@onerjs/addons 8.27.1 → 8.27.3

package/navigation/plugin/RecastJSCrowd.js

@@ -0,0 +1,359 @@
+import { Vector3 } from "@onerjs/core/Maths/math.vector.js";
+import { Epsilon } from "@onerjs/core/Maths/math.constants.js";
+import { Observable } from "@onerjs/core/Misc/observable.js";
+import { ToCrowdAgentParams } from "../common/config.js";
+import { GetRecast } from "../factory/common.js";
+/**
+ * Recast Detour crowd implementation
+ * This class provides methods to manage a crowd of agents, allowing them to navigate a navigation mesh.
+ * It supports adding agents, updating their parameters, moving them to destinations, and checking their states.
+ * The crowd is updated in the scene's animation loop, and it notifies observers when agents reach their destinations.
+ */
+export class RecastJSCrowd {
+    /**
+     * Recast plugin
+     */
+    get navigationPlugin() {
+        return this._navigationPlugin;
+    }
+    /**
+     * Link to the detour crowd
+     */
+    get recastCrowd() {
+        return this._recastCrowd;
+    }
+    /**
+     * One transform per agent
+     */
+    get transforms() {
+        return this._transforms;
+    }
+    /**
+     * All agents created
+     */
+    get agents() {
+        return Object.freeze(this._agents);
+    }
+    /**
+     * Agents reach radius
+     */
+    get reachRadii() {
+        return Object.freeze(this._reachRadii);
+    }
+    /**
+     * Constructor
+     * @param plugin recastJS plugin
+     * @param maxAgents the maximum agent count in the crowd
+     * @param maxAgentRadius the maximum radius an agent can have
+     * @param scene to attach the crowd to
+     * @returns the crowd you can add agents to
+     */
+    constructor(plugin, maxAgents, maxAgentRadius, scene) {
+        this._transforms = [];
+        this._agents = [];
+        this._reachRadii = [];
+        /**
+         * true when a destination is active for an agent and notifier hasn't been notified of reach
+         */
+        this._agentDestinationArmed = new Array();
+        /**
+         * agent current target
+         */
+        this._agentDestination = new Array();
+        /**
+         * Observer for crowd updates
+         */
+        this._onBeforeAnimationsObserver = null;
+        /**
+         * Fires each time an agent is in reach radius of its destination
+         */
+        this.onReachTargetObservable = new Observable();
+        this._navigationPlugin = plugin;
+        if (!plugin.navMesh) {
+            throw new Error("There is no NavMesh generated.");
+        }
+        this._recastCrowd = new (GetRecast().Crowd)(plugin.navMesh, {
+            maxAgents,
+            maxAgentRadius,
+        });
+        this._scene = scene;
+        this._engine = scene.getEngine();
+        this._onBeforeAnimationsObserver = scene.onBeforeAnimationsObservable.add(() => {
+            this.update(this._engine.getDeltaTime() * 0.001 * plugin.timeFactor);
+        });
+    }
+    /**
+     * Add a new agent to the crowd with the specified parameter a corresponding transformNode.
+     * You can attach anything to that node. The node position is updated in the scene update tick.
+     * @param pos world position that will be constrained by the navigation mesh
+     * @param parameters agent parameters
+     * @param transform hooked to the agent that will be update by the scene
+     * @returns agent index
+     */
+    addAgent(pos, parameters, transform) {
+        const agentParams = ToCrowdAgentParams(parameters);
+        const agent = this._recastCrowd.addAgent({ x: pos.x, y: pos.y, z: pos.z }, agentParams);
+        this._transforms.push(transform);
+        this._agents.push(agent.agentIndex);
+        this._reachRadii.push(parameters.reachRadius ? parameters.reachRadius : parameters.radius);
+        this._agentDestinationArmed.push(false);
+        this._agentDestination.push(new Vector3(0, 0, 0));
+        return agent.agentIndex;
+    }
+    /**
+     * Returns the agent position in world space
+     * @param index agent index returned by addAgent
+     * @returns world space position
+     */
+    getAgentPosition(index) {
+        const agentPos = this._recastCrowd.getAgent(index)?.position() ?? Vector3.ZeroReadOnly;
+        return new Vector3(agentPos.x, agentPos.y, agentPos.z);
+    }
+    /**
+     * Returns the agent position result in world space
+     * @param index agent index returned by addAgent
+     * @param result output world space position
+     */
+    getAgentPositionToRef(index, result) {
+        const agentPos = this._recastCrowd.getAgent(index)?.position() ?? Vector3.ZeroReadOnly;
+        result.set(agentPos.x, agentPos.y, agentPos.z);
+    }
+    /**
+     * Returns the agent velocity in world space
+     * @param index agent index returned by addAgent
+     * @returns world space velocity
+     */
+    getAgentVelocity(index) {
+        const agentVel = this._recastCrowd.getAgent(index)?.velocity() ?? Vector3.ZeroReadOnly;
+        return new Vector3(agentVel.x, agentVel.y, agentVel.z);
+    }
+    /**
+     * Returns the agent velocity result in world space
+     * @param index agent index returned by addAgent
+     * @param result output world space velocity
+     */
+    getAgentVelocityToRef(index, result) {
+        const agentVel = this._recastCrowd.getAgent(index)?.velocity() ?? Vector3.ZeroReadOnly;
+        result.set(agentVel.x, agentVel.y, agentVel.z);
+    }
+    /**
+     * Returns the agent next target point on the path
+     * @param index agent index returned by addAgent
+     * @returns world space position
+     */
+    getAgentNextTargetPath(index) {
+        const pathTargetPos = this._recastCrowd.getAgent(index)?.nextTargetInPath() ?? Vector3.ZeroReadOnly;
+        return new Vector3(pathTargetPos.x, pathTargetPos.y, pathTargetPos.z);
+    }
+    /**
+     * Returns the agent next target point on the path
+     * @param index agent index returned by addAgent
+     * @param result output world space position
+     */
+    getAgentNextTargetPathToRef(index, result) {
+        const pathTargetPos = this._recastCrowd.getAgent(index)?.nextTargetInPath() ?? Vector3.ZeroReadOnly;
+        result.set(pathTargetPos.x, pathTargetPos.y, pathTargetPos.z);
+    }
+    /**
+     * Gets the agent state
+     * @param index agent index returned by addAgent
+     * @returns agent state, 0 = DT_CROWDAGENT_STATE_INVALID, 1 = DT_CROWDAGENT_STATE_WALKING, 2 = DT_CROWDAGENT_STATE_OFFMESH
+     */
+    getAgentState(index) {
+        return this._recastCrowd.getAgent(index)?.state() ?? 0; // invalid
+    }
+    /**
+     * returns true if the agent in over an off mesh link connection
+     * @param index agent index returned by addAgent
+     * @returns true if over an off mesh link connection
+     */
+    overOffmeshConnection(index) {
+        return this._recastCrowd.getAgent(index)?.overOffMeshConnection() ?? false;
+    }
+    /**
+     * Asks a particular agent to go to a destination. That destination is constrained by the navigation mesh
+     * @param index agent index returned by addAgent
+     * @param destination targeted world position
+     */
+    agentGoto(index, destination) {
+        this._recastCrowd.getAgent(index)?.requestMoveTarget(destination);
+        // arm observer
+        const item = this._agents.indexOf(index);
+        if (item > -1) {
+            this._agentDestinationArmed[item] = true;
+            this._agentDestination[item].set(destination.x, destination.y, destination.z);
+        }
+    }
+    /**
+     * Teleport the agent to a new position
+     * @param index agent index returned by addAgent
+     * @param destination targeted world position
+     */
+    agentTeleport(index, destination) {
+        this._recastCrowd.getAgent(index)?.teleport(destination);
+    }
+    /**
+     * Update agent parameters
+     * @param index agent index returned by addAgent
+     * @param parameters agent parameters
+     */
+    updateAgentParameters(index, parameters) {
+        const agent = this._recastCrowd.getAgent(index);
+        if (!agent) {
+            return;
+        }
+        const agentParams = agent.parameters();
+        if (!agentParams) {
+            return;
+        }
+        if (parameters.radius !== undefined) {
+            agentParams.radius = parameters.radius;
+        }
+        if (parameters.height !== undefined) {
+            agentParams.height = parameters.height;
+        }
+        if (parameters.maxAcceleration !== undefined) {
+            agentParams.maxAcceleration = parameters.maxAcceleration;
+        }
+        if (parameters.maxSpeed !== undefined) {
+            agentParams.maxSpeed = parameters.maxSpeed;
+        }
+        if (parameters.collisionQueryRange !== undefined) {
+            agentParams.collisionQueryRange = parameters.collisionQueryRange;
+        }
+        if (parameters.pathOptimizationRange !== undefined) {
+            agentParams.pathOptimizationRange = parameters.pathOptimizationRange;
+        }
+        if (parameters.separationWeight !== undefined) {
+            agentParams.separationWeight = parameters.separationWeight;
+        }
+        agent.updateParameters(agentParams);
+    }
+    /**
+     * remove a particular agent previously created
+     * @param index agent index returned by addAgent
+     */
+    removeAgent(index) {
+        this._recastCrowd.removeAgent(index);
+        const item = this._agents.indexOf(index);
+        if (item > -1) {
+            this._agents.splice(item, 1);
+            this._transforms.splice(item, 1);
+            this._reachRadii.splice(item, 1);
+            this._agentDestinationArmed.splice(item, 1);
+            this._agentDestination.splice(item, 1);
+        }
+    }
+    /**
+     * get the list of all agents attached to this crowd
+     * @returns list of agent indices
+     */
+    getAgents() {
+        return this._agents;
+    }
+    /**
+     * Tick update done by the Scene. Agent position/velocity/acceleration is updated by this function
+     * @param deltaTime in seconds
+     */
+    update(deltaTime) {
+        this._recastCrowd.update(deltaTime);
+        if (deltaTime <= Epsilon) {
+            return;
+        }
+        // update crowd
+        const timeStep = this._navigationPlugin.getTimeStep();
+        const maxStepCount = this._navigationPlugin.getMaximumSubStepCount();
+        if (timeStep <= Epsilon) {
+            this._recastCrowd.update(deltaTime);
+        }
+        else {
+            let iterationCount = Math.floor(deltaTime / timeStep);
+            if (maxStepCount && iterationCount > maxStepCount) {
+                iterationCount = maxStepCount;
+            }
+            if (iterationCount < 1) {
+                iterationCount = 1;
+            }
+            const step = deltaTime / iterationCount;
+            for (let i = 0; i < iterationCount; i++) {
+                this._recastCrowd.update(step);
+            }
+        }
+        // update transforms
+        for (let index = 0; index < this._agents.length; index++) {
+            // update transform position
+            const agentIndex = this._agents[index];
+            const agentPosition = this.getAgentPosition(agentIndex);
+            this._transforms[index].position = agentPosition;
+            // check agent reach destination
+            if (this._agentDestinationArmed[index]) {
+                const dx = agentPosition.x - this._agentDestination[index].x;
+                const dz = agentPosition.z - this._agentDestination[index].z;
+                const radius = this._reachRadii[index];
+                const groundY = this._agentDestination[index].y - this._reachRadii[index];
+                const ceilingY = this._agentDestination[index].y + this._reachRadii[index];
+                const distanceXZSquared = dx * dx + dz * dz;
+                if (agentPosition.y > groundY && agentPosition.y < ceilingY && distanceXZSquared < radius * radius) {
+                    this._agentDestinationArmed[index] = false;
+                    this.onReachTargetObservable.notifyObservers({
+                        agentIndex: agentIndex,
+                        destination: this._agentDestination[index],
+                    });
+                }
+            }
+        }
+    }
+    /**
+     * Set the Bounding box extent for doing spatial queries (getClosestPoint, getRandomPointAround, ...)
+     * The queries will try to find a solution within those bounds
+     * default is (1,1,1)
+     * @param extent x,y,z value that define the extent around the queries point of reference
+     */
+    setDefaultQueryExtent(extent) {
+        this._navigationPlugin.setDefaultQueryExtent(extent);
+    }
+    /**
+     * Get the Bounding box extent specified by setDefaultQueryExtent
+     * @returns the box extent values
+     */
+    getDefaultQueryExtent() {
+        const p = this._navigationPlugin.getDefaultQueryExtent();
+        return new Vector3(p.x, p.y, p.z);
+    }
+    /**
+     * Get the Bounding box extent result specified by setDefaultQueryExtent
+     * @param result output the box extent values
+     */
+    getDefaultQueryExtentToRef(result) {
+        const p = this._navigationPlugin.getDefaultQueryExtent();
+        result.set(p.x, p.y, p.z);
+    }
+    /**
+     * Get the next corner points composing the path (max 4 points)
+     * @param index agent index returned by addAgent
+     * @returns array containing world position composing the path
+     */
+    getCorners(index) {
+        const corners = this._recastCrowd.getAgent(index)?.corners();
+        if (!corners) {
+            return [];
+        }
+        const positions = [];
+        for (let i = 0; i < corners.length; i++) {
+            positions.push(new Vector3(corners[i].x, corners[i].y, corners[i].z));
+        }
+        return positions;
+    }
+    /**
+     * Release all resources
+     */
+    dispose() {
+        this._recastCrowd.destroy();
+        if (this._onBeforeAnimationsObserver) {
+            this._scene.onBeforeAnimationsObservable.remove(this._onBeforeAnimationsObserver);
+            this._onBeforeAnimationsObserver = null;
+        }
+        this.onReachTargetObservable.clear();
+    }
+}
+//# sourceMappingURL=RecastJSCrowd.js.map

package/navigation/plugin/RecastJSCrowd.js.map

@@ -0,0 +1 @@
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type { Crowd } from \"@recast-navigation/core\";\n\nimport type { Nullable } from \"core/types\";\nimport type { IVector3Like } from \"core/Maths/math.like\";\nimport type { TransformNode } from \"core/Meshes/transformNode\";\nimport type { ICrowd } from \"core/Navigation/INavigationEngine\";\nimport { Vector3 } from \"core/Maths/math.vector\";\nimport { Epsilon } from \"core/Maths/math.constants\";\nimport type { Observer } from \"core/Misc/observable\";\nimport { Observable } from \"core/Misc/observable\";\nimport type { Scene } from \"core/scene\";\n\nimport type { RecastNavigationJSPluginV2 } from \"./RecastNavigationJSPlugin\";\nimport type { AbstractEngine } from \"core/Engines/abstractEngine\";\nimport { ToCrowdAgentParams } from \"../common/config\";\nimport type { IAgentParametersV2 } from \"../types\";\nimport { GetRecast } from \"../factory/common\";\n\n/**\n * Recast Detour crowd implementation\n * This class provides methods to manage a crowd of agents, allowing them to navigate a navigation mesh.\n * It supports adding agents, updating their parameters, moving them to destinations, and checking their states.\n * The crowd is updated in the scene's animation loop, and it notifies observers when agents reach their destinations.\n */\nexport class RecastJSCrowd implements ICrowd {\n    /**\n     * Recast plugin\n     */\n    public get navigationPlugin(): RecastNavigationJSPluginV2 {\n        return this._navigationPlugin;\n    }\n\n    /**\n     * Link to the detour crowd\n     */\n    public get recastCrowd(): Crowd {\n        return this._recastCrowd;\n    }\n\n    /**\n     * One transform per agent\n     */\n    public get transforms(): TransformNode[] {\n        return this._transforms;\n    }\n\n    /**\n     * All agents created\n     */\n    public get agents(): readonly number[] {\n        return Object.freeze(this._agents);\n    }\n\n    /**\n     * Agents reach radius\n     */\n    public get reachRadii(): readonly number[] {\n        return Object.freeze(this._reachRadii);\n    }\n\n    private _navigationPlugin: RecastNavigationJSPluginV2;\n    private _recastCrowd: Crowd;\n    private _transforms: TransformNode[] = [];\n    private _agents: number[] = [];\n    private _reachRadii: number[] = [];\n\n    /**\n     * true when a destination is active for an agent and notifier hasn't been notified of reach\n     */\n    private _agentDestinationArmed: boolean[] = new Array<boolean>();\n    /**\n     * agent current target\n     */\n    private _agentDestination: Vector3[] = new Array<Vector3>();\n    /**\n     * Link to the scene is kept to unregister the crowd from the scene\n     */\n    private _scene: Scene;\n\n    private _engine: AbstractEngine;\n\n    /**\n     * Observer for crowd updates\n     */\n    private _onBeforeAnimationsObserver: Nullable<Observer<Scene>> = null;\n\n    /**\n     * Fires each time an agent is in reach radius of its destination\n     */\n    public onReachTargetObservable = new Observable<{\n        /**\n         *\n         */\n        agentIndex: number;\n        /**\n         *\n         */\n        destination: Vector3;\n    }>();\n\n    /**\n     * Constructor\n     * @param plugin recastJS plugin\n     * @param maxAgents the maximum agent count in the crowd\n     * @param maxAgentRadius the maximum radius an agent can have\n     * @param scene to attach the crowd to\n     * @returns the crowd you can add agents to\n     */\n    public constructor(plugin: RecastNavigationJSPluginV2, maxAgents: number, maxAgentRadius: number, scene: Scene) {\n        this._navigationPlugin = plugin;\n\n        if (!plugin.navMesh) {\n            throw new Error(\"There is no NavMesh generated.\");\n        }\n\n        this._recastCrowd = new (GetRecast().Crowd)(plugin.navMesh, {\n            maxAgents,\n            maxAgentRadius,\n        });\n\n        this._scene = scene;\n        this._engine = scene.getEngine();\n\n        this._onBeforeAnimationsObserver = scene.onBeforeAnimationsObservable.add(() => {\n            this.update(this._engine.getDeltaTime() * 0.001 * plugin.timeFactor);\n        });\n    }\n\n    /**\n     * Add a new agent to the crowd with the specified parameter a corresponding transformNode.\n     * You can attach anything to that node. The node position is updated in the scene update tick.\n     * @param pos world position that will be constrained by the navigation mesh\n     * @param parameters agent parameters\n     * @param transform hooked to the agent that will be update by the scene\n     * @returns agent index\n     */\n    public addAgent(pos: IVector3Like, parameters: IAgentParametersV2, transform: TransformNode): number {\n        const agentParams = ToCrowdAgentParams(parameters);\n\n        const agent = this._recastCrowd.addAgent({ x: pos.x, y: pos.y, z: pos.z }, agentParams);\n\n        this._transforms.push(transform);\n        this._agents.push(agent.agentIndex);\n        this._reachRadii.push(parameters.reachRadius ? parameters.reachRadius : parameters.radius);\n        this._agentDestinationArmed.push(false);\n        this._agentDestination.push(new Vector3(0, 0, 0));\n\n        return agent.agentIndex;\n    }\n\n    /**\n     * Returns the agent position in world space\n     * @param index agent index returned by addAgent\n     * @returns world space position\n     */\n    public getAgentPosition(index: number): Vector3 {\n        const agentPos = this._recastCrowd.getAgent(index)?.position() ?? Vector3.ZeroReadOnly;\n        return new Vector3(agentPos.x, agentPos.y, agentPos.z);\n    }\n\n    /**\n     * Returns the agent position result in world space\n     * @param index agent index returned by addAgent\n     * @param result output world space position\n     */\n    public getAgentPositionToRef(index: number, result: Vector3): void {\n        const agentPos = this._recastCrowd.getAgent(index)?.position() ?? Vector3.ZeroReadOnly;\n        result.set(agentPos.x, agentPos.y, agentPos.z);\n    }\n\n    /**\n     * Returns the agent velocity in world space\n     * @param index agent index returned by addAgent\n     * @returns world space velocity\n     */\n    public getAgentVelocity(index: number): Vector3 {\n        const agentVel = this._recastCrowd.getAgent(index)?.velocity() ?? Vector3.ZeroReadOnly;\n        return new Vector3(agentVel.x, agentVel.y, agentVel.z);\n    }\n\n    /**\n     * Returns the agent velocity result in world space\n     * @param index agent index returned by addAgent\n     * @param result output world space velocity\n     */\n    public getAgentVelocityToRef(index: number, result: Vector3): void {\n        const agentVel = this._recastCrowd.getAgent(index)?.velocity() ?? Vector3.ZeroReadOnly;\n        result.set(agentVel.x, agentVel.y, agentVel.z);\n    }\n\n    /**\n     * Returns the agent next target point on the path\n     * @param index agent index returned by addAgent\n     * @returns world space position\n     */\n    public getAgentNextTargetPath(index: number): Vector3 {\n        const pathTargetPos = this._recastCrowd.getAgent(index)?.nextTargetInPath() ?? Vector3.ZeroReadOnly;\n        return new Vector3(pathTargetPos.x, pathTargetPos.y, pathTargetPos.z);\n    }\n\n    /**\n     * Returns the agent next target point on the path\n     * @param index agent index returned by addAgent\n     * @param result output world space position\n     */\n    public getAgentNextTargetPathToRef(index: number, result: Vector3): void {\n        const pathTargetPos = this._recastCrowd.getAgent(index)?.nextTargetInPath() ?? Vector3.ZeroReadOnly;\n        result.set(pathTargetPos.x, pathTargetPos.y, pathTargetPos.z);\n    }\n\n    /**\n     * Gets the agent state\n     * @param index agent index returned by addAgent\n     * @returns agent state, 0 = DT_CROWDAGENT_STATE_INVALID, 1 = DT_CROWDAGENT_STATE_WALKING, 2 = DT_CROWDAGENT_STATE_OFFMESH\n     */\n    public getAgentState(index: number): number {\n        return this._recastCrowd.getAgent(index)?.state() ?? 0; // invalid\n    }\n\n    /**\n     * returns true if the agent in over an off mesh link connection\n     * @param index agent index returned by addAgent\n     * @returns true if over an off mesh link connection\n     */\n    public overOffmeshConnection(index: number): boolean {\n        return this._recastCrowd.getAgent(index)?.overOffMeshConnection() ?? false;\n    }\n\n    /**\n     * Asks a particular agent to go to a destination. That destination is constrained by the navigation mesh\n     * @param index agent index returned by addAgent\n     * @param destination targeted world position\n     */\n    public agentGoto(index: number, destination: IVector3Like): void {\n        this._recastCrowd.getAgent(index)?.requestMoveTarget(destination);\n\n        // arm observer\n        const item = this._agents.indexOf(index);\n        if (item > -1) {\n            this._agentDestinationArmed[item] = true;\n            this._agentDestination[item].set(destination.x, destination.y, destination.z);\n        }\n    }\n\n    /**\n     * Teleport the agent to a new position\n     * @param index agent index returned by addAgent\n     * @param destination targeted world position\n     */\n    public agentTeleport(index: number, destination: IVector3Like): void {\n        this._recastCrowd.getAgent(index)?.teleport(destination);\n    }\n\n    /**\n     * Update agent parameters\n     * @param index agent index returned by addAgent\n     * @param parameters agent parameters\n     */\n    public updateAgentParameters(index: number, parameters: IAgentParametersV2): void {\n        const agent = this._recastCrowd.getAgent(index);\n        if (!agent) {\n            return;\n        }\n\n        const agentParams = agent.parameters();\n\n        if (!agentParams) {\n            return;\n        }\n\n        if (parameters.radius !== undefined) {\n            agentParams.radius = parameters.radius;\n        }\n        if (parameters.height !== undefined) {\n            agentParams.height = parameters.height;\n        }\n        if (parameters.maxAcceleration !== undefined) {\n            agentParams.maxAcceleration = parameters.maxAcceleration;\n        }\n        if (parameters.maxSpeed !== undefined) {\n            agentParams.maxSpeed = parameters.maxSpeed;\n        }\n        if (parameters.collisionQueryRange !== undefined) {\n            agentParams.collisionQueryRange = parameters.collisionQueryRange;\n        }\n        if (parameters.pathOptimizationRange !== undefined) {\n            agentParams.pathOptimizationRange = parameters.pathOptimizationRange;\n        }\n        if (parameters.separationWeight !== undefined) {\n            agentParams.separationWeight = parameters.separationWeight;\n        }\n\n        agent.updateParameters(agentParams);\n    }\n\n    /**\n     * remove a particular agent previously created\n     * @param index agent index returned by addAgent\n     */\n    public removeAgent(index: number): void {\n        this._recastCrowd.removeAgent(index);\n\n        const item = this._agents.indexOf(index);\n        if (item > -1) {\n            this._agents.splice(item, 1);\n            this._transforms.splice(item, 1);\n            this._reachRadii.splice(item, 1);\n            this._agentDestinationArmed.splice(item, 1);\n            this._agentDestination.splice(item, 1);\n        }\n    }\n\n    /**\n     * get the list of all agents attached to this crowd\n     * @returns list of agent indices\n     */\n    public getAgents(): number[] {\n        return this._agents;\n    }\n\n    /**\n     * Tick update done by the Scene. Agent position/velocity/acceleration is updated by this function\n     * @param deltaTime in seconds\n     */\n    public update(deltaTime: number): void {\n        this._recastCrowd.update(deltaTime);\n\n        if (deltaTime <= Epsilon) {\n            return;\n        }\n\n        // update crowd\n        const timeStep = this._navigationPlugin.getTimeStep();\n        const maxStepCount = this._navigationPlugin.getMaximumSubStepCount();\n        if (timeStep <= Epsilon) {\n            this._recastCrowd.update(deltaTime);\n        } else {\n            let iterationCount = Math.floor(deltaTime / timeStep);\n            if (maxStepCount && iterationCount > maxStepCount) {\n                iterationCount = maxStepCount;\n            }\n            if (iterationCount < 1) {\n                iterationCount = 1;\n            }\n\n            const step = deltaTime / iterationCount;\n            for (let i = 0; i < iterationCount; i++) {\n                this._recastCrowd.update(step);\n            }\n        }\n\n        // update transforms\n        for (let index = 0; index < this._agents.length; index++) {\n            // update transform position\n            const agentIndex = this._agents[index];\n            const agentPosition = this.getAgentPosition(agentIndex);\n            this._transforms[index].position = agentPosition;\n            // check agent reach destination\n            if (this._agentDestinationArmed[index]) {\n                const dx = agentPosition.x - this._agentDestination[index].x;\n                const dz = agentPosition.z - this._agentDestination[index].z;\n                const radius = this._reachRadii[index];\n                const groundY = this._agentDestination[index].y - this._reachRadii[index];\n                const ceilingY = this._agentDestination[index].y + this._reachRadii[index];\n                const distanceXZSquared = dx * dx + dz * dz;\n                if (agentPosition.y > groundY && agentPosition.y < ceilingY && distanceXZSquared < radius * radius) {\n                    this._agentDestinationArmed[index] = false;\n                    this.onReachTargetObservable.notifyObservers({\n                        agentIndex: agentIndex,\n                        destination: this._agentDestination[index],\n                    });\n                }\n            }\n        }\n    }\n\n    /**\n     * Set the Bounding box extent for doing spatial queries (getClosestPoint, getRandomPointAround, ...)\n     * The queries will try to find a solution within those bounds\n     * default is (1,1,1)\n     * @param extent x,y,z value that define the extent around the queries point of reference\n     */\n    setDefaultQueryExtent(extent: IVector3Like): void {\n        this._navigationPlugin.setDefaultQueryExtent(extent);\n    }\n\n    /**\n     * Get the Bounding box extent specified by setDefaultQueryExtent\n     * @returns the box extent values\n     */\n    getDefaultQueryExtent(): Vector3 {\n        const p = this._navigationPlugin.getDefaultQueryExtent();\n        return new Vector3(p.x, p.y, p.z);\n    }\n\n    /**\n     * Get the Bounding box extent result specified by setDefaultQueryExtent\n     * @param result output the box extent values\n     */\n    getDefaultQueryExtentToRef(result: Vector3): void {\n        const p = this._navigationPlugin.getDefaultQueryExtent();\n        result.set(p.x, p.y, p.z);\n    }\n\n    /**\n     * Get the next corner points composing the path (max 4 points)\n     * @param index agent index returned by addAgent\n     * @returns array containing world position composing the path\n     */\n    public getCorners(index: number): Vector3[] {\n        const corners = this._recastCrowd.getAgent(index)?.corners();\n        if (!corners) {\n            return [];\n        }\n\n        const positions = [];\n        for (let i = 0; i < corners.length; i++) {\n            positions.push(new Vector3(corners[i].x, corners[i].y, corners[i].z));\n        }\n        return positions;\n    }\n\n    /**\n     * Release all resources\n     */\n    public dispose(): void {\n        this._recastCrowd.destroy();\n\n        if (this._onBeforeAnimationsObserver) {\n            this._scene.onBeforeAnimationsObservable.remove(this._onBeforeAnimationsObserver);\n            this._onBeforeAnimationsObserver = null;\n        }\n\n        this.onReachTargetObservable.clear();\n    }\n}\n"]}