@geoblocks/cesium-walk 0.4.0 → 0.5.0

package/dist/cesium-walk.d.ts

@@ -0,0 +1,206 @@
+import { Cartesian3 } from "@cesium/core";
+import { ObstacleProbe } from "@geoblocks/cesium-obstacles";
+/** @satisfies {Record<string, import("@geoblocks/cesium-input").Binding>} */
+export declare const WALK_BINDINGS: {
+    move: {
+        type: "vector";
+        keys: {
+            up: string[];
+            down: string[];
+            left: string[];
+            right: string[];
+        };
+        stick: "left";
+    };
+    sprint: {
+        type: "button";
+        keys: string[];
+        buttons: number[];
+    };
+    jump: {
+        type: "button";
+        keys: string[];
+        buttons: number[];
+    };
+};
+export type WalkIntent = {
+    move: {
+        x: number;
+        y: number;
+    };
+    sprint: boolean;
+    jump: boolean;
+};
+/** @typedef {{move: {x: number, y: number}, sprint: boolean, jump: boolean}} WalkIntent */
+declare const CONTROLLER_SETTINGS: readonly ["enableTranslate", "enableZoom", "enableRotate", "enableTilt", "enableCollisionDetection"];
+export default class CesiumWalk {
+    /**
+     * @type {import('@cesium/engine').CesiumWidget}
+     */
+    viewer: import('@cesium/engine').CesiumWidget;
+    /**
+     * @type {number}
+     */
+    speed: number;
+    /**
+     * Speed while sprinting, in meters per second.
+     * @type {number}
+     */
+    sprintSpeed: number;
+    /**
+     * Upward speed at the start of a jump, in meters per second.
+     * @type {number}
+     */
+    jumpSpeed: number;
+    /**
+     * The gravity of jumps and falls, in meters per second squared.
+     * @type {number}
+     */
+    gravity: number;
+    /**
+     * How fast the walker reaches its speed, stops and turns, in meters per second squared; at once by
+     * default.
+     * @type {number}
+     */
+    acceleration: number;
+    /**
+     * The deepest drop of the ground the walker steps down, in meters: deeper, off a ledge or a roof, it
+     * falls. By default it follows the ground whatever the drop.
+     * @type {number}
+     */
+    stepHeight: number;
+    /**
+     * @type {number}
+     */
+    height: number;
+    /**
+     * @type {boolean}
+     */
+    active_: boolean;
+    /**
+     * @type {number}
+     */
+    lastTick_: number;
+    /**
+     * Where the walker's intent comes from, read on each tick: {move: {x, y}, sprint, jump}, move no longer
+     * than 1, x right and y forward. The keyboard and the first gamepad by default, with WALK_BINDINGS; any
+     * object with a read() method otherwise: touch controls, an AI, a replay. The walk turns its active on
+     * and off with its own: replace it while the walk is not active.
+     * @type {{read(): WalkIntent, active?: boolean}}
+     */
+    input: {
+        read(): WalkIntent;
+        active?: boolean;
+    };
+    velocity_: Cartesian3;
+    /** @type {number | undefined} */
+    ground_: number | undefined;
+    jumpOffset_: number;
+    jumpVelocity_: number;
+    jumpHeld_: boolean;
+    /**
+     * Whether the camera bobs at each step and dips on landing, as in GTA 5's first person.
+     * @type {boolean}
+     */
+    headBob: boolean;
+    /**
+     * Whether the walker stops at the obstacles in view at eye height: opaque 3D tiles or primitives.
+     * @type {boolean}
+     */
+    collision: boolean;
+    obstacleProbe_: ObstacleProbe;
+    /**
+     * The obstacle ahead of the walker in a direction, a point of its plane and its normal toward the walker,
+     * if any; asked for each step while collision is on. By default the obstacles in view, read in the depth
+     * of the last frame, which waits for the GPU; for a world known on the CPU, a ray cast in every direction.
+     * @type {(toward: Cartesian3, key: string) => import('@geoblocks/cesium-obstacles').Obstacle | undefined}
+     */
+    obstacleAhead: (toward: Cartesian3, key: string) => import('@geoblocks/cesium-obstacles').Obstacle | undefined;
+    /**
+     * The walker's body: how far from the walls it keeps, in meters, pushed out of any it walks past, sideways
+     * or at a corner, where no ray ahead meets it; 0 by default, a walker without a body.
+     * @type {number}
+     */
+    radius: number;
+    /**
+     * The surface nearest the walker's body, within its radius: a point of it, the surface's normal toward the
+     * body, and the point of the body it is nearest, if any; asked after each step while collision is on. None by
+     * default, as the obstacles in view tell nothing about what is beside the walker; walkOn gives the mesh's.
+     * @type {() => {point: Cartesian3, normal: Cartesian3, origin: Cartesian3} | undefined}
+     */
+    surfaceNear: () => {
+        point: Cartesian3;
+        normal: Cartesian3;
+        origin: Cartesian3;
+    } | undefined;
+    /**
+     * The height of the ground under a position, in meters above the ellipsoid, or undefined when unknown
+     * yet. The terrain by default, none without a globe; a model's floors otherwise, for a walker on several levels.
+     * @type {(position: import('@cesium/core').Cartographic) => number | undefined}
+     */
+    groundHeight: (position: import('@cesium/core').Cartographic) => number | undefined;
+    sprinting_: boolean;
+    /** @type {Partial<Record<typeof CONTROLLER_SETTINGS[number], boolean>>} */
+    controllerSettings_: Partial<Record<typeof CONTROLLER_SETTINGS[number], boolean>>;
+    bob_: number;
+    stepPhase_: number;
+    landing_: number;
+    handleTickFunction_: () => void;
+    /**
+     * @param {import('@cesium/engine').CesiumWidget} viewer
+     * @param {number} [speed=1.6] Walk speed in meters per second.
+     * @param {number} [height=2.0] Height of the camera above the terrain.
+     */
+    constructor(viewer: import('@cesium/engine').CesiumWidget, speed?: number, height?: number);
+    get active(): boolean;
+    /**
+     * Whether the walker is sprinting.
+     * @return {boolean}
+     */
+    get sprinting(): boolean;
+    set active(active: boolean);
+    handleTick_(): void;
+    /**
+     * Moves the camera a step, stopping at obstacles or sliding along them; a slide is checked against the obstacles
+     * ahead of it in turn, so that at a concave corner it stops at the second wall rather than going through it.
+     * @param {Cartesian3} direction The unit direction of the step, level.
+     * @param {number} step The length of the step, negative backward, in meters.
+     * @param {string} kind Which steps these are, for the obstacle looked for last time.
+     */
+    step_(direction: Cartesian3, step: number, kind: string): void;
+    /**
+     * Pushes the camera level out of the walls the walker's body is in, each in turn.
+     */
+    keepClear_(): void;
+    clampCameraToTerrain_(): void;
+    /**
+     * @return {import('@cesium/core').Cartesian3} The ellipsoid surface normal at the camera position.
+     */
+    surfaceNormal_(): import('@cesium/core').Cartesian3;
+}
+/**
+ * The heights above the floor the walls are looked for at: the knees, the waist and the eyes.
+ * @param {number} eye
+ * @param {number} step
+ * @return {number[]} In meters, from the lowest.
+ */
+export declare function rayHeights(eye: number, step: number): number[];
+/**
+ * Walks a CesiumWalk on a triangle mesh of cesium-obstacles: it stands on the highest floor below its knees, up
+ * the stairs, under the arches, else on what it stood on before (the terrain); the walls ahead stop it, from rays
+ * cast at the knees, the waist and the eyes, the floors and stairs left to the ground below, in every direction;
+ * with a radius, its body at those heights is kept that far from the walls beside it too, a step's riser under
+ * the knees excepted.
+ * @param {CesiumWalk} walk
+ * @param {import("@geoblocks/cesium-obstacles").TriangleMesh} mesh
+ * @param {{eye: number, step: number, reach: number, radius?: number}} options In meters: the eyes above the
+ *     floor, the highest step, how far ahead the walls are looked for, the body's radius (none by default).
+ */
+export declare function walkOn(walk: CesiumWalk, mesh: import("@geoblocks/cesium-obstacles").TriangleMesh, { eye, step, reach, radius }: {
+    eye: number;
+    step: number;
+    reach: number;
+    radius?: number;
+}): void;
+export {};
+//# sourceMappingURL=cesium-walk.d.ts.map

package/dist/cesium-walk.d.ts.map

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package/dist/cesium-walk.js

@@ -0,0 +1,456 @@
+import { Cartesian3, Ellipsoid, FixedFrameTransforms, Math as CesiumMath, Matrix4 } from "@cesium/core";
+import Controls from "@geoblocks/cesium-input";
+import { ObstacleProbe, blockedStep, meshGroundHeight, meshObstacleAhead } from "@geoblocks/cesium-obstacles";
+// in seconds: a frame after a backgrounded tab must not walk or fall far
+const MAX_DELTA = 0.1;
+// the head bob: a dip of DIP meters at each step of STEP_LENGTH meters, twice as deep when sprinting,
+// and of LANDING meters when landing from a jump; both settle in about BOB_TIME seconds
+const STEP_LENGTH = 0.8;
+const DIP = 0.03;
+const LANDING = 0.15;
+const BOB_TIME = 0.15;
+// in meters: nearer its height, the camera stays, so that a walker standing still renders no frame
+const SETTLED = 1e-3;
+// at a concave corner the slide along one wall heads into the other: a step is checked again along its slide, this
+// many times at most, before it is taken
+const SLIDE_PASSES = 3;
+// in a corner, pushed out of one wall, the body may be in the other: it is pushed again, this many times at most
+const CLEAR_PASSES = 3;
+// the default bindings: W, A, S, D or the arrows to walk, Shift to sprint and Space to jump; on a gamepad, the
+// left stick, at any speed and in any direction, Cross to sprint and Square to jump, as in GTA 5. Keys by
+// event.code, so that other keyboard layouts walk with the keys in the same place
+/** @satisfies {Record<string, import("@geoblocks/cesium-input").Binding>} */
+export const WALK_BINDINGS = {
+    move: { type: "vector", keys: { up: ["KeyW", "ArrowUp"], down: ["KeyS", "ArrowDown"], left: ["KeyA", "ArrowLeft"], right: ["KeyD", "ArrowRight"] }, stick: "left" },
+    sprint: { type: "button", keys: ["ShiftLeft", "ShiftRight"], buttons: [0] },
+    jump: { type: "button", keys: ["Space"], buttons: [2] },
+};
+/** @typedef {{move: {x: number, y: number}, sprint: boolean, jump: boolean}} WalkIntent */
+// the camera controller's settings off while walking: its navigation, and its collision detection, which lifts
+// the camera onto the 3D tiles under it, a roof or a coarse tile still loading over the street, whenever the
+// camera moves; the walk keeps its own height
+const CONTROLLER_SETTINGS = /** @type {const} */ (["enableTranslate", "enableZoom", "enableRotate", "enableTilt", "enableCollisionDetection"]);
+const normalScratch = new Cartesian3();
+const forwardScratch = new Cartesian3();
+const stepScratch = new Cartesian3();
+const allowedScratch = new Cartesian3();
+const awayScratch = new Cartesian3();
+const frameScratch = new Matrix4();
+const bodyScratch = new Cartesian3();
+const upScratch = new Cartesian3();
+const targetScratch = new Cartesian3();
+const changeScratch = new Cartesian3();
+/**
+ * One step of a jump or a fall under gravity.
+ * @param {number} offset Height above the walk height, in meters.
+ * @param {number} velocity Upward speed, in meters per second.
+ * @param {number} dt Seconds.
+ * @param {number} gravity In meters per second squared.
+ * @return {[number, number]} The next offset and velocity, [0, 0] once landed.
+ */
+function jumpStep(offset, velocity, dt, gravity) {
+    const next = velocity - gravity * dt;
+    const height = offset + ((velocity + next) / 2) * dt;
+    return height <= 0 && next <= 0 ? [0, 0] : [height, next];
+}
+/**
+ * Whether a jump starts: on a new press only, so that holding the button does not jump again on landing.
+ * @param {boolean} pressed
+ * @param {boolean} wasPressed
+ * @param {boolean} grounded
+ * @return {boolean}
+ */
+function jumpStart(pressed, wasPressed, grounded) {
+    return pressed && !wasPressed && grounded;
+}
+export default class CesiumWalk {
+    /**
+     * @param {import('@cesium/engine').CesiumWidget} viewer
+     * @param {number} [speed=1.6] Walk speed in meters per second.
+     * @param {number} [height=2.0] Height of the camera above the terrain.
+     */
+    constructor(viewer, speed = 1.6, height = 2.0) {
+        /**
+         * @type {import('@cesium/engine').CesiumWidget}
+         */
+        this.viewer = viewer;
+        /**
+         * @type {number}
+         */
+        this.speed = speed;
+        /**
+         * Speed while sprinting, in meters per second.
+         * @type {number}
+         */
+        this.sprintSpeed = 3 * speed;
+        /**
+         * Upward speed at the start of a jump, in meters per second.
+         * @type {number}
+         */
+        this.jumpSpeed = 4;
+        /**
+         * The gravity of jumps and falls, in meters per second squared.
+         * @type {number}
+         */
+        this.gravity = 9.81;
+        /**
+         * How fast the walker reaches its speed, stops and turns, in meters per second squared; at once by
+         * default.
+         * @type {number}
+         */
+        this.acceleration = Infinity;
+        /**
+         * The deepest drop of the ground the walker steps down, in meters: deeper, off a ledge or a roof, it
+         * falls. By default it follows the ground whatever the drop.
+         * @type {number}
+         */
+        this.stepHeight = Infinity;
+        /**
+         * @type {number}
+         */
+        this.height = height;
+        /**
+         * @type {boolean}
+         */
+        this.active_ = false;
+        /**
+         * @type {number}
+         */
+        this.lastTick_ = 0;
+        /**
+         * Where the walker's intent comes from, read on each tick: {move: {x, y}, sprint, jump}, move no longer
+         * than 1, x right and y forward. The keyboard and the first gamepad by default, with WALK_BINDINGS; any
+         * object with a read() method otherwise: touch controls, an AI, a replay. The walk turns its active on
+         * and off with its own: replace it while the walk is not active.
+         * @type {{read(): WalkIntent, active?: boolean}}
+         */
+        this.input = new Controls(WALK_BINDINGS);
+        // the walker's velocity, level, on the globe
+        this.velocity_ = new Cartesian3();
+        // the ground under the walker on the last tick, which it keeps its height above while in the air
+        /** @type {number | undefined} */
+        this.ground_ = undefined;
+        // the jump or the fall: height above the walk height and upward speed; whether the jump input was down
+        // last tick
+        this.jumpOffset_ = 0;
+        this.jumpVelocity_ = 0;
+        this.jumpHeld_ = false;
+        /**
+         * Whether the camera bobs at each step and dips on landing, as in GTA 5's first person.
+         * @type {boolean}
+         */
+        this.headBob = false;
+        /**
+         * Whether the walker stops at the obstacles in view at eye height: opaque 3D tiles or primitives.
+         * @type {boolean}
+         */
+        this.collision = false;
+        this.obstacleProbe_ = new ObstacleProbe(viewer.scene);
+        /**
+         * The obstacle ahead of the walker in a direction, a point of its plane and its normal toward the walker,
+         * if any; asked for each step while collision is on. By default the obstacles in view, read in the depth
+         * of the last frame, which waits for the GPU; for a world known on the CPU, a ray cast in every direction.
+         * @type {(toward: Cartesian3, key: string) => import('@geoblocks/cesium-obstacles').Obstacle | undefined}
+         */
+        this.obstacleAhead = (toward, key) => this.obstacleProbe_.ahead(toward, key);
+        /**
+         * The walker's body: how far from the walls it keeps, in meters, pushed out of any it walks past, sideways
+         * or at a corner, where no ray ahead meets it; 0 by default, a walker without a body.
+         * @type {number}
+         */
+        this.radius = 0;
+        /**
+         * The surface nearest the walker's body, within its radius: a point of it, the surface's normal toward the
+         * body, and the point of the body it is nearest, if any; asked after each step while collision is on. None by
+         * default, as the obstacles in view tell nothing about what is beside the walker; walkOn gives the mesh's.
+         * @type {() => {point: Cartesian3, normal: Cartesian3, origin: Cartesian3} | undefined}
+         */
+        this.surfaceNear = () => undefined;
+        /**
+         * The height of the ground under a position, in meters above the ellipsoid, or undefined when unknown
+         * yet. The terrain by default, none without a globe; a model's floors otherwise, for a walker on several levels.
+         * @type {(position: import('@cesium/core').Cartographic) => number | undefined}
+         */
+        this.groundHeight = position => viewer.scene.globe?.getHeight(position);
+        // whether the walker sprinted on the last tick
+        this.sprinting_ = false;
+        // the camera controller's settings before walking
+        /** @type {Partial<Record<typeof CONTROLLER_SETTINGS[number], boolean>>} */
+        this.controllerSettings_ = {};
+        // the head bob: how deep, 0 standing to 2 sprinting, along the steps; the landing dip, 0 to 1
+        this.bob_ = 0;
+        this.stepPhase_ = 0;
+        this.landing_ = 0;
+        this.handleTickFunction_ = this.handleTick_.bind(this);
+    }
+    get active() {
+        return this.active_;
+    }
+    /**
+     * Whether the walker is sprinting.
+     * @return {boolean}
+     */
+    get sprinting() {
+        return this.active_ && this.sprinting_;
+    }
+    set active(active) {
+        if (active === this.active_) {
+            return;
+        }
+        this.active_ = active;
+        const controller = this.viewer.scene.screenSpaceCameraController;
+        if (this.active_) {
+            for (const setting of CONTROLLER_SETTINGS) {
+                this.controllerSettings_[setting] = controller[setting];
+                controller[setting] = false;
+            }
+            this.lastTick_ = performance.now();
+            this.input.active = true;
+            this.viewer.clock.onTick.addEventListener(this.handleTickFunction_);
+            this.clampCameraToTerrain_();
+        }
+        else {
+            this.input.active = false;
+            this.viewer.clock.onTick.removeEventListener(this.handleTickFunction_);
+            this.jumpOffset_ = 0;
+            this.jumpVelocity_ = 0;
+            this.ground_ = undefined;
+            Cartesian3.clone(Cartesian3.ZERO, this.velocity_);
+            this.bob_ = 0;
+            this.landing_ = 0;
+            Object.assign(controller, this.controllerSettings_);
+        }
+    }
+    handleTick_() {
+        const timestamp = performance.now();
+        const deltaTime = Math.min((timestamp - this.lastTick_) / 1000, MAX_DELTA);
+        this.lastTick_ = timestamp;
+        const { move, sprint, jump } = this.input.read();
+        let forward = move.y;
+        let right = move.x;
+        // walking diagonally is not faster
+        const magnitude = Math.hypot(forward, right);
+        if (magnitude > 1) {
+            forward /= magnitude;
+            right /= magnitude;
+        }
+        const grounded = this.jumpOffset_ === 0 && this.jumpVelocity_ === 0;
+        if (jumpStart(jump, this.jumpHeld_, grounded)) {
+            this.jumpVelocity_ = this.jumpSpeed;
+        }
+        this.jumpHeld_ = jump;
+        const airborne = this.jumpOffset_ > 0 || this.jumpVelocity_ > 0;
+        const moving = forward !== 0 || right !== 0;
+        // forward, no more sideways than diagonally, as in GTA 5
+        this.sprinting_ = sprint && forward > 0 && forward >= Math.abs(right);
+        const stopped = Cartesian3.equals(this.velocity_, Cartesian3.ZERO);
+        if (!moving && stopped && !airborne && this.bob_ === 0 && this.landing_ === 0) {
+            // standing: only the terrain refining under the walker moves it
+            this.clampCameraToTerrain_();
+            return;
+        }
+        const camera = this.viewer.camera;
+        const speed = this.sprinting_ ? this.sprintSpeed : this.speed;
+        // walk along the view direction projected onto the ground plane,
+        // so that looking down does not push the camera into the terrain
+        const normal = this.surfaceNormal_();
+        const along = Cartesian3.subtract(camera.direction, Cartesian3.projectVector(camera.direction, normal, forwardScratch), forwardScratch);
+        const level = Cartesian3.magnitude(along) > CesiumMath.EPSILON6;
+        if (level) {
+            Cartesian3.normalize(along, along);
+        }
+        // the velocity, toward the intended one as fast as the acceleration allows
+        const target = Cartesian3.multiplyByScalar(camera.right, right * speed, targetScratch);
+        if (level) {
+            Cartesian3.add(target, Cartesian3.multiplyByScalar(along, forward * speed, changeScratch), target);
+        }
+        const change = Cartesian3.subtract(target, this.velocity_, changeScratch);
+        const needed = Cartesian3.magnitude(change);
+        const allowed = this.acceleration * deltaTime;
+        if (needed <= allowed) {
+            Cartesian3.clone(target, this.velocity_);
+        }
+        else {
+            Cartesian3.add(this.velocity_, Cartesian3.multiplyByScalar(change, allowed / needed, change), this.velocity_);
+        }
+        const forwardSpeed = level ? Cartesian3.dot(this.velocity_, along) : 0;
+        const rightSpeed = Cartesian3.dot(this.velocity_, camera.right);
+        if (forwardSpeed !== 0) {
+            this.step_(along, forwardSpeed * deltaTime, "forward");
+        }
+        if (rightSpeed !== 0) {
+            this.step_(camera.right, rightSpeed * deltaTime, "right");
+        }
+        if (airborne) {
+            [this.jumpOffset_, this.jumpVelocity_] = jumpStep(this.jumpOffset_, this.jumpVelocity_, deltaTime, this.gravity);
+            if (this.headBob && this.jumpOffset_ === 0) {
+                this.landing_ = 1;
+            }
+        }
+        // the head bob, which settles once turned off
+        const ease = 1 - Math.exp(-deltaTime / BOB_TIME);
+        const bob = this.headBob && moving && !airborne ? (this.sprinting_ ? 2 : 1) : 0;
+        this.bob_ += (bob - this.bob_) * ease;
+        this.landing_ -= this.landing_ * ease;
+        // the last thousandth in one step, so that the camera stops moving
+        if (bob === 0 && this.bob_ < 1e-3) {
+            this.bob_ = 0;
+        }
+        if (this.landing_ < 1e-3) {
+            this.landing_ = 0;
+        }
+        this.stepPhase_ += (Cartesian3.magnitude(this.velocity_) * deltaTime / STEP_LENGTH) * CesiumMath.PI;
+        this.clampCameraToTerrain_();
+    }
+    /**
+     * Moves the camera a step, stopping at obstacles or sliding along them; a slide is checked against the obstacles
+     * ahead of it in turn, so that at a concave corner it stops at the second wall rather than going through it.
+     * @param {Cartesian3} direction The unit direction of the step, level.
+     * @param {number} step The length of the step, negative backward, in meters.
+     * @param {string} kind Which steps these are, for the obstacle looked for last time.
+     */
+    step_(direction, step, kind) {
+        const camera = this.viewer.camera;
+        let toward = Cartesian3.multiplyByScalar(direction, Math.sign(step), stepScratch);
+        let length = Math.abs(step);
+        for (let pass = 0; pass < SLIDE_PASSES && length > 0; pass++) {
+            // a slide's look is its own, not the step's: the probe keeps its last look in each direction by its key
+            const obstacle = this.collision ? this.obstacleAhead(toward, `${kind}${Math.sign(step)}${pass ? "slide" : ""}`) : undefined;
+            const allowed = blockedStep(toward, length, camera.positionWC, obstacle, allowedScratch);
+            const same = Cartesian3.equalsEpsilon(allowed.direction, toward, CesiumMath.EPSILON9);
+            length = allowed.length;
+            toward = Cartesian3.clone(allowed.direction, stepScratch);
+            if (same) {
+                break;
+            }
+        }
+        if (length > 0) {
+            camera.move(toward, length);
+        }
+        if (this.collision) {
+            this.keepClear_();
+        }
+    }
+    /**
+     * Pushes the camera level out of the walls the walker's body is in, each in turn.
+     */
+    keepClear_() {
+        const camera = this.viewer.camera;
+        for (let pass = 0; pass < CLEAR_PASSES; pass++) {
+            const surface = this.surfaceNear();
+            if (!surface) {
+                return;
+            }
+            const up = this.surfaceNormal_();
+            // level, from the surface to the body; a surface straight above or below it is left to the walker's ground
+            const away = Cartesian3.subtract(surface.origin, surface.point, awayScratch);
+            Cartesian3.subtract(away, Cartesian3.projectVector(away, up, stepScratch), away);
+            const distance = Cartesian3.magnitude(away);
+            if (distance >= this.radius) {
+                return;
+            }
+            if (distance > CesiumMath.EPSILON6) {
+                Cartesian3.divideByScalar(away, distance, away);
+            }
+            else {
+                Cartesian3.subtract(surface.normal, Cartesian3.projectVector(surface.normal, up, stepScratch), away);
+                if (Cartesian3.magnitude(away) < CesiumMath.EPSILON6) {
+                    return;
+                }
+                Cartesian3.normalize(away, away);
+            }
+            camera.move(away, this.radius - distance);
+        }
+    }
+    clampCameraToTerrain_() {
+        const camera = this.viewer.camera;
+        const terrainHeight = this.groundHeight(camera.positionCartographic);
+        if (terrainHeight === undefined) {
+            // ground not loaded yet at this position
+            return;
+        }
+        if (this.ground_ !== undefined) {
+            // in the air, or off a drop deeper than a step, the walker keeps its height and falls the rest
+            const drop = this.ground_ - terrainHeight;
+            if (this.jumpOffset_ > 0 || this.jumpVelocity_ !== 0 || drop > this.stepHeight) {
+                this.jumpOffset_ += drop;
+                if (this.jumpOffset_ <= 0) {
+                    // on the ground again: landed, or lifted by the ground while still going up
+                    this.jumpOffset_ = 0;
+                    if (this.jumpVelocity_ <= 0) {
+                        this.jumpVelocity_ = 0;
+                        if (this.headBob) {
+                            this.landing_ = 1;
+                        }
+                    }
+                }
+            }
+        }
+        this.ground_ = terrainHeight;
+        const cameraHeight = camera.positionCartographic.height;
+        // move along the surface normal, not the camera up vector, which is
+        // tilted when the camera is pitched
+        const bob = DIP * this.bob_ * Math.abs(Math.sin(this.stepPhase_)) + LANDING * this.landing_;
+        const offset = terrainHeight + this.height + this.jumpOffset_ - bob - cameraHeight;
+        if (Math.abs(offset) > SETTLED) {
+            camera.move(this.surfaceNormal_(), offset);
+        }
+    }
+    /**
+     * @return {import('@cesium/core').Cartesian3} The ellipsoid surface normal at the camera position.
+     */
+    surfaceNormal_() {
+        const scene = this.viewer.scene;
+        return scene.ellipsoid.geodeticSurfaceNormal(scene.camera.position, normalScratch);
+    }
+}
+/**
+ * The heights above the floor the walls are looked for at: the knees, the waist and the eyes.
+ * @param {number} eye
+ * @param {number} step
+ * @return {number[]} In meters, from the lowest.
+ */
+export function rayHeights(eye, step) {
+    return [step + 0.05, (step + eye) / 2, eye];
+}
+/**
+ * Walks a CesiumWalk on a triangle mesh of cesium-obstacles: it stands on the highest floor below its knees, up
+ * the stairs, under the arches, else on what it stood on before (the terrain); the walls ahead stop it, from rays
+ * cast at the knees, the waist and the eyes, the floors and stairs left to the ground below, in every direction;
+ * with a radius, its body at those heights is kept that far from the walls beside it too, a step's riser under
+ * the knees excepted.
+ * @param {CesiumWalk} walk
+ * @param {import("@geoblocks/cesium-obstacles").TriangleMesh} mesh
+ * @param {{eye: number, step: number, reach: number, radius?: number}} options In meters: the eyes above the
+ *     floor, the highest step, how far ahead the walls are looked for, the body's radius (none by default).
+ */
+export function walkOn(walk, mesh, { eye, step, reach, radius = 0 }) {
+    const camera = walk.viewer.scene.camera;
+    const fallback = walk.groundHeight;
+    const offsets = rayHeights(eye, step).map(height => new Cartesian3(0, 0, height - eye));
+    walk.obstacleAhead = meshObstacleAhead(mesh, () => camera.positionWC, { offsets, reach });
+    walk.radius = radius;
+    if (radius > 0) {
+        walk.surfaceNear = () => {
+            const position = camera.positionWC;
+            const frame = FixedFrameTransforms.eastNorthUpToFixedFrame(position, Ellipsoid.WGS84, frameScratch);
+            const up = Ellipsoid.WGS84.geodeticSurfaceNormal(position, upScratch);
+            let nearest;
+            for (const [k, offset] of offsets.entries()) {
+                const origin = Matrix4.multiplyByPoint(frame, offset, bodyScratch);
+                const hit = mesh.nearest(origin, radius, { walls: true });
+                // under the knees, a step's riser: climbed, not kept from
+                if (!hit || (k === 0 && Cartesian3.dot(Cartesian3.subtract(hit.position, origin, awayScratch), up) < 0)) {
+                    continue;
+                }
+                if (!nearest || hit.distance < nearest.distance) {
+                    nearest = { point: hit.position, normal: hit.normal, origin: Cartesian3.clone(origin), distance: hit.distance };
+                }
+            }
+            return nearest;
+        };
+    }
+    const ground = meshGroundHeight(mesh, { below: eye - step });
+    walk.groundHeight = cartographic => ground(cartographic) ?? fallback(cartographic);
+}
+//# sourceMappingURL=cesium-walk.js.map

package/dist/cesium-walk.js.map

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package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@geoblocks/cesium-walk",
-  "version": "0.4.0",
+  "version": "0.5.0",
   "license": "BSD-3-Clause",
   "type": "module",
   "repository": {
@@ -8,25 +8,36 @@
     "url": "https://github.com/geoblocks/cesium-helpers/",
     "directory": "packages/cesium-walk"
   },
-  "main": "cesium-walk.js",
-  "module": "cesium-walk.js",
-  "sideEffects": false,
+  "main": "dist/cesium-walk.js",
+  "module": "dist/cesium-walk.js",
+  "types": "dist/cesium-walk.d.ts",
   "exports": {
-    ".": "./cesium-walk.js"
+    ".": {
+      "source": "./src/cesium-walk.js",
+      "types": "./dist/cesium-walk.d.ts",
+      "default": "./dist/cesium-walk.js"
+    }
   },
+  "sideEffects": false,
   "files": [
-    "cesium-walk.js"
+    "dist",
+    "src",
+    "!src/**/*.test.js"
   ],
+  "scripts": {
+    "build": "tsc -p .",
+    "prepack": "npm run build"
+  },
   "publishConfig": {
     "access": "public"
   },
   "dependencies": {
-    "@geoblocks/cesium-input": "^0.2.0",
-    "@geoblocks/cesium-obstacles": "^0.4.0"
+    "@geoblocks/cesium-input": "^0.3.0",
+    "@geoblocks/cesium-obstacles": "^0.6.0"
   },
   "peerDependencies": {
     "@cesium/core": ">=0.1.0",
     "@cesium/engine": ">=10"
   },
-  "gitHead": "df5df0b067cb2c8646428eec912f7157ad8cbd28"
+  "gitHead": "a6d8fdfe6b9ad266fd8a4593c38efd24e9a5546b"
 }