@driftengine/nav 4.0.0

package/LICENSE

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package/NOTICE

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+DriftEngine
+Copyright 2026 Drift Technologies
+
+This product includes software developed at Drift Technologies
+(https://github.com/drftrun/driftengine).
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+Licensed under the Apache License, Version 2.0. Section 4(d) of that licence
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+Models run by DriftCapture
+--------------------------
+DriftCapture runs the models below. Their weights are not in this repository
+and are not distributed with it: tools/capture-weights/ fetches each at the
+revision its manifest pins, verifies it, and converts it, and a game that
+ships one ships it under that model's own licence. Each model's definition in
+this engine is written from its project's published code.
+
+- Depth Anything 3 Small and Depth Anything 3 Base. Apache License 2.0.
+  Copyright (c) 2025 ByteDance Ltd. and/or its affiliates.
+- Depth Anything V2 Small. Apache License 2.0. The University of Hong Kong
+  and TikTok; converted to the Transformers layout by The HuggingFace Team.
+- MobileSAM. Apache License 2.0. Its image encoder is TinyViT, Copyright (c)
+  2022 Microsoft; its prompt encoder and mask decoder are Segment Anything's,
+  Copyright (c) Meta Platforms, Inc. and affiliates.
+- SAM 2.1 tiny. Apache License 2.0. Copyright (c) Meta Platforms, Inc. and
+  affiliates.
+- OWLv2 base patch16. Apache License 2.0. Copyright 2023 Google AI and The
+  HuggingFace Team.

package/README.md

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+# `@driftengine/nav`
+
+A navigation mesh: geometry in, convex walkable polygons out, and a straight line across them.
+
+**8,401 bytes gzipped**, measured by `scripts/size-gate.test.mjs` against
+`scripts/fixtures/size/nav-only.ts`. Optional — nothing in `@driftengine/core` imports it, so a game
+that does not path pays nothing.
+
+## Why this exists when `NavGraph` already does
+
+`core/src/nav/navGraph.ts` says in its own header that it is a graph rather than a mesh, that this
+is a decision rather than a first step, and that _"if a world's walkable space genuinely is a
+region, this is the wrong structure and a mesh is the row that is still open."_ A streamed open
+world is that world. The module named its own trigger; this pulls it.
+
+**The graph is not replaced.** It stays right for the case it was built for — roads, corridors,
+rails, docking lanes — which is what consumers kept arriving with, and a mesh would have asked them
+to throw that away. Two structures for two shapes of world, and **one search**: `NavMeshQuery`
+builds a `NavGraph` over polygons and hands it to core's `NavSearch`, so there is exactly one A* in
+this repository.
+
+## The pipeline
+
+| Step               | What it produces                                                               |
+| ------------------ | ------------------------------------------------------------------------------ |
+| `voxeliseWalkable` | Where an agent of a given size could stand, as spans in grid columns           |
+| `buildRegions`     | Watershed partitioning, so a corridor splits two rooms instead of joining them |
+| `buildContours`    | One closed boundary per region, simplified and checked for self-intersection   |
+| `buildPolyMesh`    | Convex polygons that tile the region and border each other both ways           |
+| `NavMeshQuery`     | A* over the polygons, then a funnel — so open ground is one straight line      |
+
+```ts
+const field = voxeliseWalkable(geometry, {
+  cellSize: 0.3,
+  cellHeight: 0.2,
+  maxSlope: 45,
+  agentHeight: 2,
+  agentRadius: 0.5,
+});
+const regions = buildRegions(field, { minRegionSpans: 8, maxStep: 1 });
+const mesh = buildPolyMesh(buildContours(field, regions, 1.3), 6, field);
+
+const query = new NavMeshQuery(mesh);
+const path = new Float64Array(256);
+const count = query.findPath(from.x, from.z, to.x, to.z, 2, path);
+```
+
+`findPath` returns `0` for no route, which is an answer rather than an error: a world with a gap in
+it has two components, and an agent that asks for the other side has to be told.
+
+## What it does not do
+
+- **Steering.** §6.5 of the design reverses the refusal of a navigation _mesh_, which is a function
+  from geometry to a graph. What an agent does with a path stays a game's decision, and
+  `ai/src/entities/context.ts`'s refusal is upheld on exactly that line.
+- **Holes.** `buildContours` takes a region's outer loop and drops any inner one, so a room with a
+  free-standing pillar becomes a room and an agent walks through the pillar. There is a test that
+  pins that behaviour rather than a comment that hopes about it. The fix is a bridge edge joining
+  the inner loop to the outer; until it is built, leave a gap between a pillar and the floor so the
+  watershed splits around it.
+- **Optimal paths.** The funnel gives the shortest path through the corridor A* chose, and the
+  corridor comes from polygon centres. On the wall in `query.test.ts` that is 10.75 against an ideal
+  9.81 — about a tenth, from the region split putting a portal corner a cell below the wall's foot.

package/dist/contour.d.ts

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+/**
+ * A region's boundary, as a closed loop that never crosses itself.
+ *
+ * **A self-intersecting contour produces a polygon the funnel algorithm walks out of** — a path
+ * that leaves the mesh, and an agent that walks through a wall. So simplification is *checked*
+ * rather than trusted: Douglas–Peucker on a simple closed polygon is usually simple, and "usually"
+ * is not a property a pathfinder can rest on. Where the simplified loop crosses itself the
+ * deviation is halved and it is tried again, down to the raw boundary, which cannot cross itself
+ * because it is a walk along cell edges.
+ *
+ * **The raw boundary is kept beside the simplified one.** The deviation is a claim about the two
+ * together, and a test that cannot see the original cannot check it.
+ */
+import type { VoxelField } from './voxelise.ts';
+import type { RegionField } from './regions.ts';
+export interface Contour {
+    readonly region: number;
+    /** x,z pairs in cell units. A closed loop: the last point joins the first. */
+    readonly points: Int32Array;
+    /** The boundary before simplification, same layout. What the deviation is measured against. */
+    readonly raw: Int32Array;
+}
+/**
+ * One closed loop per region, holes bridged into it, simplified.
+ *
+ * **This took the longest loop and dropped the rest until 2026-09-16, and the limitation was worse
+ * than it was written down as.** It was stated as losing a pillar — an agent walking through a
+ * column in the middle of a room. What it actually did was *claim ground*: a ring's outer loop is
+ * the room's whole perimeter, so simplifying it gives a rectangle covering the pillar and whatever
+ * else the watershed carved out of the middle. Measured on
+ * `['..........', '....##....', '....##....', '..........']`, the ring's polygon came out as the
+ * entire ten-by-four map, area 40 where the region is 32 — a navigation mesh asserting that a wall
+ * and a neighbouring region are both walkable by the same agent.
+ *
+ * **Holes are bridged rather than emitted separately.** A hole as its own contour would become its
+ * own walkable polygon, which is the same defect pointing the other way. A bridge joins the inner
+ * loop to the outer along a segment traversed once each way, so the pair becomes **one closed loop
+ * with a zero-width slit** — weakly simple rather than simple, which is what ear clipping wants and
+ * what `segmentsCross` tolerates, since it requires a *strict* crossing and the two bridge edges
+ * are coincident.
+ */
+export declare function buildContours(field: VoxelField, regions: RegionField, maxDeviation: number): Contour[];
+/** The furthest any raw point sits from the simplified loop. What the deviation bound means. */
+export declare function maxDeviationOf(raw: Int32Array, simplified: Int32Array): number;
+/**
+ * Whether any two non-adjacent segments of a closed loop cross.
+ *
+ * Adjacent segments share an endpoint by construction and are skipped; everything else is a proper
+ * crossing test, so a loop that merely touches itself at a vertex is not reported — that is a
+ * pinch rather than a crossing, and a polygon built from it is still walkable.
+ */
+export declare function contourSelfIntersects(points: Int32Array): boolean;