@onerjs/addons 8.27.1 → 8.27.2

package/navigation/common/smooth-path.js

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+import { Vector3 } from "@onerjs/core/Maths/math.vector.js";
+import { ConvertNavPathPoints } from "./convert.js";
+import { ComputePathError } from "../types.js";
+import { GetRecast } from "../factory/common.js";
+const _DELTA = new Vector3();
+const _MOVE_TARGET = new Vector3();
+/**
+ * Compute a smooth navigation path from start to end. Returns an empty array if no path can be computed
+ * @param navMesh the navigation mesh to use
+ * @param navmeshQuery the navigation mesh query to use
+ * @param start world position
+ * @param end world position
+ * @param options options object
+ * @returns array containing world position composing the path
+ */
+export function ComputeSmoothPath(navMesh, navmeshQuery, start, end, options) {
+    return ConvertNavPathPoints(ComputeSmoothPathImpl(navMesh, navmeshQuery, start, end, options));
+}
+function ComputeSmoothPathImpl(navMesh, navMeshQuery, start, end, options) {
+    const recast = GetRecast();
+    const filter = options?.filter ?? navMeshQuery.defaultFilter;
+    const halfExtents = options?.halfExtents ?? navMeshQuery.defaultQueryHalfExtents;
+    const maxSmoothPathPoints = options?.maxSmoothPathPoints ?? 2048;
+    const maxPathPolys = options?.maxPathPolys ?? 256;
+    const stepSize = options?.stepSize ?? 0.5;
+    const slop = options?.slop ?? 0.01;
+    // find nearest polygons for start and end positions
+    const startNearestPolyResult = navMeshQuery.findNearestPoly(start, {
+        filter,
+        halfExtents,
+    });
+    if (!startNearestPolyResult.success) {
+        return {
+            success: false,
+            error: {
+                type: ComputePathError.START_NEAREST_POLY_FAILED,
+                status: startNearestPolyResult.status,
+            },
+            path: [],
+        };
+    }
+    const endNearestPolyResult = navMeshQuery.findNearestPoly(end, {
+        filter,
+        halfExtents,
+    });
+    if (!endNearestPolyResult.success) {
+        return {
+            success: false,
+            error: {
+                type: ComputePathError.END_NEAREST_POLY_FAILED,
+                status: endNearestPolyResult.status,
+            },
+            path: [],
+        };
+    }
+    const startRef = startNearestPolyResult.nearestRef;
+    const endRef = endNearestPolyResult.nearestRef;
+    // find polygon path
+    const findPathResult = navMeshQuery.findPath(startRef, endRef, start, end, {
+        filter,
+        maxPathPolys,
+    });
+    if (!findPathResult.success) {
+        return {
+            success: false,
+            error: {
+                type: ComputePathError.FIND_PATH_FAILED,
+                status: findPathResult.status,
+            },
+            path: [],
+        };
+    }
+    if (findPathResult.polys.size <= 0) {
+        return {
+            success: false,
+            error: {
+                type: ComputePathError.NO_POLYGON_PATH_FOUND,
+            },
+            path: [],
+        };
+    }
+    const lastPoly = findPathResult.polys.get(findPathResult.polys.size - 1);
+    let closestEnd = end;
+    if (lastPoly !== endRef) {
+        const lastPolyClosestPointResult = navMeshQuery.closestPointOnPoly(lastPoly, end);
+        if (!lastPolyClosestPointResult.success) {
+            return {
+                success: false,
+                error: {
+                    type: ComputePathError.NO_CLOSEST_POINT_ON_LAST_POLYGON_FOUND,
+                    status: lastPolyClosestPointResult.status,
+                },
+                path: [],
+            };
+        }
+        closestEnd = lastPolyClosestPointResult.closestPoint;
+    }
+    // Iterate over the path to find a smooth path on the detail mesh
+    const iterPos = new Vector3(start.x, start.y, start.z);
+    const targetPos = new Vector3(closestEnd.x, closestEnd.y, closestEnd.z);
+    const polys = Array.from(findPathResult.polys.getHeapView());
+    const smoothPath = [];
+    smoothPath.push(iterPos.clone());
+    while (polys.length > 0 && smoothPath.length < maxSmoothPathPoints) {
+        // Find location to steer towards
+        const steerTarget = getSteerTarget(navMeshQuery, iterPos, targetPos, slop, polys, recast);
+        if (!steerTarget.success) {
+            break;
+        }
+        const isEndOfPath = steerTarget.steerPosFlag & recast.Detour.DT_STRAIGHTPATH_END;
+        const isOffMeshConnection = steerTarget.steerPosFlag & recast.Detour.DT_STRAIGHTPATH_OFFMESH_CONNECTION;
+        // Find movement delta.
+        const steerPos = steerTarget.steerPos;
+        const delta = _DELTA.copyFrom(steerPos).subtract(iterPos);
+        let len = Math.sqrt(delta.dot(delta));
+        // If the steer target is the end of the path or an off-mesh connection, do not move past the location.
+        if ((isEndOfPath || isOffMeshConnection) && len < stepSize) {
+            len = 1;
+        }
+        else {
+            len = stepSize / len;
+        }
+        const moveTarget = _MOVE_TARGET.copyFrom(iterPos).addInPlace(delta.scale(len));
+        // Move
+        const moveAlongSurface = navMeshQuery.moveAlongSurface(polys[0], iterPos, moveTarget, { filter, maxVisitedSize: 16 });
+        if (!moveAlongSurface.success) {
+            break;
+        }
+        const result = moveAlongSurface.resultPosition;
+        fixupCorridor(polys, maxPathPolys, moveAlongSurface.visited);
+        fixupShortcuts(polys, navMesh, recast);
+        const polyHeightResult = navMeshQuery.getPolyHeight(polys[0], result);
+        if (polyHeightResult.success) {
+            result.y = polyHeightResult.height;
+        }
+        iterPos.copyFromFloats(result.x, result.y, result.z);
+        // Handle end of path and off-mesh links when close enough
+        if (isEndOfPath && inRange(iterPos, steerTarget.steerPos, slop, 1.0)) {
+            // Reached end of path
+            iterPos.copyFrom(targetPos);
+            if (smoothPath.length < maxSmoothPathPoints) {
+                smoothPath.push(new Vector3(iterPos.x, iterPos.y, iterPos.z));
+            }
+            break;
+        }
+        else if (isOffMeshConnection && inRange(iterPos, steerTarget.steerPos, slop, 1.0)) {
+            // Reached off-mesh connection.
+            // Advance the path up to and over the off-mesh connection.
+            const offMeshConRef = steerTarget.steerPosRef;
+            // Advance the path up to and over the off-mesh connection.
+            let prevPolyRef = 0;
+            let polyRef = polys[0];
+            let npos = 0;
+            while (npos < polys.length && polyRef !== offMeshConRef) {
+                prevPolyRef = polyRef;
+                polyRef = polys[npos];
+                npos++;
+            }
+            for (let i = npos; i < polys.length; i++) {
+                polys[i - npos] = polys[i];
+            }
+            polys.splice(npos, polys.length - npos);
+            // Handle the connection
+            const offMeshConnectionPolyEndPoints = navMesh.getOffMeshConnectionPolyEndPoints(prevPolyRef, polyRef);
+            if (offMeshConnectionPolyEndPoints.success) {
+                if (smoothPath.length < maxSmoothPathPoints) {
+                    smoothPath.push(new Vector3(iterPos.x, iterPos.y, iterPos.z));
+                    // Hack to make the dotted path not visible during off-mesh connection.
+                    if (smoothPath.length & 1) {
+                        smoothPath.push(new Vector3(iterPos.x, iterPos.y, iterPos.z));
+                    }
+                    // Move position at the other side of the off-mesh link.
+                    iterPos.copyFromFloats(offMeshConnectionPolyEndPoints.end.x, offMeshConnectionPolyEndPoints.end.y, offMeshConnectionPolyEndPoints.end.z);
+                    const endPositionPolyHeight = navMeshQuery.getPolyHeight(polys[0], iterPos);
+                    if (endPositionPolyHeight.success) {
+                        iterPos.y = endPositionPolyHeight.height;
+                    }
+                }
+            }
+        }
+        // Store results.
+        if (smoothPath.length < maxSmoothPathPoints) {
+            smoothPath.push(new Vector3(iterPos.x, iterPos.y, iterPos.z));
+        }
+    }
+    return {
+        success: true,
+        path: smoothPath,
+    };
+}
+// eslint-disable-next-line @typescript-eslint/naming-convention
+function getSteerTarget(navMeshQuery, start, end, minTargetDist, pathPolys, recast) {
+    const maxSteerPoints = 3;
+    const straightPath = navMeshQuery.findStraightPath(start, end, pathPolys, {
+        maxStraightPathPoints: maxSteerPoints,
+    });
+    if (!straightPath.success) {
+        return {
+            success: false,
+        };
+    }
+    const outPoints = [];
+    for (let i = 0; i < straightPath.straightPathCount; i++) {
+        const point = new Vector3(straightPath.straightPath.get(i * 3), straightPath.straightPath.get(i * 3 + 1), straightPath.straightPath.get(i * 3 + 2));
+        outPoints.push(point);
+    }
+    // Find vertex far enough to steer to
+    let ns = 0;
+    while (ns < outPoints.length) {
+        // Stop at Off-Mesh link or when point is further than slop away
+        if (straightPath.straightPathFlags.get(ns) & recast.Detour.DT_STRAIGHTPATH_OFFMESH_CONNECTION) {
+            break;
+        }
+        const posA = outPoints[ns];
+        const posB = start;
+        if (!inRange(posA, posB, minTargetDist, 1000.0)) {
+            break;
+        }
+        ns++;
+    }
+    // Failed to find good point to steer to
+    if (ns >= straightPath.straightPathCount) {
+        return {
+            success: false,
+        };
+    }
+    const steerPos = outPoints[ns];
+    const steerPosFlag = straightPath.straightPathFlags.get(ns);
+    const steerPosRef = straightPath.straightPathRefs.get(ns);
+    return {
+        success: true,
+        steerPos,
+        steerPosFlag,
+        steerPosRef,
+        points: outPoints,
+    };
+}
+// eslint-disable-next-line @typescript-eslint/naming-convention
+function inRange(a, b, r, h) {
+    const dx = b.x - a.x;
+    const dy = b.y - a.y;
+    const dz = b.z - a.z;
+    return dx * dx + dz * dz < r && Math.abs(dy) < h;
+}
+// eslint-disable-next-line @typescript-eslint/naming-convention
+function fixupCorridor(pathPolys, maxPath, visitedPolyRefs) {
+    let furthestPath = -1;
+    let furthestVisited = -1;
+    // Find furthest common polygon.
+    for (let i = pathPolys.length - 1; i >= 0; i--) {
+        let found = false;
+        for (let j = visitedPolyRefs.length - 1; j >= 0; j--) {
+            if (pathPolys[i] === visitedPolyRefs[j]) {
+                furthestPath = i;
+                furthestVisited = j;
+                found = true;
+            }
+        }
+        if (found) {
+            break;
+        }
+    }
+    // If no intersection found just return current path.
+    if (furthestPath === -1 || furthestVisited === -1) {
+        return pathPolys;
+    }
+    // Concatenate paths.
+    // Adjust beginning of the buffer to include the visited.
+    const req = visitedPolyRefs.length - furthestVisited;
+    const orig = Math.min(furthestPath + 1, pathPolys.length);
+    let size = Math.max(0, pathPolys.length - orig);
+    if (req + size > maxPath) {
+        size = maxPath - req;
+    }
+    if (size) {
+        pathPolys.splice(req, size, ...pathPolys.slice(orig, orig + size));
+    }
+    // Store visited
+    for (let i = 0; i < req; i++) {
+        pathPolys[i] = visitedPolyRefs[visitedPolyRefs.length - (1 + i)];
+    }
+    return pathPolys;
+}
+/**
+ * This function checks if the path has a small U-turn, that is,
+ * a polygon further in the path is adjacent to the first polygon
+ * in the path. If that happens, a shortcut is taken.
+ * This can happen if the target (T) location is at tile boundary,
+ * and we're (S) approaching it parallel to the tile edge.
+ * The choice at the vertex can be arbitrary,
+ *  +---+---+
+ *  |:::|:::|
+ *  +-S-+-T-+
+ *  |:::|   | -- the step can end up in here, resulting U-turn path.
+ *  +---+---+
+ * @param pathPolys The path polygons to check for U-turns.
+ * @param navMesh The navigation mesh used to check adjacency.
+ * @param recast The recast injection to use.
+ */
+// eslint-disable-next-line @typescript-eslint/naming-convention
+function fixupShortcuts(pathPolys, navMesh, recast) {
+    if (pathPolys.length < 3) {
+        return;
+    }
+    // Get connected polygons
+    const maxNeis = 16;
+    let nneis = 0;
+    const neis = [];
+    const tileAndPoly = navMesh.getTileAndPolyByRef(pathPolys[0]);
+    if (!tileAndPoly.success) {
+        return;
+    }
+    const poly = tileAndPoly.poly;
+    const tile = tileAndPoly.tile;
+    for (let k = poly.firstLink(); k !== recast.Detour.DT_NULL_LINK; k = tile.links(k).next()) {
+        const link = tile.links(k);
+        if (link.ref() !== 0) {
+            if (nneis < maxNeis) {
+                neis.push(link.ref());
+                nneis++;
+            }
+        }
+    }
+    // If any of the neighbour polygons is within the next few polygons
+    // in the path, short cut to that polygon directly.
+    const maxLookAhead = 6;
+    let cut = 0;
+    for (let i = Math.min(maxLookAhead, pathPolys.length) - 1; i > 1 && cut === 0; i--) {
+        for (let j = 0; j < nneis; j++) {
+            if (pathPolys[i] === neis[j]) {
+                cut = i;
+                break;
+            }
+        }
+    }
+    if (cut > 1) {
+        pathPolys.splice(1, cut - 1);
+    }
+}
+//# sourceMappingURL=smooth-path.js.map

package/navigation/common/smooth-path.js.map

@@ -0,0 +1 @@
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type { NavMeshQuery, NavMesh, QueryFilter } from \"@recast-navigation/core\";\n\nimport type { IVector3Like } from \"core/Maths/math.like\";\nimport { Vector3 } from \"core/Maths/math.vector\";\n\nimport { ConvertNavPathPoints } from \"./convert\";\nimport type { RecastInjection, SteerTargetResult } from \"../types\";\nimport { ComputePathError, type ComputePathResult } from \"../types\";\nimport { GetRecast } from \"../factory/common\";\n\nconst _DELTA = new Vector3();\nconst _MOVE_TARGET = new Vector3();\n\n/**\n * Compute a smooth navigation path from start to end. Returns an empty array if no path can be computed\n * @param navMesh the navigation mesh to use\n * @param navmeshQuery the navigation mesh query to use\n * @param start world position\n * @param end world position\n * @param options options object\n * @returns array containing world position composing the path\n */\nexport function ComputeSmoothPath(\n    navMesh: NavMesh,\n    navmeshQuery: NavMeshQuery,\n    start: IVector3Like,\n    end: IVector3Like,\n    options?: {\n        filter?: QueryFilter;\n        halfExtents?: IVector3Like;\n\n        /**\n         * @default 256\n         */\n        maxPathPolys?: number;\n\n        /**\n         * @default 2048\n         */\n        maxSmoothPathPoints?: number;\n\n        /**\n         * @default 0.5\n         */\n        stepSize?: number;\n\n        /**\n         * @default 0.01\n         */\n        slop?: number;\n    }\n): Vector3[] {\n    return ConvertNavPathPoints(ComputeSmoothPathImpl(navMesh, navmeshQuery, start, end, options));\n}\n\nfunction ComputeSmoothPathImpl(\n    navMesh: NavMesh,\n    navMeshQuery: NavMeshQuery,\n    start: IVector3Like,\n    end: IVector3Like,\n    options?: {\n        filter?: QueryFilter;\n        halfExtents?: IVector3Like;\n        maxPathPolys?: number;\n        maxSmoothPathPoints?: number;\n        stepSize?: number;\n        slop?: number;\n    }\n): ComputePathResult {\n    const recast = GetRecast();\n    const filter = options?.filter ?? navMeshQuery.defaultFilter;\n    const halfExtents = options?.halfExtents ?? navMeshQuery.defaultQueryHalfExtents;\n    const maxSmoothPathPoints = options?.maxSmoothPathPoints ?? 2048;\n    const maxPathPolys = options?.maxPathPolys ?? 256;\n    const stepSize = options?.stepSize ?? 0.5;\n    const slop = options?.slop ?? 0.01;\n\n    // find nearest polygons for start and end positions\n    const startNearestPolyResult = navMeshQuery.findNearestPoly(start, {\n        filter,\n        halfExtents,\n    });\n\n    if (!startNearestPolyResult.success) {\n        return {\n            success: false,\n            error: {\n                type: ComputePathError.START_NEAREST_POLY_FAILED,\n                status: startNearestPolyResult.status,\n            },\n            path: [],\n        };\n    }\n\n    const endNearestPolyResult = navMeshQuery.findNearestPoly(end, {\n        filter,\n        halfExtents,\n    });\n\n    if (!endNearestPolyResult.success) {\n        return {\n            success: false,\n            error: {\n                type: ComputePathError.END_NEAREST_POLY_FAILED,\n                status: endNearestPolyResult.status,\n            },\n            path: [],\n        };\n    }\n\n    const startRef = startNearestPolyResult.nearestRef;\n    const endRef = endNearestPolyResult.nearestRef;\n\n    // find polygon path\n    const findPathResult = navMeshQuery.findPath(startRef, endRef, start, end, {\n        filter,\n        maxPathPolys,\n    });\n\n    if (!findPathResult.success) {\n        return {\n            success: false,\n            error: {\n                type: ComputePathError.FIND_PATH_FAILED,\n                status: findPathResult.status,\n            },\n            path: [],\n        };\n    }\n\n    if (findPathResult.polys.size <= 0) {\n        return {\n            success: false,\n            error: {\n                type: ComputePathError.NO_POLYGON_PATH_FOUND,\n            },\n            path: [],\n        };\n    }\n\n    const lastPoly = findPathResult.polys.get(findPathResult.polys.size - 1);\n\n    let closestEnd = end;\n\n    if (lastPoly !== endRef) {\n        const lastPolyClosestPointResult = navMeshQuery.closestPointOnPoly(lastPoly, end);\n\n        if (!lastPolyClosestPointResult.success) {\n            return {\n                success: false,\n                error: {\n                    type: ComputePathError.NO_CLOSEST_POINT_ON_LAST_POLYGON_FOUND,\n                    status: lastPolyClosestPointResult.status,\n                },\n                path: [],\n            };\n        }\n\n        closestEnd = lastPolyClosestPointResult.closestPoint;\n    }\n\n    // Iterate over the path to find a smooth path on the detail mesh\n    const iterPos = new Vector3(start.x, start.y, start.z);\n    const targetPos = new Vector3(closestEnd.x, closestEnd.y, closestEnd.z);\n\n    const polys = Array.from(findPathResult.polys.getHeapView());\n    const smoothPath: Vector3[] = [];\n\n    smoothPath.push(iterPos.clone());\n\n    while (polys.length > 0 && smoothPath.length < maxSmoothPathPoints) {\n        // Find location to steer towards\n        const steerTarget = getSteerTarget(navMeshQuery, iterPos, targetPos, slop, polys, recast);\n\n        if (!steerTarget.success) {\n            break;\n        }\n\n        const isEndOfPath = steerTarget.steerPosFlag & recast.Detour.DT_STRAIGHTPATH_END;\n        const isOffMeshConnection = steerTarget.steerPosFlag & recast.Detour.DT_STRAIGHTPATH_OFFMESH_CONNECTION;\n\n        // Find movement delta.\n        const steerPos = steerTarget.steerPos;\n        const delta = _DELTA.copyFrom(steerPos).subtract(iterPos);\n        let len = Math.sqrt(delta.dot(delta));\n\n        // If the steer target is the end of the path or an off-mesh connection, do not move past the location.\n        if ((isEndOfPath || isOffMeshConnection) && len < stepSize) {\n            len = 1;\n        } else {\n            len = stepSize / len;\n        }\n\n        const moveTarget = _MOVE_TARGET.copyFrom(iterPos).addInPlace(delta.scale(len));\n\n        // Move\n        const moveAlongSurface = navMeshQuery.moveAlongSurface(polys[0], iterPos, moveTarget, { filter, maxVisitedSize: 16 });\n\n        if (!moveAlongSurface.success) {\n            break;\n        }\n\n        const result = moveAlongSurface.resultPosition;\n\n        fixupCorridor(polys, maxPathPolys, moveAlongSurface.visited);\n        fixupShortcuts(polys, navMesh, recast);\n\n        const polyHeightResult = navMeshQuery.getPolyHeight(polys[0], result);\n\n        if (polyHeightResult.success) {\n            result.y = polyHeightResult.height;\n        }\n\n        iterPos.copyFromFloats(result.x, result.y, result.z);\n\n        // Handle end of path and off-mesh links when close enough\n        if (isEndOfPath && inRange(iterPos, steerTarget.steerPos, slop, 1.0)) {\n            // Reached end of path\n            iterPos.copyFrom(targetPos);\n\n            if (smoothPath.length < maxSmoothPathPoints) {\n                smoothPath.push(new Vector3(iterPos.x, iterPos.y, iterPos.z));\n            }\n\n            break;\n        } else if (isOffMeshConnection && inRange(iterPos, steerTarget.steerPos, slop, 1.0)) {\n            // Reached off-mesh connection.\n\n            // Advance the path up to and over the off-mesh connection.\n            const offMeshConRef = steerTarget.steerPosRef;\n\n            // Advance the path up to and over the off-mesh connection.\n            let prevPolyRef = 0;\n            let polyRef = polys[0];\n            let npos = 0;\n            while (npos < polys.length && polyRef !== offMeshConRef) {\n                prevPolyRef = polyRef;\n                polyRef = polys[npos];\n                npos++;\n            }\n\n            for (let i = npos; i < polys.length; i++) {\n                polys[i - npos] = polys[i];\n            }\n            polys.splice(npos, polys.length - npos);\n\n            // Handle the connection\n            const offMeshConnectionPolyEndPoints = navMesh.getOffMeshConnectionPolyEndPoints(prevPolyRef, polyRef);\n\n            if (offMeshConnectionPolyEndPoints.success) {\n                if (smoothPath.length < maxSmoothPathPoints) {\n                    smoothPath.push(new Vector3(iterPos.x, iterPos.y, iterPos.z));\n\n                    // Hack to make the dotted path not visible during off-mesh connection.\n                    if (smoothPath.length & 1) {\n                        smoothPath.push(new Vector3(iterPos.x, iterPos.y, iterPos.z));\n                    }\n\n                    // Move position at the other side of the off-mesh link.\n                    iterPos.copyFromFloats(offMeshConnectionPolyEndPoints.end.x, offMeshConnectionPolyEndPoints.end.y, offMeshConnectionPolyEndPoints.end.z);\n\n                    const endPositionPolyHeight = navMeshQuery.getPolyHeight(polys[0], iterPos);\n\n                    if (endPositionPolyHeight.success) {\n                        iterPos.y = endPositionPolyHeight.height;\n                    }\n                }\n            }\n        }\n\n        // Store results.\n        if (smoothPath.length < maxSmoothPathPoints) {\n            smoothPath.push(new Vector3(iterPos.x, iterPos.y, iterPos.z));\n        }\n    }\n\n    return {\n        success: true,\n        path: smoothPath,\n    };\n}\n\n// eslint-disable-next-line @typescript-eslint/naming-convention\nfunction getSteerTarget(navMeshQuery: NavMeshQuery, start: Vector3, end: Vector3, minTargetDist: number, pathPolys: number[], recast: RecastInjection): SteerTargetResult {\n    const maxSteerPoints = 3;\n    const straightPath = navMeshQuery.findStraightPath(start, end, pathPolys, {\n        maxStraightPathPoints: maxSteerPoints,\n    });\n\n    if (!straightPath.success) {\n        return {\n            success: false,\n        };\n    }\n\n    const outPoints: Vector3[] = [];\n    for (let i = 0; i < straightPath.straightPathCount; i++) {\n        const point = new Vector3(straightPath.straightPath.get(i * 3), straightPath.straightPath.get(i * 3 + 1), straightPath.straightPath.get(i * 3 + 2));\n\n        outPoints.push(point);\n    }\n\n    // Find vertex far enough to steer to\n    let ns = 0;\n    while (ns < outPoints.length) {\n        // Stop at Off-Mesh link or when point is further than slop away\n        if (straightPath.straightPathFlags.get(ns) & recast.Detour.DT_STRAIGHTPATH_OFFMESH_CONNECTION) {\n            break;\n        }\n\n        const posA = outPoints[ns];\n        const posB = start;\n\n        if (!inRange(posA, posB, minTargetDist, 1000.0)) {\n            break;\n        }\n\n        ns++;\n    }\n\n    // Failed to find good point to steer to\n    if (ns >= straightPath.straightPathCount) {\n        return {\n            success: false,\n        };\n    }\n\n    const steerPos = outPoints[ns];\n    const steerPosFlag = straightPath.straightPathFlags.get(ns);\n    const steerPosRef = straightPath.straightPathRefs.get(ns);\n\n    return {\n        success: true,\n        steerPos,\n        steerPosFlag,\n        steerPosRef,\n        points: outPoints,\n    };\n}\n\n// eslint-disable-next-line @typescript-eslint/naming-convention\nfunction inRange(a: Vector3, b: Vector3, r: number, h: number) {\n    const dx = b.x - a.x;\n    const dy = b.y - a.y;\n    const dz = b.z - a.z;\n    return dx * dx + dz * dz < r && Math.abs(dy) < h;\n}\n\n// eslint-disable-next-line @typescript-eslint/naming-convention\nfunction fixupCorridor(pathPolys: number[], maxPath: number, visitedPolyRefs: number[]) {\n    let furthestPath = -1;\n    let furthestVisited = -1;\n\n    // Find furthest common polygon.\n    for (let i = pathPolys.length - 1; i >= 0; i--) {\n        let found = false;\n        for (let j = visitedPolyRefs.length - 1; j >= 0; j--) {\n            if (pathPolys[i] === visitedPolyRefs[j]) {\n                furthestPath = i;\n                furthestVisited = j;\n                found = true;\n            }\n        }\n        if (found) {\n            break;\n        }\n    }\n\n    // If no intersection found just return current path.\n    if (furthestPath === -1 || furthestVisited === -1) {\n        return pathPolys;\n    }\n\n    // Concatenate paths.\n\n    // Adjust beginning of the buffer to include the visited.\n    const req = visitedPolyRefs.length - furthestVisited;\n    const orig = Math.min(furthestPath + 1, pathPolys.length);\n\n    let size = Math.max(0, pathPolys.length - orig);\n\n    if (req + size > maxPath) {\n        size = maxPath - req;\n    }\n    if (size) {\n        pathPolys.splice(req, size, ...pathPolys.slice(orig, orig + size));\n    }\n\n    // Store visited\n    for (let i = 0; i < req; i++) {\n        pathPolys[i] = visitedPolyRefs[visitedPolyRefs.length - (1 + i)];\n    }\n\n    return pathPolys;\n}\n\n/**\n * This function checks if the path has a small U-turn, that is,\n * a polygon further in the path is adjacent to the first polygon\n * in the path. If that happens, a shortcut is taken.\n * This can happen if the target (T) location is at tile boundary,\n * and we're (S) approaching it parallel to the tile edge.\n * The choice at the vertex can be arbitrary,\n *  +---+---+\n *  |:::|:::|\n *  +-S-+-T-+\n *  |:::|   | -- the step can end up in here, resulting U-turn path.\n *  +---+---+\n * @param pathPolys The path polygons to check for U-turns.\n * @param navMesh The navigation mesh used to check adjacency.\n * @param recast The recast injection to use.\n */\n// eslint-disable-next-line @typescript-eslint/naming-convention\nfunction fixupShortcuts(pathPolys: number[], navMesh: NavMesh, recast: RecastInjection) {\n    if (pathPolys.length < 3) {\n        return;\n    }\n\n    // Get connected polygons\n    const maxNeis = 16;\n    let nneis = 0;\n    const neis: number[] = [];\n\n    const tileAndPoly = navMesh.getTileAndPolyByRef(pathPolys[0]);\n\n    if (!tileAndPoly.success) {\n        return;\n    }\n\n    const poly = tileAndPoly.poly;\n    const tile = tileAndPoly.tile;\n    for (let k = poly.firstLink(); k !== recast.Detour.DT_NULL_LINK; k = tile.links(k).next()) {\n        const link = tile.links(k);\n\n        if (link.ref() !== 0) {\n            if (nneis < maxNeis) {\n                neis.push(link.ref());\n                nneis++;\n            }\n        }\n    }\n\n    // If any of the neighbour polygons is within the next few polygons\n    // in the path, short cut to that polygon directly.\n    const maxLookAhead = 6;\n    let cut = 0;\n    for (let i = Math.min(maxLookAhead, pathPolys.length) - 1; i > 1 && cut === 0; i--) {\n        for (let j = 0; j < nneis; j++) {\n            if (pathPolys[i] === neis[j]) {\n                cut = i;\n                break;\n            }\n        }\n    }\n\n    if (cut > 1) {\n        pathPolys.splice(1, cut - 1);\n    }\n}\n"]}

package/navigation/common/tile-cache.d.ts

@@ -0,0 +1,15 @@
+import type { NavMesh, OffMeshConnectionParams, TileCache } from "@recast-navigation/core";
+/**
+ * Creates a default tile cache mesh process function
+ * @param offMeshConnections offMeshConnections
+ * @param area the area to be set for each poly
+ * @param flags the flags to be set for each poly
+ * @returns the tile cache mesh process function
+ */
+export declare function CreateDefaultTileCacheMeshProcess(offMeshConnections?: OffMeshConnectionParams[], area?: number, flags?: number): any;
+/**
+ * Waits until the tile cache is fully updated
+ * @param navMesh The NavMesh
+ * @param tileCache THe TileCache
+ */
+export declare function WaitForFullTileCacheUpdate(navMesh: NavMesh, tileCache: TileCache): void;

package/navigation/common/tile-cache.js

@@ -0,0 +1,32 @@
+import { GetRecast } from "../factory/common.js";
+/**
+ * Creates a default tile cache mesh process function
+ * @param offMeshConnections offMeshConnections
+ * @param area the area to be set for each poly
+ * @param flags the flags to be set for each poly
+ * @returns the tile cache mesh process function
+ */
+export function CreateDefaultTileCacheMeshProcess(offMeshConnections = [], area = 0, flags = 1) {
+    return new (GetRecast().TileCacheMeshProcess)((navMeshCreateParams, polyAreas, polyFlags) => {
+        for (let i = 0; i < navMeshCreateParams.polyCount(); ++i) {
+            polyAreas.set(i, area);
+            polyFlags.set(i, flags);
+        }
+        if (offMeshConnections.length > 0) {
+            navMeshCreateParams.setOffMeshConnections(offMeshConnections);
+        }
+    });
+}
+/**
+ * Waits until the tile cache is fully updated
+ * @param navMesh The NavMesh
+ * @param tileCache THe TileCache
+ */
+export function WaitForFullTileCacheUpdate(navMesh, tileCache) {
+    let upToDate = false;
+    while (!upToDate) {
+        const result = tileCache.update(navMesh);
+        upToDate = result.upToDate;
+    }
+}
+//# sourceMappingURL=tile-cache.js.map

package/navigation/common/tile-cache.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"tile-cache.js","sourceRoot":"","sources":["../../../../../dev/addons/src/navigation/common/tile-cache.ts"],"names":[],"mappings":"AAEA,OAAO,EAAE,SAAS,EAAE,MAAM,mBAAmB,CAAC;AAE9C;;;;;;GAMG;AACH,MAAM,UAAU,iCAAiC,CAAC,qBAAgD,EAAE,EAAE,IAAI,GAAG,CAAC,EAAE,KAAK,GAAG,CAAC;IACrH,OAAO,IAAI,CAAC,SAAS,EAAE,CAAC,oBAAoB,CAAC,CAAC,CAAC,mBAAwC,EAAE,SAA4B,EAAE,SAA6B,EAAE,EAAE;QACpJ,KAAK,IAAI,CAAC,GAAG,CAAC,EAAE,CAAC,GAAG,mBAAmB,CAAC,SAAS,EAAE,EAAE,EAAE,CAAC,EAAE,CAAC;YACvD,SAAS,CAAC,GAAG,CAAC,CAAC,EAAE,IAAI,CAAC,CAAC;YACvB,SAAS,CAAC,GAAG,CAAC,CAAC,EAAE,KAAK,CAAC,CAAC;QAC5B,CAAC;QAED,IAAI,kBAAkB,CAAC,MAAM,GAAG,CAAC,EAAE,CAAC;YAChC,mBAAmB,CAAC,qBAAqB,CAAC,kBAAkB,CAAC,CAAC;QAClE,CAAC;IACL,CAAC,CAAC,CAAC;AACP,CAAC;AAED;;;;GAIG;AACH,MAAM,UAAU,0BAA0B,CAAC,OAAgB,EAAE,SAAoB;IAC7E,IAAI,QAAQ,GAAG,KAAK,CAAC;IACrB,OAAO,CAAC,QAAQ,EAAE,CAAC;QACf,MAAM,MAAM,GAAG,SAAS,CAAC,MAAM,CAAC,OAAO,CAAC,CAAC;QACzC,QAAQ,GAAG,MAAM,CAAC,QAAQ,CAAC;IAC/B,CAAC;AACL,CAAC","sourcesContent":["import type { NavMesh, NavMeshCreateParams, OffMeshConnectionParams, TileCache, UnsignedCharArray, UnsignedShortArray } from \"@recast-navigation/core\";\n\nimport { GetRecast } from \"../factory/common\";\n\n/**\n * Creates a default tile cache mesh process function\n * @param offMeshConnections offMeshConnections\n * @param area the area to be set for each poly\n * @param flags the flags to be set for each poly\n * @returns the tile cache mesh process function\n */\nexport function CreateDefaultTileCacheMeshProcess(offMeshConnections: OffMeshConnectionParams[] = [], area = 0, flags = 1) {\n    return new (GetRecast().TileCacheMeshProcess)((navMeshCreateParams: NavMeshCreateParams, polyAreas: UnsignedCharArray, polyFlags: UnsignedShortArray) => {\n        for (let i = 0; i < navMeshCreateParams.polyCount(); ++i) {\n            polyAreas.set(i, area);\n            polyFlags.set(i, flags);\n        }\n\n        if (offMeshConnections.length > 0) {\n            navMeshCreateParams.setOffMeshConnections(offMeshConnections);\n        }\n    });\n}\n\n/**\n * Waits until the tile cache is fully updated\n * @param navMesh The NavMesh\n * @param tileCache THe TileCache\n */\nexport function WaitForFullTileCacheUpdate(navMesh: NavMesh, tileCache: TileCache) {\n    let upToDate = false;\n    while (!upToDate) {\n        const result = tileCache.update(navMesh);\n        upToDate = result.upToDate;\n    }\n}\n"]}

package/navigation/common/utils.d.ts

@@ -0,0 +1,17 @@
+import type { IVector3Like } from "@onerjs/core/Maths/math.like.js";
+import { Vector3 } from "@onerjs/core/Maths/math.vector.js";
+/**
+ * Utility function based on Chaikin's alogrithm for navigation path smoothing and segment generation.
+ * @param points Array of points to be smoothed, where each point is an object with x, y, and z properties.
+ * @param iterations Number of smoothing iterations to apply. Default 1.
+ * @returns A new array of smoothed points after applying the Chaikin's algorithm.
+ */
+export declare function GetChaikinSmoothPath(points: IVector3Like[], iterations?: number): IVector3Like[];
+/**
+ *  Generates a series of points that create an L-shaped path between each pair of points in the input navigation segment.
+ *  The path consists of a horizontal segment followed by a vertical segment, or vice versa,
+ *  depending on the relative distances between the x and z coordinates of the points.
+ * @param navSegment An array of Vector3 points representing the navigation segment.
+ * @returns An array of Vector3 points representing the L-shaped path.
+ */
+export declare function GetLShapedPath(navSegment: Vector3[]): Vector3[];

package/navigation/common/utils.js

@@ -0,0 +1,66 @@
+import { Vector3 } from "@onerjs/core/Maths/math.vector.js";
+/**
+ * Utility function based on Chaikin's alogrithm for navigation path smoothing and segment generation.
+ * @param points Array of points to be smoothed, where each point is an object with x, y, and z properties.
+ * @param iterations Number of smoothing iterations to apply. Default 1.
+ * @returns A new array of smoothed points after applying the Chaikin's algorithm.
+ */
+export function GetChaikinSmoothPath(points, iterations = 1) {
+    for (let i = 0; i < iterations; i++) {
+        const smoothed = [];
+        for (let j = 0; j < points.length - 1; j++) {
+            const p0 = points[j];
+            const p1 = points[j + 1];
+            smoothed.push({
+                x: 0.75 * p0.x + 0.25 * p1.x,
+                y: 0.75 * p0.y + 0.25 * p1.y,
+                z: 0.75 * p0.z + 0.25 * p1.z,
+            });
+            smoothed.push({
+                x: 0.25 * p0.x + 0.75 * p1.x,
+                y: 0.25 * p0.y + 0.75 * p1.y,
+                z: 0.25 * p0.z + 0.75 * p1.z,
+            });
+        }
+        if (points[0].x === points[points.length - 1].x && points[0].y === points[points.length - 1].y && points[0].z === points[points.length - 1].z) {
+            smoothed.push(smoothed[0]);
+        }
+        points = smoothed;
+    }
+    return points;
+}
+/**
+ *  Generates a series of points that create an L-shaped path between each pair of points in the input navigation segment.
+ *  The path consists of a horizontal segment followed by a vertical segment, or vice versa,
+ *  depending on the relative distances between the x and z coordinates of the points.
+ * @param navSegment An array of Vector3 points representing the navigation segment.
+ * @returns An array of Vector3 points representing the L-shaped path.
+ */
+// eslint-disable-next-line @typescript-eslint/naming-convention
+export function GetLShapedPath(navSegment) {
+    const points = [];
+    for (let j = 0; j < navSegment.length - 1; j++) {
+        const p0 = navSegment[j];
+        const p1 = navSegment[j + 1];
+        const p01 = getLShapedPoint(p0, p1);
+        points.push(p0, new Vector3(p01.x, p1.y, p01.z), p1);
+    }
+    return points;
+}
+// eslint-disable-next-line @typescript-eslint/naming-convention
+function getLShapedPoint(pointA, pointB) {
+    const { x: x1, z: y1 } = pointA;
+    const { x: x2, z: y2 } = pointB;
+    let pointC;
+    // Determine turn direction automatically based on the offset
+    if (Math.abs(x2 - x1) >= Math.abs(y2 - y1)) {
+        // Horizontal-then-vertical turn
+        pointC = { x: x2, z: y1 };
+    }
+    else {
+        // Vertical-then-horizontal turn
+        pointC = { x: x1, z: y2 };
+    }
+    return pointC;
+}
+//# sourceMappingURL=utils.js.map

package/navigation/common/utils.js.map

@@ -0,0 +1 @@
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Default 1.\n * @returns A new array of smoothed points after applying the Chaikin's algorithm.\n */\nexport function GetChaikinSmoothPath(points: IVector3Like[], iterations = 1) {\n    for (let i = 0; i < iterations; i++) {\n        const smoothed = [];\n        for (let j = 0; j < points.length - 1; j++) {\n            const p0 = points[j];\n            const p1 = points[j + 1];\n\n            smoothed.push({\n                x: 0.75 * p0.x + 0.25 * p1.x,\n                y: 0.75 * p0.y + 0.25 * p1.y,\n                z: 0.75 * p0.z + 0.25 * p1.z,\n            });\n\n            smoothed.push({\n                x: 0.25 * p0.x + 0.75 * p1.x,\n                y: 0.25 * p0.y + 0.75 * p1.y,\n                z: 0.25 * p0.z + 0.75 * p1.z,\n            });\n        }\n\n        if (points[0].x === points[points.length - 1].x && points[0].y === points[points.length - 1].y && points[0].z === points[points.length - 1].z) {\n            smoothed.push(smoothed[0]);\n        }\n\n        points = smoothed;\n    }\n    return points;\n}\n\n/**\n *  Generates a series of points that create an L-shaped path between each pair of points in the input navigation segment.\n *  The path consists of a horizontal segment followed by a vertical segment, or vice versa,\n *  depending on the relative distances between the x and z coordinates of the points.\n * @param navSegment An array of Vector3 points representing the navigation segment.\n * @returns An array of Vector3 points representing the L-shaped path.\n */\n// eslint-disable-next-line @typescript-eslint/naming-convention\nexport function GetLShapedPath(navSegment: Vector3[]) {\n    const points = [];\n    for (let j = 0; j < navSegment.length - 1; j++) {\n        const p0 = navSegment[j];\n        const p1 = navSegment[j + 1];\n        const p01 = getLShapedPoint(p0, p1);\n        points.push(p0, new Vector3(p01.x, p1.y, p01.z), p1);\n    }\n    return points;\n}\n\n// eslint-disable-next-line @typescript-eslint/naming-convention\nfunction getLShapedPoint(pointA: IVector3Like, pointB: IVector3Like) {\n    const { x: x1, z: y1 } = pointA;\n    const { x: x2, z: y2 } = pointB;\n\n    let pointC;\n\n    // Determine turn direction automatically based on the offset\n    if (Math.abs(x2 - x1) >= Math.abs(y2 - y1)) {\n        // Horizontal-then-vertical turn\n        pointC = { x: x2, z: y1 };\n    } else {\n        // Vertical-then-horizontal turn\n        pointC = { x: x1, z: y2 };\n    }\n\n    return pointC;\n}\n"]}