled pass (the culler reads it when writing its per-pass\n * params), so it can be changed live.\n */\nexport function setThinInstanceCullBoundsPad(mesh: Mesh, pad: number): void {\n    const ti = mesh.thinInstances;\n    if (!ti) {\n        throw new Error(\"setThinInstanceCullBoundsPad requires mesh.thinInstances\");\n    }\n    ti._cullBoundsPad = 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package/lib/navigation/index.js

@@ -1,2 +1,2 @@
-export { addAgent, addBoxObstacle, addCylinderObstacle, agentGoto, computePath, createDebugNavMeshGeometry, createNavCrowd, createNavMesh, createNavMeshFromSources, createNavigationPluginAsync, disposeNavigationPlugin, findRandomPoint, findRandomPointAroundCircle, getAgentPosition, getAgentVelocity, getClosestPoint, getNavigationRandomSeed, raycast, removeObstacle, setNavigationRandomSeed, updateNavCrowd, updateNavMeshObstacles } from './navigation.js';
+export { addAgent, addBoxObstacle, addCylinderObstacle, agentGoto, computePath, createDebugNavMeshGeometry, createNavCrowd, createNavMesh, createNavMeshFromSources, createNavigationPluginAsync, disposeNavigationPlugin, findClosestPointWithin, findRandomPoint, findRandomPointAroundCircle, getAgentPosition, getAgentVelocity, getClosestPoint, getNavigationRandomSeed, raycast, removeObstacle, setNavigationRandomSeed, updateNavCrowd, updateNavMeshObstacles } from './navigation.js';
 //# sourceMappingURL=index.js.map

package/lib/navigation/navigation.js

@@ -277,6 +277,14 @@ function getClosestPoint(plugin, position) {
   const res = plugin._navMeshQuery.findClosestPoint(position, { halfExtents: _tmpHalfExtents });
   return { x: res.point.x, y: res.point.y, z: res.point.z };
 }
+function findClosestPointWithin(plugin, position, halfExtents) {
+  _assertReady(plugin);
+  const res = plugin._navMeshQuery.findClosestPoint(position, { halfExtents });
+  if (!res.success) {
+    return null;
+  }
+  return { x: res.point.x, y: res.point.y, z: res.point.z };
+}
 function computePath(plugin, start, end) {
   _assertReady(plugin);
   const q = plugin._navMeshQuery;
@@ -412,5 +420,5 @@ function _assertTileCache(plugin) {
   }
 }
 
-export { addAgent, addBoxObstacle, addCylinderObstacle, agentGoto, computePath, createDebugNavMeshGeometry, createNavCrowd, createNavMesh, createNavMeshFromSources, createNavigationPluginAsync, disposeNavigationPlugin, 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, 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/** 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. Build with `maxObstacles > 0` to enable obstacles.\");\n    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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// ─── 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/physics/character-controller.js

@@ -1,6 +1,6 @@
 import { mat4Invert } from '../math/mat4-invert.js';
 import { createTransformNode } from '../scene/transform-node.js';
-import { createPhysicsShape, PhysicsShapeType, createPhysicsBody, PhysicsMotionType, setPhysicsBodyShape, setPhysicsBodyMassProperties, setPhysicsBodyPreStep, removePhysicsBody } from './havok.js';
+import { createPhysicsShape, PhysicsShapeType, createPhysicsBody, PhysicsMotionType, setPhysicsBodyShape, setPhysicsBodyMassProperties, setPhysicsBodyPreStep, removePhysicsBody, worldStepSeconds } from './havok.js';
 
 var CharacterSupportedState = /* @__PURE__ */ ((CharacterSupportedState2) => {
   CharacterSupportedState2[CharacterSupportedState2["UNSUPPORTED"] = 0] = "UNSUPPORTED";
@@ -207,7 +207,7 @@ class PhysicsCharacterController {
    * @param displacement - Requested world-space displacement for this step.
    */
   moveWithCollisions(displacement) {
-    const deltaTime = this._world._timestep;
+    const deltaTime = worldStepSeconds(this._world);
     if (!deltaTime || deltaTime <= 0) {
       return;
     }