@onerjs/core 8.42.5 → 8.42.7

package/Navigation/INavigationEngine.d.ts

@@ -133,7 +133,7 @@ export interface INavigationEnginePlugin {
     getTimeStep(): number;
     /**
      * If delta time in navigation tick update is greater than the time step
-     * a number of sub iterations are done. If more iterations are need to reach deltatime
+     * a number of sub iterations are done. If more iterations are needed to reach deltatime
      * they will be discarded.
      * A value of 0 will set to no maximum and update will use as many substeps as needed
      * @param newStepCount the maximum number of iterations
@@ -410,7 +410,7 @@ export interface INavMeshParameters {
      */
     detailSampleMaxError: number;
     /**
-     * If using obstacles, the navmesh must be subdivided internaly by tiles.
+     * If using obstacles, the navmesh must be subdivided internally by tiles.
      * This member defines the tile cube side length in world units.
      * If no obstacles are needed, leave it undefined or 0.
      */

package/Navigation/INavigationEngine.js.map

@@ -1 +1 @@
-{"version":3,"file":"INavigationEngine.js","sourceRoot":"","sources":["../../../../dev/core/src/Navigation/INavigationEngine.ts"],"names":[],"mappings":"","sourcesContent":["import type { TransformNode } from \"../Meshes/transformNode\";\r\nimport type { Vector3 } from \"../Maths/math\";\r\nimport type { Mesh } from \"../Meshes/mesh\";\r\nimport type { Scene } from \"../scene\";\r\nimport type { Nullable } from \"../types\";\r\n\r\n/**\r\n * Navigation plugin interface to add navigation constrained by a navigation mesh\r\n */\r\nexport interface INavigationEnginePlugin {\r\n    /**\r\n     * plugin name\r\n     */\r\n    name: string;\r\n\r\n    /**\r\n     * Creates a navigation mesh\r\n     * @param meshes array of all the geometry used to compute the navigation mesh\r\n     * @param parameters bunch of parameters used to filter geometry\r\n     */\r\n    createNavMesh(meshes: Array<Mesh>, parameters: INavMeshParameters): void;\r\n\r\n    /**\r\n     * Create a navigation mesh debug mesh\r\n     * @param scene is where the mesh will be added\r\n     * @returns debug display mesh\r\n     */\r\n    createDebugNavMesh(scene: Scene): Mesh;\r\n\r\n    /**\r\n     * Get a navigation mesh constrained position, closest to the parameter position\r\n     * @param position world position\r\n     * @returns the closest point to position constrained by the navigation mesh\r\n     */\r\n    getClosestPoint(position: Vector3): Vector3;\r\n\r\n    /**\r\n     * Get a navigation mesh constrained position, closest to the parameter position\r\n     * @param position world position\r\n     * @param result output the closest point to position constrained by the navigation mesh\r\n     */\r\n    getClosestPointToRef(position: Vector3, result: Vector3): void;\r\n\r\n    /**\r\n     * Get a navigation mesh constrained position, within a particular radius\r\n     * @param position world position\r\n     * @param maxRadius the maximum distance to the constrained world position\r\n     * @returns the closest point to position constrained by the navigation mesh\r\n     */\r\n    getRandomPointAround(position: Vector3, maxRadius: number): Vector3;\r\n\r\n    /**\r\n     * Get a navigation mesh constrained position, within a particular radius\r\n     * @param position world position\r\n     * @param maxRadius the maximum distance to the constrained world position\r\n     * @param result output the closest point to position constrained by the navigation mesh\r\n     */\r\n    getRandomPointAroundToRef(position: Vector3, maxRadius: number, result: Vector3): void;\r\n\r\n    /**\r\n     * Compute the final position from a segment made of destination-position\r\n     * @param position world position\r\n     * @param destination world position\r\n     * @returns the resulting point along the navmesh\r\n     */\r\n    moveAlong(position: Vector3, destination: Vector3): Vector3;\r\n\r\n    /**\r\n     * Compute the final position from a segment made of destination-position\r\n     * @param position world position\r\n     * @param destination world position\r\n     * @param result output the resulting point along the navmesh\r\n     */\r\n    moveAlongToRef(position: Vector3, destination: Vector3, result: Vector3): void;\r\n\r\n    /**\r\n     * Compute a navigation path from start to end. Returns an empty array if no path can be computed.\r\n     * Path is straight.\r\n     * @param start world position\r\n     * @param end world position\r\n     * @returns array containing world position composing the path\r\n     */\r\n    computePath(start: Vector3, end: Vector3): Vector3[];\r\n\r\n    /**\r\n     * Compute a navigation path from start to end. Returns an empty array if no path can be computed.\r\n     * Path follows navigation mesh geometry.\r\n     * @param start world position\r\n     * @param end world position\r\n     * @returns array containing world position composing the path\r\n     */\r\n    computePathSmooth(start: Vector3, end: Vector3): Vector3[];\r\n\r\n    /**\r\n     * If this plugin is supported\r\n     * @returns true if plugin is supported\r\n     */\r\n    isSupported(): boolean;\r\n\r\n    /**\r\n     * Create a new Crowd so you can add agents\r\n     * @param maxAgents the maximum agent count in the crowd\r\n     * @param maxAgentRadius the maximum radius an agent can have\r\n     * @param scene to attach the crowd to\r\n     * @returns the crowd you can add agents to\r\n     */\r\n    createCrowd(maxAgents: number, maxAgentRadius: number, scene: Scene): ICrowd;\r\n\r\n    /**\r\n     * Set the Bounding box extent for doing spatial queries (getClosestPoint, getRandomPointAround, ...)\r\n     * The queries will try to find a solution within those bounds\r\n     * default is (1,1,1)\r\n     * @param extent x,y,z value that define the extent around the queries point of reference\r\n     */\r\n    setDefaultQueryExtent(extent: Vector3): void;\r\n\r\n    /**\r\n     * Get the Bounding box extent specified by setDefaultQueryExtent\r\n     * @returns the box extent values\r\n     */\r\n    getDefaultQueryExtent(): Vector3;\r\n\r\n    /**\r\n     * build the navmesh from a previously saved state using getNavmeshData\r\n     * @param data the Uint8Array returned by getNavmeshData\r\n     */\r\n    buildFromNavmeshData(data: Uint8Array): void;\r\n\r\n    /**\r\n     * returns the navmesh data that can be used later. The navmesh must be built before retrieving the data\r\n     * @returns data the Uint8Array that can be saved and reused\r\n     */\r\n    getNavmeshData(): Uint8Array;\r\n\r\n    /**\r\n     * Get the Bounding box extent result specified by setDefaultQueryExtent\r\n     * @param result output the box extent values\r\n     */\r\n    getDefaultQueryExtentToRef(result: Vector3): void;\r\n\r\n    /**\r\n     * Set the time step of the navigation tick update.\r\n     * Default is 1/60.\r\n     * A value of 0 will disable fixed time update\r\n     * @param newTimeStep the new timestep to apply to this world.\r\n     */\r\n    setTimeStep(newTimeStep: number): void;\r\n\r\n    /**\r\n     * Get the time step of the navigation tick update.\r\n     * @returns the current time step\r\n     */\r\n    getTimeStep(): number;\r\n\r\n    /**\r\n     * If delta time in navigation tick update is greater than the time step\r\n     * a number of sub iterations are done. If more iterations are need to reach deltatime\r\n     * they will be discarded.\r\n     * A value of 0 will set to no maximum and update will use as many substeps as needed\r\n     * @param newStepCount the maximum number of iterations\r\n     */\r\n    setMaximumSubStepCount(newStepCount: number): void;\r\n\r\n    /**\r\n     * Get the maximum number of iterations per navigation tick update\r\n     * @returns the maximum number of iterations\r\n     */\r\n    getMaximumSubStepCount(): number;\r\n\r\n    /**\r\n     * Creates a cylinder obstacle and add it to the navigation\r\n     * @param position world position\r\n     * @param radius cylinder radius\r\n     * @param height cylinder height\r\n     * @returns the obstacle freshly created\r\n     */\r\n    addCylinderObstacle(position: Vector3, radius: number, height: number): Nullable<IObstacle>;\r\n\r\n    /**\r\n     * Creates an oriented box obstacle and add it to the navigation\r\n     * @param position world position\r\n     * @param extent box size\r\n     * @param angle angle in radians of the box orientation on Y axis\r\n     * @returns the obstacle freshly created\r\n     */\r\n    addBoxObstacle(position: Vector3, extent: Vector3, angle: number): Nullable<IObstacle>;\r\n\r\n    /**\r\n     * Removes an obstacle created by addCylinderObstacle or addBoxObstacle\r\n     * @param obstacle obstacle to remove from the navigation\r\n     */\r\n    removeObstacle(obstacle: IObstacle): void;\r\n\r\n    /**\r\n     * Release all resources\r\n     */\r\n    dispose(): void;\r\n}\r\n\r\n/**\r\n * Obstacle type\r\n */\r\n// eslint-disable-next-line @typescript-eslint/naming-convention\r\nexport type IObstacle =\r\n    | {\r\n          type: \"box\";\r\n          ref: unknown;\r\n          position: Vector3;\r\n          halfExtents: Vector3;\r\n          angle: number;\r\n      }\r\n    | {\r\n          type: \"cylinder\";\r\n          ref: unknown;\r\n          position: Vector3;\r\n          radius: number;\r\n          height: number;\r\n      };\r\n\r\n/**\r\n * Crowd Interface. A Crowd is a collection of moving agents constrained by a navigation mesh\r\n */\r\nexport interface ICrowd {\r\n    /**\r\n     * Add a new agent to the crowd with the specified parameter a corresponding transformNode.\r\n     * You can attach anything to that node. The node position is updated in the scene update tick.\r\n     * @param pos world position that will be constrained by the navigation mesh\r\n     * @param parameters agent parameters\r\n     * @param transform hooked to the agent that will be update by the scene\r\n     * @returns agent index\r\n     */\r\n    addAgent(pos: Vector3, parameters: IAgentParameters, transform: TransformNode): number;\r\n\r\n    /**\r\n     * Returns the agent position in world space\r\n     * @param index agent index returned by addAgent\r\n     * @returns world space position\r\n     */\r\n    getAgentPosition(index: number): Vector3;\r\n\r\n    /**\r\n     * Gets the agent position result in world space\r\n     * @param index agent index returned by addAgent\r\n     * @param result output world space position\r\n     */\r\n    getAgentPositionToRef(index: number, result: Vector3): void;\r\n\r\n    /**\r\n     * Gets the agent velocity in world space\r\n     * @param index agent index returned by addAgent\r\n     * @returns world space velocity\r\n     */\r\n    getAgentVelocity(index: number): Vector3;\r\n\r\n    /**\r\n     * Gets the agent velocity result in world space\r\n     * @param index agent index returned by addAgent\r\n     * @param result output world space velocity\r\n     */\r\n    getAgentVelocityToRef(index: number, result: Vector3): void;\r\n\r\n    /**\r\n     * Gets the agent next target point on the path\r\n     * @param index agent index returned by addAgent\r\n     * @returns world space position\r\n     */\r\n    getAgentNextTargetPath(index: number): Vector3;\r\n\r\n    /**\r\n     * Gets the agent state\r\n     * @param index agent index returned by addAgent\r\n     * @returns agent state\r\n     */\r\n    getAgentState(index: number): number;\r\n\r\n    /**\r\n     * returns true if the agent in over an off mesh link connection\r\n     * @param index agent index returned by addAgent\r\n     * @returns true if over an off mesh link connection\r\n     */\r\n    overOffmeshConnection(index: number): boolean;\r\n\r\n    /**\r\n     * Gets the agent next target point on the path\r\n     * @param index agent index returned by addAgent\r\n     * @param result output world space position\r\n     */\r\n    getAgentNextTargetPathToRef(index: number, result: Vector3): void;\r\n\r\n    /**\r\n     * remove a particular agent previously created\r\n     * @param index agent index returned by addAgent\r\n     */\r\n    removeAgent(index: number): void;\r\n\r\n    /**\r\n     * get the list of all agents attached to this crowd\r\n     * @returns list of agent indices\r\n     */\r\n    getAgents(): number[];\r\n\r\n    /**\r\n     * Tick update done by the Scene. Agent position/velocity/acceleration is updated by this function\r\n     * @param deltaTime in seconds\r\n     */\r\n    update(deltaTime: number): void;\r\n\r\n    /**\r\n     * Asks a particular agent to go to a destination. That destination is constrained by the navigation mesh\r\n     * @param index agent index returned by addAgent\r\n     * @param destination targeted world position\r\n     */\r\n    agentGoto(index: number, destination: Vector3): void;\r\n\r\n    /**\r\n     * Teleport the agent to a new position\r\n     * @param index agent index returned by addAgent\r\n     * @param destination targeted world position\r\n     */\r\n    agentTeleport(index: number, destination: Vector3): void;\r\n\r\n    /**\r\n     * Update agent parameters\r\n     * @param index agent index returned by addAgent\r\n     * @param parameters agent parameters\r\n     */\r\n    updateAgentParameters(index: number, parameters: IAgentParameters): void;\r\n\r\n    /**\r\n     * Set the Bounding box extent for doing spatial queries (getClosestPoint, getRandomPointAround, ...)\r\n     * The queries will try to find a solution within those bounds\r\n     * default is (1,1,1)\r\n     * @param extent x,y,z value that define the extent around the queries point of reference\r\n     */\r\n    setDefaultQueryExtent(extent: Vector3): void;\r\n\r\n    /**\r\n     * Get the Bounding box extent specified by setDefaultQueryExtent\r\n     * @returns the box extent values\r\n     */\r\n    getDefaultQueryExtent(): Vector3;\r\n\r\n    /**\r\n     * Get the Bounding box extent result specified by setDefaultQueryExtent\r\n     * @param result output the box extent values\r\n     */\r\n    getDefaultQueryExtentToRef(result: Vector3): void;\r\n\r\n    /**\r\n     * Get the next corner points composing the path (max 4 points)\r\n     * @param index agent index returned by addAgent\r\n     * @returns array containing world position composing the path\r\n     */\r\n    getCorners(index: number): Vector3[];\r\n\r\n    /**\r\n     * Release all resources\r\n     */\r\n    dispose(): void;\r\n}\r\n\r\n/**\r\n * Configures an agent\r\n */\r\nexport interface IAgentParameters {\r\n    /**\r\n     *  Agent radius. [Limit: >= 0]\r\n     */\r\n    radius: number;\r\n\r\n    /**\r\n     * Agent height. [Limit: > 0]\r\n     */\r\n    height: number;\r\n\r\n    /**\r\n     *  Maximum allowed acceleration. [Limit: >= 0]\r\n     */\r\n    maxAcceleration: number;\r\n\r\n    /**\r\n     * Maximum allowed speed. [Limit: >= 0]\r\n     */\r\n    maxSpeed: number;\r\n\r\n    /**\r\n     * Defines how close a collision element must be before it is considered for steering behaviors. [Limits: > 0]\r\n     */\r\n    collisionQueryRange: number;\r\n\r\n    /**\r\n     * The path visibility optimization range. [Limit: > 0]\r\n     */\r\n    pathOptimizationRange: number;\r\n\r\n    /**\r\n     * How aggressive the agent manager should be at avoiding collisions with this agent. [Limit: >= 0]\r\n     */\r\n    separationWeight: number;\r\n\r\n    /**\r\n     * Observers will be notified when agent gets inside the virtual circle with this Radius around destination point.\r\n     * Default is agent radius\r\n     */\r\n    reachRadius?: number;\r\n}\r\n\r\n/**\r\n * Configures the navigation mesh creation\r\n */\r\nexport interface INavMeshParameters {\r\n    /**\r\n     * The xz-plane cell size to use for fields. [Limit: > 0] [Units: wu]\r\n     */\r\n    cs: number;\r\n\r\n    /**\r\n     * The y-axis cell size to use for fields. [Limit: > 0] [Units: wu]\r\n     */\r\n    ch: number;\r\n\r\n    /**\r\n     * The maximum slope that is considered walkable. [Limits: 0 <= value < 90] [Units: Degrees]\r\n     */\r\n    walkableSlopeAngle: number;\r\n\r\n    /**\r\n     * Minimum floor to 'ceiling' height that will still allow the floor area to\r\n     * be considered walkable. [Limit: >= 3] [Units: vx]\r\n     */\r\n    walkableHeight: number;\r\n\r\n    /**\r\n     * Maximum ledge height that is considered to still be traversable. [Limit: >=0] [Units: vx]\r\n     */\r\n    walkableClimb: number;\r\n\r\n    /**\r\n     * The distance to erode/shrink the walkable area of the heightfield away from\r\n     * obstructions.  [Limit: >=0] [Units: vx]\r\n     */\r\n    walkableRadius: number;\r\n\r\n    /**\r\n     * The maximum allowed length for contour edges along the border of the mesh. [Limit: >=0] [Units: vx]\r\n     */\r\n    maxEdgeLen: number;\r\n\r\n    /**\r\n     * The maximum distance a simplified contour's border edges should deviate\r\n     * the original raw contour. [Limit: >=0] [Units: vx]\r\n     */\r\n    maxSimplificationError: number;\r\n\r\n    /**\r\n     * The minimum number of cells allowed to form isolated island areas. [Limit: >=0] [Units: vx]\r\n     */\r\n    minRegionArea: number;\r\n\r\n    /**\r\n     * Any regions with a span count smaller than this value will, if possible,\r\n     * be merged with larger regions. [Limit: >=0] [Units: vx]\r\n     */\r\n    mergeRegionArea: number;\r\n\r\n    /**\r\n     * The maximum number of vertices allowed for polygons generated during the\r\n     * contour to polygon conversion process. [Limit: >= 3]\r\n     */\r\n    maxVertsPerPoly: number;\r\n\r\n    /**\r\n     * Sets the sampling distance to use when generating the detail mesh.\r\n     * (For height detail only.) [Limits: 0 or >= 0.9] [Units: wu]\r\n     */\r\n    detailSampleDist: number;\r\n\r\n    /**\r\n     * The maximum distance the detail mesh surface should deviate from heightfield\r\n     * data. (For height detail only.) [Limit: >=0] [Units: wu]\r\n     */\r\n    detailSampleMaxError: number;\r\n\r\n    /**\r\n     * If using obstacles, the navmesh must be subdivided internaly by tiles.\r\n     * This member defines the tile cube side length in world units.\r\n     * If no obstacles are needed, leave it undefined or 0.\r\n     */\r\n    tileSize?: number;\r\n\r\n    /**\r\n     * The size of the non-navigable border around the heightfield.\r\n     */\r\n    borderSize?: number;\r\n}\r\n"]}
+{"version":3,"file":"INavigationEngine.js","sourceRoot":"","sources":["../../../../dev/core/src/Navigation/INavigationEngine.ts"],"names":[],"mappings":"","sourcesContent":["import type { TransformNode } from \"../Meshes/transformNode\";\r\nimport type { Vector3 } from \"../Maths/math\";\r\nimport type { Mesh } from \"../Meshes/mesh\";\r\nimport type { Scene } from \"../scene\";\r\nimport type { Nullable } from \"../types\";\r\n\r\n/**\r\n * Navigation plugin interface to add navigation constrained by a navigation mesh\r\n */\r\nexport interface INavigationEnginePlugin {\r\n    /**\r\n     * plugin name\r\n     */\r\n    name: string;\r\n\r\n    /**\r\n     * Creates a navigation mesh\r\n     * @param meshes array of all the geometry used to compute the navigation mesh\r\n     * @param parameters bunch of parameters used to filter geometry\r\n     */\r\n    createNavMesh(meshes: Array<Mesh>, parameters: INavMeshParameters): void;\r\n\r\n    /**\r\n     * Create a navigation mesh debug mesh\r\n     * @param scene is where the mesh will be added\r\n     * @returns debug display mesh\r\n     */\r\n    createDebugNavMesh(scene: Scene): Mesh;\r\n\r\n    /**\r\n     * Get a navigation mesh constrained position, closest to the parameter position\r\n     * @param position world position\r\n     * @returns the closest point to position constrained by the navigation mesh\r\n     */\r\n    getClosestPoint(position: Vector3): Vector3;\r\n\r\n    /**\r\n     * Get a navigation mesh constrained position, closest to the parameter position\r\n     * @param position world position\r\n     * @param result output the closest point to position constrained by the navigation mesh\r\n     */\r\n    getClosestPointToRef(position: Vector3, result: Vector3): void;\r\n\r\n    /**\r\n     * Get a navigation mesh constrained position, within a particular radius\r\n     * @param position world position\r\n     * @param maxRadius the maximum distance to the constrained world position\r\n     * @returns the closest point to position constrained by the navigation mesh\r\n     */\r\n    getRandomPointAround(position: Vector3, maxRadius: number): Vector3;\r\n\r\n    /**\r\n     * Get a navigation mesh constrained position, within a particular radius\r\n     * @param position world position\r\n     * @param maxRadius the maximum distance to the constrained world position\r\n     * @param result output the closest point to position constrained by the navigation mesh\r\n     */\r\n    getRandomPointAroundToRef(position: Vector3, maxRadius: number, result: Vector3): void;\r\n\r\n    /**\r\n     * Compute the final position from a segment made of destination-position\r\n     * @param position world position\r\n     * @param destination world position\r\n     * @returns the resulting point along the navmesh\r\n     */\r\n    moveAlong(position: Vector3, destination: Vector3): Vector3;\r\n\r\n    /**\r\n     * Compute the final position from a segment made of destination-position\r\n     * @param position world position\r\n     * @param destination world position\r\n     * @param result output the resulting point along the navmesh\r\n     */\r\n    moveAlongToRef(position: Vector3, destination: Vector3, result: Vector3): void;\r\n\r\n    /**\r\n     * Compute a navigation path from start to end. Returns an empty array if no path can be computed.\r\n     * Path is straight.\r\n     * @param start world position\r\n     * @param end world position\r\n     * @returns array containing world position composing the path\r\n     */\r\n    computePath(start: Vector3, end: Vector3): Vector3[];\r\n\r\n    /**\r\n     * Compute a navigation path from start to end. Returns an empty array if no path can be computed.\r\n     * Path follows navigation mesh geometry.\r\n     * @param start world position\r\n     * @param end world position\r\n     * @returns array containing world position composing the path\r\n     */\r\n    computePathSmooth(start: Vector3, end: Vector3): Vector3[];\r\n\r\n    /**\r\n     * If this plugin is supported\r\n     * @returns true if plugin is supported\r\n     */\r\n    isSupported(): boolean;\r\n\r\n    /**\r\n     * Create a new Crowd so you can add agents\r\n     * @param maxAgents the maximum agent count in the crowd\r\n     * @param maxAgentRadius the maximum radius an agent can have\r\n     * @param scene to attach the crowd to\r\n     * @returns the crowd you can add agents to\r\n     */\r\n    createCrowd(maxAgents: number, maxAgentRadius: number, scene: Scene): ICrowd;\r\n\r\n    /**\r\n     * Set the Bounding box extent for doing spatial queries (getClosestPoint, getRandomPointAround, ...)\r\n     * The queries will try to find a solution within those bounds\r\n     * default is (1,1,1)\r\n     * @param extent x,y,z value that define the extent around the queries point of reference\r\n     */\r\n    setDefaultQueryExtent(extent: Vector3): void;\r\n\r\n    /**\r\n     * Get the Bounding box extent specified by setDefaultQueryExtent\r\n     * @returns the box extent values\r\n     */\r\n    getDefaultQueryExtent(): Vector3;\r\n\r\n    /**\r\n     * build the navmesh from a previously saved state using getNavmeshData\r\n     * @param data the Uint8Array returned by getNavmeshData\r\n     */\r\n    buildFromNavmeshData(data: Uint8Array): void;\r\n\r\n    /**\r\n     * returns the navmesh data that can be used later. The navmesh must be built before retrieving the data\r\n     * @returns data the Uint8Array that can be saved and reused\r\n     */\r\n    getNavmeshData(): Uint8Array;\r\n\r\n    /**\r\n     * Get the Bounding box extent result specified by setDefaultQueryExtent\r\n     * @param result output the box extent values\r\n     */\r\n    getDefaultQueryExtentToRef(result: Vector3): void;\r\n\r\n    /**\r\n     * Set the time step of the navigation tick update.\r\n     * Default is 1/60.\r\n     * A value of 0 will disable fixed time update\r\n     * @param newTimeStep the new timestep to apply to this world.\r\n     */\r\n    setTimeStep(newTimeStep: number): void;\r\n\r\n    /**\r\n     * Get the time step of the navigation tick update.\r\n     * @returns the current time step\r\n     */\r\n    getTimeStep(): number;\r\n\r\n    /**\r\n     * If delta time in navigation tick update is greater than the time step\r\n     * a number of sub iterations are done. If more iterations are needed to reach deltatime\r\n     * they will be discarded.\r\n     * A value of 0 will set to no maximum and update will use as many substeps as needed\r\n     * @param newStepCount the maximum number of iterations\r\n     */\r\n    setMaximumSubStepCount(newStepCount: number): void;\r\n\r\n    /**\r\n     * Get the maximum number of iterations per navigation tick update\r\n     * @returns the maximum number of iterations\r\n     */\r\n    getMaximumSubStepCount(): number;\r\n\r\n    /**\r\n     * Creates a cylinder obstacle and add it to the navigation\r\n     * @param position world position\r\n     * @param radius cylinder radius\r\n     * @param height cylinder height\r\n     * @returns the obstacle freshly created\r\n     */\r\n    addCylinderObstacle(position: Vector3, radius: number, height: number): Nullable<IObstacle>;\r\n\r\n    /**\r\n     * Creates an oriented box obstacle and add it to the navigation\r\n     * @param position world position\r\n     * @param extent box size\r\n     * @param angle angle in radians of the box orientation on Y axis\r\n     * @returns the obstacle freshly created\r\n     */\r\n    addBoxObstacle(position: Vector3, extent: Vector3, angle: number): Nullable<IObstacle>;\r\n\r\n    /**\r\n     * Removes an obstacle created by addCylinderObstacle or addBoxObstacle\r\n     * @param obstacle obstacle to remove from the navigation\r\n     */\r\n    removeObstacle(obstacle: IObstacle): void;\r\n\r\n    /**\r\n     * Release all resources\r\n     */\r\n    dispose(): void;\r\n}\r\n\r\n/**\r\n * Obstacle type\r\n */\r\n// eslint-disable-next-line @typescript-eslint/naming-convention\r\nexport type IObstacle =\r\n    | {\r\n          type: \"box\";\r\n          ref: unknown;\r\n          position: Vector3;\r\n          halfExtents: Vector3;\r\n          angle: number;\r\n      }\r\n    | {\r\n          type: \"cylinder\";\r\n          ref: unknown;\r\n          position: Vector3;\r\n          radius: number;\r\n          height: number;\r\n      };\r\n\r\n/**\r\n * Crowd Interface. A Crowd is a collection of moving agents constrained by a navigation mesh\r\n */\r\nexport interface ICrowd {\r\n    /**\r\n     * Add a new agent to the crowd with the specified parameter a corresponding transformNode.\r\n     * You can attach anything to that node. The node position is updated in the scene update tick.\r\n     * @param pos world position that will be constrained by the navigation mesh\r\n     * @param parameters agent parameters\r\n     * @param transform hooked to the agent that will be update by the scene\r\n     * @returns agent index\r\n     */\r\n    addAgent(pos: Vector3, parameters: IAgentParameters, transform: TransformNode): number;\r\n\r\n    /**\r\n     * Returns the agent position in world space\r\n     * @param index agent index returned by addAgent\r\n     * @returns world space position\r\n     */\r\n    getAgentPosition(index: number): Vector3;\r\n\r\n    /**\r\n     * Gets the agent position result in world space\r\n     * @param index agent index returned by addAgent\r\n     * @param result output world space position\r\n     */\r\n    getAgentPositionToRef(index: number, result: Vector3): void;\r\n\r\n    /**\r\n     * Gets the agent velocity in world space\r\n     * @param index agent index returned by addAgent\r\n     * @returns world space velocity\r\n     */\r\n    getAgentVelocity(index: number): Vector3;\r\n\r\n    /**\r\n     * Gets the agent velocity result in world space\r\n     * @param index agent index returned by addAgent\r\n     * @param result output world space velocity\r\n     */\r\n    getAgentVelocityToRef(index: number, result: Vector3): void;\r\n\r\n    /**\r\n     * Gets the agent next target point on the path\r\n     * @param index agent index returned by addAgent\r\n     * @returns world space position\r\n     */\r\n    getAgentNextTargetPath(index: number): Vector3;\r\n\r\n    /**\r\n     * Gets the agent state\r\n     * @param index agent index returned by addAgent\r\n     * @returns agent state\r\n     */\r\n    getAgentState(index: number): number;\r\n\r\n    /**\r\n     * returns true if the agent in over an off mesh link connection\r\n     * @param index agent index returned by addAgent\r\n     * @returns true if over an off mesh link connection\r\n     */\r\n    overOffmeshConnection(index: number): boolean;\r\n\r\n    /**\r\n     * Gets the agent next target point on the path\r\n     * @param index agent index returned by addAgent\r\n     * @param result output world space position\r\n     */\r\n    getAgentNextTargetPathToRef(index: number, result: Vector3): void;\r\n\r\n    /**\r\n     * remove a particular agent previously created\r\n     * @param index agent index returned by addAgent\r\n     */\r\n    removeAgent(index: number): void;\r\n\r\n    /**\r\n     * get the list of all agents attached to this crowd\r\n     * @returns list of agent indices\r\n     */\r\n    getAgents(): number[];\r\n\r\n    /**\r\n     * Tick update done by the Scene. Agent position/velocity/acceleration is updated by this function\r\n     * @param deltaTime in seconds\r\n     */\r\n    update(deltaTime: number): void;\r\n\r\n    /**\r\n     * Asks a particular agent to go to a destination. That destination is constrained by the navigation mesh\r\n     * @param index agent index returned by addAgent\r\n     * @param destination targeted world position\r\n     */\r\n    agentGoto(index: number, destination: Vector3): void;\r\n\r\n    /**\r\n     * Teleport the agent to a new position\r\n     * @param index agent index returned by addAgent\r\n     * @param destination targeted world position\r\n     */\r\n    agentTeleport(index: number, destination: Vector3): void;\r\n\r\n    /**\r\n     * Update agent parameters\r\n     * @param index agent index returned by addAgent\r\n     * @param parameters agent parameters\r\n     */\r\n    updateAgentParameters(index: number, parameters: IAgentParameters): void;\r\n\r\n    /**\r\n     * Set the Bounding box extent for doing spatial queries (getClosestPoint, getRandomPointAround, ...)\r\n     * The queries will try to find a solution within those bounds\r\n     * default is (1,1,1)\r\n     * @param extent x,y,z value that define the extent around the queries point of reference\r\n     */\r\n    setDefaultQueryExtent(extent: Vector3): void;\r\n\r\n    /**\r\n     * Get the Bounding box extent specified by setDefaultQueryExtent\r\n     * @returns the box extent values\r\n     */\r\n    getDefaultQueryExtent(): Vector3;\r\n\r\n    /**\r\n     * Get the Bounding box extent result specified by setDefaultQueryExtent\r\n     * @param result output the box extent values\r\n     */\r\n    getDefaultQueryExtentToRef(result: Vector3): void;\r\n\r\n    /**\r\n     * Get the next corner points composing the path (max 4 points)\r\n     * @param index agent index returned by addAgent\r\n     * @returns array containing world position composing the path\r\n     */\r\n    getCorners(index: number): Vector3[];\r\n\r\n    /**\r\n     * Release all resources\r\n     */\r\n    dispose(): void;\r\n}\r\n\r\n/**\r\n * Configures an agent\r\n */\r\nexport interface IAgentParameters {\r\n    /**\r\n     *  Agent radius. [Limit: >= 0]\r\n     */\r\n    radius: number;\r\n\r\n    /**\r\n     * Agent height. [Limit: > 0]\r\n     */\r\n    height: number;\r\n\r\n    /**\r\n     *  Maximum allowed acceleration. [Limit: >= 0]\r\n     */\r\n    maxAcceleration: number;\r\n\r\n    /**\r\n     * Maximum allowed speed. [Limit: >= 0]\r\n     */\r\n    maxSpeed: number;\r\n\r\n    /**\r\n     * Defines how close a collision element must be before it is considered for steering behaviors. [Limits: > 0]\r\n     */\r\n    collisionQueryRange: number;\r\n\r\n    /**\r\n     * The path visibility optimization range. [Limit: > 0]\r\n     */\r\n    pathOptimizationRange: number;\r\n\r\n    /**\r\n     * How aggressive the agent manager should be at avoiding collisions with this agent. [Limit: >= 0]\r\n     */\r\n    separationWeight: number;\r\n\r\n    /**\r\n     * Observers will be notified when agent gets inside the virtual circle with this Radius around destination point.\r\n     * Default is agent radius\r\n     */\r\n    reachRadius?: number;\r\n}\r\n\r\n/**\r\n * Configures the navigation mesh creation\r\n */\r\nexport interface INavMeshParameters {\r\n    /**\r\n     * The xz-plane cell size to use for fields. [Limit: > 0] [Units: wu]\r\n     */\r\n    cs: number;\r\n\r\n    /**\r\n     * The y-axis cell size to use for fields. [Limit: > 0] [Units: wu]\r\n     */\r\n    ch: number;\r\n\r\n    /**\r\n     * The maximum slope that is considered walkable. [Limits: 0 <= value < 90] [Units: Degrees]\r\n     */\r\n    walkableSlopeAngle: number;\r\n\r\n    /**\r\n     * Minimum floor to 'ceiling' height that will still allow the floor area to\r\n     * be considered walkable. [Limit: >= 3] [Units: vx]\r\n     */\r\n    walkableHeight: number;\r\n\r\n    /**\r\n     * Maximum ledge height that is considered to still be traversable. [Limit: >=0] [Units: vx]\r\n     */\r\n    walkableClimb: number;\r\n\r\n    /**\r\n     * The distance to erode/shrink the walkable area of the heightfield away from\r\n     * obstructions.  [Limit: >=0] [Units: vx]\r\n     */\r\n    walkableRadius: number;\r\n\r\n    /**\r\n     * The maximum allowed length for contour edges along the border of the mesh. [Limit: >=0] [Units: vx]\r\n     */\r\n    maxEdgeLen: number;\r\n\r\n    /**\r\n     * The maximum distance a simplified contour's border edges should deviate\r\n     * the original raw contour. [Limit: >=0] [Units: vx]\r\n     */\r\n    maxSimplificationError: number;\r\n\r\n    /**\r\n     * The minimum number of cells allowed to form isolated island areas. [Limit: >=0] [Units: vx]\r\n     */\r\n    minRegionArea: number;\r\n\r\n    /**\r\n     * Any regions with a span count smaller than this value will, if possible,\r\n     * be merged with larger regions. [Limit: >=0] [Units: vx]\r\n     */\r\n    mergeRegionArea: number;\r\n\r\n    /**\r\n     * The maximum number of vertices allowed for polygons generated during the\r\n     * contour to polygon conversion process. [Limit: >= 3]\r\n     */\r\n    maxVertsPerPoly: number;\r\n\r\n    /**\r\n     * Sets the sampling distance to use when generating the detail mesh.\r\n     * (For height detail only.) [Limits: 0 or >= 0.9] [Units: wu]\r\n     */\r\n    detailSampleDist: number;\r\n\r\n    /**\r\n     * The maximum distance the detail mesh surface should deviate from heightfield\r\n     * data. (For height detail only.) [Limit: >=0] [Units: wu]\r\n     */\r\n    detailSampleMaxError: number;\r\n\r\n    /**\r\n     * If using obstacles, the navmesh must be subdivided internally by tiles.\r\n     * This member defines the tile cube side length in world units.\r\n     * If no obstacles are needed, leave it undefined or 0.\r\n     */\r\n    tileSize?: number;\r\n\r\n    /**\r\n     * The size of the non-navigable border around the heightfield.\r\n     */\r\n    borderSize?: number;\r\n}\r\n"]}

package/Navigation/Plugins/recastJSPlugin.d.ts

@@ -52,7 +52,7 @@ export declare class RecastJSPlugin implements INavigationEnginePlugin {
     getTimeStep(): number;
     /**
      * If delta time in navigation tick update is greater than the time step
-     * a number of sub iterations are done. If more iterations are need to reach deltatime
+     * a number of sub iterations are done. If more iterations are needed to reach deltatime
      * they will be discarded.
      * A value of 0 will set to no maximum and update will use as many substeps as needed
      * @param newStepCount the maximum number of iterations
@@ -179,7 +179,7 @@ export declare class RecastJSPlugin implements INavigationEnginePlugin {
      */
     getDefaultQueryExtentToRef(result: Vector3): void;
     /**
-     * Disposes
+     * Disposes of the plugin resources
      */
     dispose(): void;
     /**

package/Navigation/Plugins/recastJSPlugin.js

@@ -70,7 +70,7 @@ export class RecastJSPlugin {
     }
     /**
      * If delta time in navigation tick update is greater than the time step
-     * a number of sub iterations are done. If more iterations are need to reach deltatime
+     * a number of sub iterations are done. If more iterations are needed to reach deltatime
      * they will be discarded.
      * A value of 0 will set to no maximum and update will use as many substeps as needed
      * @param newStepCount the maximum number of iterations
@@ -107,10 +107,10 @@ export class RecastJSPlugin {
      */
     createNavMesh(meshes, parameters, completion) {
         if (this._worker && !completion) {
-            Logger.Warn("A worker is avaible but no completion callback. Defaulting to blocking navmesh creation");
+            Logger.Warn("A worker is available but no completion callback. Defaulting to blocking navmesh creation");
         }
         else if (!this._worker && completion) {
-            Logger.Warn("A completion callback is avaible but no worker. Defaulting to blocking navmesh creation");
+            Logger.Warn("A completion callback is available but no worker. Defaulting to blocking navmesh creation");
         }
         this.navMesh = new this.bjsRECAST.NavMesh();
         let index;
@@ -414,9 +414,18 @@ export class RecastJSPlugin {
         result.set(p.x, p.y, p.z);
     }
     /**
-     * Disposes
+     * Disposes of the plugin resources
      */
-    dispose() { }
+    dispose() {
+        if (this._worker) {
+            // Clear handlers and terminate the worker to avoid leaks
+            this._worker.onmessage = null;
+            // Clear other handlers if they were used
+            this._worker.onerror = null;
+            this._worker.terminate();
+        }
+        this._worker = null;
+    }
     /**
      * Creates a cylinder obstacle and add it to the navigation
      * @param position world position

package/Navigation/Plugins/recastJSPlugin.js.map

@@ -1 +1 @@
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type { INavigationEnginePlugin, ICrowd, IAgentParameters, INavMeshParameters, IObstacle } from \"../../Navigation/INavigationEngine\";\r\nimport { Logger } from \"../../Misc/logger\";\r\nimport { VertexData } from \"../../Meshes/mesh.vertexData\";\r\nimport { Mesh } from \"../../Meshes/mesh\";\r\nimport type { Scene } from \"../../scene\";\r\nimport { Epsilon, Vector3, Matrix } from \"../../Maths/math\";\r\nimport type { TransformNode } from \"../../Meshes/transformNode\";\r\nimport type { Observer } from \"../../Misc/observable\";\r\nimport { Observable } from \"../../Misc/observable\";\r\nimport type { Nullable } from \"../../types\";\r\nimport { VertexBuffer } from \"../../Buffers/buffer\";\r\n\r\n// eslint-disable-next-line @typescript-eslint/naming-convention\r\ndeclare let Recast: any;\r\n\r\n/**\r\n * RecastJS navigation plugin\r\n */\r\nexport class RecastJSPlugin implements INavigationEnginePlugin {\r\n    /**\r\n     * Reference to the Recast library\r\n     */\r\n    // eslint-disable-next-line @typescript-eslint/naming-convention\r\n    public bjsRECAST: any = {};\r\n\r\n    /**\r\n     * plugin name\r\n     */\r\n    public name: string = \"RecastJSPlugin\";\r\n\r\n    /**\r\n     * the first navmesh created. We might extend this to support multiple navmeshes\r\n     */\r\n    public navMesh: any;\r\n\r\n    private _maximumSubStepCount: number = 10;\r\n    private _timeStep: number = 1 / 60;\r\n    private _timeFactor: number = 1;\r\n\r\n    private _tempVec1: any;\r\n    private _tempVec2: any;\r\n\r\n    private _worker: Nullable<Worker> = null;\r\n\r\n    /**\r\n     * Initializes the recastJS plugin\r\n     * @param recastInjection can be used to inject your own recast reference\r\n     */\r\n    public constructor(recastInjection: any = Recast) {\r\n        if (typeof recastInjection === \"function\") {\r\n            Logger.Error(\"RecastJS is not ready. Please make sure you await Recast() before using the plugin.\");\r\n        } else {\r\n            this.bjsRECAST = recastInjection;\r\n        }\r\n\r\n        if (!this.isSupported()) {\r\n            Logger.Error(\"RecastJS is not available. Please make sure you included the js file.\");\r\n            return;\r\n        }\r\n        this.setTimeStep();\r\n\r\n        this._tempVec1 = new this.bjsRECAST.Vec3();\r\n        this._tempVec2 = new this.bjsRECAST.Vec3();\r\n    }\r\n\r\n    /**\r\n     * Set worker URL to be used when generating a new navmesh\r\n     * @param workerURL url string\r\n     * @returns boolean indicating if worker is created\r\n     */\r\n    public setWorkerURL(workerURL: string | URL): boolean {\r\n        if (window && window.Worker) {\r\n            this._worker = new Worker(workerURL);\r\n            return true;\r\n        }\r\n        return false;\r\n    }\r\n\r\n    /**\r\n     * Set the time step of the navigation tick update.\r\n     * Default is 1/60.\r\n     * A value of 0 will disable fixed time update\r\n     * @param newTimeStep the new timestep to apply to this world.\r\n     */\r\n    setTimeStep(newTimeStep: number = 1 / 60): void {\r\n        this._timeStep = newTimeStep;\r\n    }\r\n\r\n    /**\r\n     * Get the time step of the navigation tick update.\r\n     * @returns the current time step\r\n     */\r\n    getTimeStep(): number {\r\n        return this._timeStep;\r\n    }\r\n\r\n    /**\r\n     * If delta time in navigation tick update is greater than the time step\r\n     * a number of sub iterations are done. If more iterations are need to reach deltatime\r\n     * they will be discarded.\r\n     * A value of 0 will set to no maximum and update will use as many substeps as needed\r\n     * @param newStepCount the maximum number of iterations\r\n     */\r\n    setMaximumSubStepCount(newStepCount: number = 10): void {\r\n        this._maximumSubStepCount = newStepCount;\r\n    }\r\n\r\n    /**\r\n     * Get the maximum number of iterations per navigation tick update\r\n     * @returns the maximum number of iterations\r\n     */\r\n    getMaximumSubStepCount(): number {\r\n        return this._maximumSubStepCount;\r\n    }\r\n\r\n    /**\r\n     * Time factor applied when updating crowd agents (default 1). A value of 0 will pause crowd updates.\r\n     * @param value the time factor applied at update\r\n     */\r\n    public set timeFactor(value: number) {\r\n        this._timeFactor = Math.max(value, 0);\r\n    }\r\n\r\n    /**\r\n     * Get the time factor used for crowd agent update\r\n     * @returns the time factor\r\n     */\r\n    public get timeFactor(): number {\r\n        return this._timeFactor;\r\n    }\r\n\r\n    /**\r\n     * Creates a navigation mesh\r\n     * @param meshes array of all the geometry used to compute the navigation mesh\r\n     * @param parameters bunch of parameters used to filter geometry\r\n     * @param completion callback when data is available from the worker. Not used without a worker\r\n     */\r\n    createNavMesh(meshes: Array<Mesh>, parameters: INavMeshParameters, completion?: (navmeshData: Uint8Array) => void): void {\r\n        if (this._worker && !completion) {\r\n            Logger.Warn(\"A worker is avaible but no completion callback. Defaulting to blocking navmesh creation\");\r\n        } else if (!this._worker && completion) {\r\n            Logger.Warn(\"A completion callback is avaible but no worker. Defaulting to blocking navmesh creation\");\r\n        }\r\n\r\n        this.navMesh = new this.bjsRECAST.NavMesh();\r\n\r\n        let index: number;\r\n        let tri: number;\r\n        let pt: number;\r\n\r\n        const indices = [];\r\n        const positions = [];\r\n        let offset = 0;\r\n        for (index = 0; index < meshes.length; index++) {\r\n            if (meshes[index]) {\r\n                const mesh = meshes[index];\r\n\r\n                const meshIndices = mesh.getIndices();\r\n                if (!meshIndices) {\r\n                    continue;\r\n                }\r\n                const meshPositions = mesh.getVerticesData(VertexBuffer.PositionKind, false, false);\r\n                if (!meshPositions) {\r\n                    continue;\r\n                }\r\n\r\n                const worldMatrices = [];\r\n                const worldMatrix = mesh.computeWorldMatrix(true);\r\n\r\n                if (mesh.hasThinInstances) {\r\n                    const thinMatrices = mesh.thinInstanceGetWorldMatrices();\r\n                    for (let instanceIndex = 0; instanceIndex < thinMatrices.length; instanceIndex++) {\r\n                        const tmpMatrix = new Matrix();\r\n                        const thinMatrix = thinMatrices[instanceIndex];\r\n                        thinMatrix.multiplyToRef(worldMatrix, tmpMatrix);\r\n                        worldMatrices.push(tmpMatrix);\r\n                    }\r\n                } else {\r\n                    worldMatrices.push(worldMatrix);\r\n                }\r\n\r\n                for (let matrixIndex = 0; matrixIndex < worldMatrices.length; matrixIndex++) {\r\n                    const wm = worldMatrices[matrixIndex];\r\n                    for (tri = 0; tri < meshIndices.length; tri++) {\r\n                        indices.push(meshIndices[tri] + offset);\r\n                    }\r\n\r\n                    const transformed = Vector3.Zero();\r\n                    const position = Vector3.Zero();\r\n                    for (pt = 0; pt < meshPositions.length; pt += 3) {\r\n                        Vector3.FromArrayToRef(meshPositions, pt, position);\r\n                        Vector3.TransformCoordinatesToRef(position, wm, transformed);\r\n                        positions.push(transformed.x, transformed.y, transformed.z);\r\n                    }\r\n\r\n                    offset += meshPositions.length / 3;\r\n                }\r\n            }\r\n        }\r\n\r\n        if (this._worker && completion) {\r\n            // spawn worker and send message\r\n            this._worker.postMessage([positions, offset, indices, indices.length, parameters]);\r\n            this._worker.onmessage = function (e) {\r\n                completion(e.data);\r\n            };\r\n        } else {\r\n            // blocking calls\r\n            const rc = new this.bjsRECAST.rcConfig();\r\n            rc.cs = parameters.cs;\r\n            rc.ch = parameters.ch;\r\n            rc.borderSize = parameters.borderSize ? parameters.borderSize : 0;\r\n            rc.tileSize = parameters.tileSize ? parameters.tileSize : 0;\r\n            rc.walkableSlopeAngle = parameters.walkableSlopeAngle;\r\n            rc.walkableHeight = parameters.walkableHeight;\r\n            rc.walkableClimb = parameters.walkableClimb;\r\n            rc.walkableRadius = parameters.walkableRadius;\r\n            rc.maxEdgeLen = parameters.maxEdgeLen;\r\n            rc.maxSimplificationError = parameters.maxSimplificationError;\r\n            rc.minRegionArea = parameters.minRegionArea;\r\n            rc.mergeRegionArea = parameters.mergeRegionArea;\r\n            rc.maxVertsPerPoly = parameters.maxVertsPerPoly;\r\n            rc.detailSampleDist = parameters.detailSampleDist;\r\n            rc.detailSampleMaxError = parameters.detailSampleMaxError;\r\n\r\n            this.navMesh.build(positions, offset, indices, indices.length, rc);\r\n        }\r\n    }\r\n\r\n    /**\r\n     * Create a navigation mesh debug mesh\r\n     * @param scene is where the mesh will be added\r\n     * @returns debug display mesh\r\n     */\r\n    createDebugNavMesh(scene: Scene): Mesh {\r\n        let tri: number;\r\n        let pt: number;\r\n        const debugNavMesh = this.navMesh.getDebugNavMesh();\r\n        const triangleCount = debugNavMesh.getTriangleCount();\r\n\r\n        const indices = [];\r\n        const positions = [];\r\n        for (tri = 0; tri < triangleCount * 3; tri++) {\r\n            indices.push(tri);\r\n        }\r\n        for (tri = 0; tri < triangleCount; tri++) {\r\n            for (pt = 0; pt < 3; pt++) {\r\n                const point = debugNavMesh.getTriangle(tri).getPoint(pt);\r\n                positions.push(point.x, point.y, point.z);\r\n            }\r\n        }\r\n\r\n        const mesh = new Mesh(\"NavMeshDebug\", scene);\r\n        const vertexData = new VertexData();\r\n\r\n        vertexData.indices = indices;\r\n        vertexData.positions = positions;\r\n        vertexData.applyToMesh(mesh, false);\r\n        return mesh;\r\n    }\r\n\r\n    /**\r\n     * Get a navigation mesh constrained position, closest to the parameter position\r\n     * @param position world position\r\n     * @returns the closest point to position constrained by the navigation mesh\r\n     */\r\n    getClosestPoint(position: Vector3): Vector3 {\r\n        this._tempVec1.x = position.x;\r\n        this._tempVec1.y = position.y;\r\n        this._tempVec1.z = position.z;\r\n        const ret = this.navMesh.getClosestPoint(this._tempVec1);\r\n        const pr = new Vector3(ret.x, ret.y, ret.z);\r\n        return pr;\r\n    }\r\n\r\n    /**\r\n     * Get a navigation mesh constrained position, closest to the parameter position\r\n     * @param position world position\r\n     * @param result output the closest point to position constrained by the navigation mesh\r\n     */\r\n    getClosestPointToRef(position: Vector3, result: Vector3): void {\r\n        this._tempVec1.x = position.x;\r\n        this._tempVec1.y = position.y;\r\n        this._tempVec1.z = position.z;\r\n        const ret = this.navMesh.getClosestPoint(this._tempVec1);\r\n        result.set(ret.x, ret.y, ret.z);\r\n    }\r\n\r\n    /**\r\n     * Get a navigation mesh constrained position, within a particular radius\r\n     * @param position world position\r\n     * @param maxRadius the maximum distance to the constrained world position\r\n     * @returns the closest point to position constrained by the navigation mesh\r\n     */\r\n    getRandomPointAround(position: Vector3, maxRadius: number): Vector3 {\r\n        this._tempVec1.x = position.x;\r\n        this._tempVec1.y = position.y;\r\n        this._tempVec1.z = position.z;\r\n        const ret = this.navMesh.getRandomPointAround(this._tempVec1, maxRadius);\r\n        const pr = new Vector3(ret.x, ret.y, ret.z);\r\n        return pr;\r\n    }\r\n\r\n    /**\r\n     * Get a navigation mesh constrained position, within a particular radius\r\n     * @param position world position\r\n     * @param maxRadius the maximum distance to the constrained world position\r\n     * @param result output the closest point to position constrained by the navigation mesh\r\n     */\r\n    getRandomPointAroundToRef(position: Vector3, maxRadius: number, result: Vector3): void {\r\n        this._tempVec1.x = position.x;\r\n        this._tempVec1.y = position.y;\r\n        this._tempVec1.z = position.z;\r\n        const ret = this.navMesh.getRandomPointAround(this._tempVec1, maxRadius);\r\n        result.set(ret.x, ret.y, ret.z);\r\n    }\r\n\r\n    /**\r\n     * Compute the final position from a segment made of destination-position\r\n     * @param position world position\r\n     * @param destination world position\r\n     * @returns the resulting point along the navmesh\r\n     */\r\n    moveAlong(position: Vector3, destination: Vector3): Vector3 {\r\n        this._tempVec1.x = position.x;\r\n        this._tempVec1.y = position.y;\r\n        this._tempVec1.z = position.z;\r\n        this._tempVec2.x = destination.x;\r\n        this._tempVec2.y = destination.y;\r\n        this._tempVec2.z = destination.z;\r\n        const ret = this.navMesh.moveAlong(this._tempVec1, this._tempVec2);\r\n        const pr = new Vector3(ret.x, ret.y, ret.z);\r\n        return pr;\r\n    }\r\n\r\n    /**\r\n     * Compute the final position from a segment made of destination-position\r\n     * @param position world position\r\n     * @param destination world position\r\n     * @param result output the resulting point along the navmesh\r\n     */\r\n    moveAlongToRef(position: Vector3, destination: Vector3, result: Vector3): void {\r\n        this._tempVec1.x = position.x;\r\n        this._tempVec1.y = position.y;\r\n        this._tempVec1.z = position.z;\r\n        this._tempVec2.x = destination.x;\r\n        this._tempVec2.y = destination.y;\r\n        this._tempVec2.z = destination.z;\r\n        const ret = this.navMesh.moveAlong(this._tempVec1, this._tempVec2);\r\n        result.set(ret.x, ret.y, ret.z);\r\n    }\r\n\r\n    private _convertNavPathPoints(navPath: any): Vector3[] {\r\n        let pt: number;\r\n        const pointCount = navPath.getPointCount();\r\n        const positions = [];\r\n        for (pt = 0; pt < pointCount; pt++) {\r\n            const p = navPath.getPoint(pt);\r\n            positions.push(new Vector3(p.x, p.y, p.z));\r\n        }\r\n        return positions;\r\n    }\r\n\r\n    /**\r\n     * Compute a navigation path from start to end. Returns an empty array if no path can be computed\r\n     * Path is straight.\r\n     * @param start world position\r\n     * @param end world position\r\n     * @returns array containing world position composing the path\r\n     */\r\n    computePath(start: Vector3, end: Vector3): Vector3[] {\r\n        this._tempVec1.x = start.x;\r\n        this._tempVec1.y = start.y;\r\n        this._tempVec1.z = start.z;\r\n        this._tempVec2.x = end.x;\r\n        this._tempVec2.y = end.y;\r\n        this._tempVec2.z = end.z;\r\n        const navPath = this.navMesh.computePath(this._tempVec1, this._tempVec2);\r\n        return this._convertNavPathPoints(navPath);\r\n    }\r\n\r\n    /**\r\n     * Compute a navigation path from start to end. Returns an empty array if no path can be computed.\r\n     * Path follows navigation mesh geometry.\r\n     * @param start world position\r\n     * @param end world position\r\n     * @returns array containing world position composing the path\r\n     */\r\n    computePathSmooth(start: Vector3, end: Vector3): Vector3[] {\r\n        this._tempVec1.x = start.x;\r\n        this._tempVec1.y = start.y;\r\n        this._tempVec1.z = start.z;\r\n        this._tempVec2.x = end.x;\r\n        this._tempVec2.y = end.y;\r\n        this._tempVec2.z = end.z;\r\n        const navPath = this.navMesh.computePathSmooth(this._tempVec1, this._tempVec2);\r\n        return this._convertNavPathPoints(navPath);\r\n    }\r\n    /**\r\n     * Create a new Crowd so you can add agents\r\n     * @param maxAgents the maximum agent count in the crowd\r\n     * @param maxAgentRadius the maximum radius an agent can have\r\n     * @param scene to attach the crowd to\r\n     * @returns the crowd you can add agents to\r\n     */\r\n    createCrowd(maxAgents: number, maxAgentRadius: number, scene: Scene): ICrowd {\r\n        const crowd = new RecastJSCrowd(this, maxAgents, maxAgentRadius, scene);\r\n        return crowd;\r\n    }\r\n\r\n    /**\r\n     * Set the Bounding box extent for doing spatial queries (getClosestPoint, getRandomPointAround, ...)\r\n     * The queries will try to find a solution within those bounds\r\n     * default is (1,1,1)\r\n     * @param extent x,y,z value that define the extent around the queries point of reference\r\n     */\r\n    setDefaultQueryExtent(extent: Vector3): void {\r\n        this._tempVec1.x = extent.x;\r\n        this._tempVec1.y = extent.y;\r\n        this._tempVec1.z = extent.z;\r\n        this.navMesh.setDefaultQueryExtent(this._tempVec1);\r\n    }\r\n\r\n    /**\r\n     * Get the Bounding box extent specified by setDefaultQueryExtent\r\n     * @returns the box extent values\r\n     */\r\n    getDefaultQueryExtent(): Vector3 {\r\n        const p = this.navMesh.getDefaultQueryExtent();\r\n        return new Vector3(p.x, p.y, p.z);\r\n    }\r\n\r\n    /**\r\n     * build the navmesh from a previously saved state using getNavmeshData\r\n     * @param data the Uint8Array returned by getNavmeshData\r\n     */\r\n    buildFromNavmeshData(data: Uint8Array): void {\r\n        const nDataBytes = data.length * data.BYTES_PER_ELEMENT;\r\n        const dataPtr = this.bjsRECAST._malloc(nDataBytes);\r\n\r\n        const dataHeap = new Uint8Array(this.bjsRECAST.HEAPU8.buffer, dataPtr, nDataBytes);\r\n        dataHeap.set(data);\r\n\r\n        const buf = new this.bjsRECAST.NavmeshData();\r\n        buf.dataPointer = dataHeap.byteOffset;\r\n        buf.size = data.length;\r\n        this.navMesh = new this.bjsRECAST.NavMesh();\r\n        this.navMesh.buildFromNavmeshData(buf);\r\n\r\n        // Free memory\r\n        this.bjsRECAST._free(dataHeap.byteOffset);\r\n    }\r\n\r\n    /**\r\n     * returns the navmesh data that can be used later. The navmesh must be built before retrieving the data\r\n     * @returns data the Uint8Array that can be saved and reused\r\n     */\r\n    getNavmeshData(): Uint8Array {\r\n        const navmeshData = this.navMesh.getNavmeshData();\r\n        const arrView = new Uint8Array(this.bjsRECAST.HEAPU8.buffer, navmeshData.dataPointer, navmeshData.size);\r\n        const ret = new Uint8Array(navmeshData.size);\r\n        ret.set(arrView);\r\n        this.navMesh.freeNavmeshData(navmeshData);\r\n        return ret;\r\n    }\r\n\r\n    /**\r\n     * Get the Bounding box extent result specified by setDefaultQueryExtent\r\n     * @param result output the box extent values\r\n     */\r\n    getDefaultQueryExtentToRef(result: Vector3): void {\r\n        const p = this.navMesh.getDefaultQueryExtent();\r\n        result.set(p.x, p.y, p.z);\r\n    }\r\n\r\n    /**\r\n     * Disposes\r\n     */\r\n    public dispose() {}\r\n\r\n    /**\r\n     * Creates a cylinder obstacle and add it to the navigation\r\n     * @param position world position\r\n     * @param radius cylinder radius\r\n     * @param height cylinder height\r\n     * @returns the obstacle freshly created\r\n     */\r\n    addCylinderObstacle(position: Vector3, radius: number, height: number): Nullable<IObstacle> {\r\n        this._tempVec1.x = position.x;\r\n        this._tempVec1.y = position.y;\r\n        this._tempVec1.z = position.z;\r\n        return this.navMesh.addCylinderObstacle(this._tempVec1, radius, height);\r\n    }\r\n\r\n    /**\r\n     * Creates an oriented box obstacle and add it to the navigation\r\n     * @param position world position\r\n     * @param extent box size\r\n     * @param angle angle in radians of the box orientation on Y axis\r\n     * @returns the obstacle freshly created\r\n     */\r\n    addBoxObstacle(position: Vector3, extent: Vector3, angle: number): Nullable<IObstacle> {\r\n        this._tempVec1.x = position.x;\r\n        this._tempVec1.y = position.y;\r\n        this._tempVec1.z = position.z;\r\n        this._tempVec2.x = extent.x;\r\n        this._tempVec2.y = extent.y;\r\n        this._tempVec2.z = extent.z;\r\n        return this.navMesh.addBoxObstacle(this._tempVec1, this._tempVec2, angle);\r\n    }\r\n\r\n    /**\r\n     * Removes an obstacle created by addCylinderObstacle or addBoxObstacle\r\n     * @param obstacle obstacle to remove from the navigation\r\n     */\r\n    removeObstacle(obstacle: IObstacle): void {\r\n        this.navMesh.removeObstacle(obstacle);\r\n    }\r\n\r\n    /**\r\n     * If this plugin is supported\r\n     * @returns true if plugin is supported\r\n     */\r\n    public isSupported(): boolean {\r\n        return this.bjsRECAST !== undefined;\r\n    }\r\n\r\n    /**\r\n     * Returns the seed used for randomized functions like `getRandomPointAround`\r\n     * @returns seed number\r\n     */\r\n    public getRandomSeed(): number {\r\n        return this.bjsRECAST._getRandomSeed();\r\n    }\r\n\r\n    /**\r\n     * Set the seed used for randomized functions like `getRandomPointAround`\r\n     * @param seed number used as seed for random functions\r\n     */\r\n    public setRandomSeed(seed: number): void {\r\n        this.bjsRECAST._setRandomSeed(seed);\r\n    }\r\n}\r\n\r\n/**\r\n * Recast detour crowd implementation\r\n */\r\nexport class RecastJSCrowd implements ICrowd {\r\n    /**\r\n     * Recast/detour plugin\r\n     */\r\n    // eslint-disable-next-line @typescript-eslint/naming-convention\r\n    public bjsRECASTPlugin: RecastJSPlugin;\r\n    /**\r\n     * Link to the detour crowd\r\n     */\r\n    public recastCrowd: any = {};\r\n    /**\r\n     * One transform per agent\r\n     */\r\n    public transforms: TransformNode[] = new Array<TransformNode>();\r\n    /**\r\n     * All agents created\r\n     */\r\n    public agents: number[] = new Array<number>();\r\n    /**\r\n     * agents reach radius\r\n     */\r\n    public reachRadii: number[] = new Array<number>();\r\n    /**\r\n     * true when a destination is active for an agent and notifier hasn't been notified of reach\r\n     */\r\n    private _agentDestinationArmed: boolean[] = new Array<boolean>();\r\n    /**\r\n     * agent current target\r\n     */\r\n    private _agentDestination: Vector3[] = new Array<Vector3>();\r\n    /**\r\n     * Link to the scene is kept to unregister the crowd from the scene\r\n     */\r\n    private _scene: Scene;\r\n\r\n    /**\r\n     * Observer for crowd updates\r\n     */\r\n    private _onBeforeAnimationsObserver: Nullable<Observer<Scene>> = null;\r\n\r\n    /**\r\n     * Fires each time an agent is in reach radius of its destination\r\n     */\r\n    public onReachTargetObservable = new Observable<{ agentIndex: number; destination: Vector3 }>();\r\n\r\n    /**\r\n     * Constructor\r\n     * @param plugin recastJS plugin\r\n     * @param maxAgents the maximum agent count in the crowd\r\n     * @param maxAgentRadius the maximum radius an agent can have\r\n     * @param scene to attach the crowd to\r\n     * @returns the crowd you can add agents to\r\n     */\r\n    public constructor(plugin: RecastJSPlugin, maxAgents: number, maxAgentRadius: number, scene: Scene) {\r\n        this.bjsRECASTPlugin = plugin;\r\n        this.recastCrowd = new this.bjsRECASTPlugin.bjsRECAST.Crowd(maxAgents, maxAgentRadius, this.bjsRECASTPlugin.navMesh.getNavMesh());\r\n        this._scene = scene;\r\n\r\n        this._onBeforeAnimationsObserver = scene.onBeforeAnimationsObservable.add(() => {\r\n            this.update(scene.getEngine().getDeltaTime() * 0.001 * plugin.timeFactor);\r\n        });\r\n    }\r\n\r\n    /**\r\n     * Add a new agent to the crowd with the specified parameter a corresponding transformNode.\r\n     * You can attach anything to that node. The node position is updated in the scene update tick.\r\n     * @param pos world position that will be constrained by the navigation mesh\r\n     * @param parameters agent parameters\r\n     * @param transform hooked to the agent that will be update by the scene\r\n     * @returns agent index\r\n     */\r\n    addAgent(pos: Vector3, parameters: IAgentParameters, transform: TransformNode): number {\r\n        const agentParams = new this.bjsRECASTPlugin.bjsRECAST.dtCrowdAgentParams();\r\n        agentParams.radius = parameters.radius;\r\n        agentParams.height = parameters.height;\r\n        agentParams.maxAcceleration = parameters.maxAcceleration;\r\n        agentParams.maxSpeed = parameters.maxSpeed;\r\n        agentParams.collisionQueryRange = parameters.collisionQueryRange;\r\n        agentParams.pathOptimizationRange = parameters.pathOptimizationRange;\r\n        agentParams.separationWeight = parameters.separationWeight;\r\n        agentParams.updateFlags = 7;\r\n        agentParams.obstacleAvoidanceType = 0;\r\n        agentParams.queryFilterType = 0;\r\n        agentParams.userData = 0;\r\n\r\n        const agentIndex = this.recastCrowd.addAgent(new this.bjsRECASTPlugin.bjsRECAST.Vec3(pos.x, pos.y, pos.z), agentParams);\r\n        this.transforms.push(transform);\r\n        this.agents.push(agentIndex);\r\n        this.reachRadii.push(parameters.reachRadius ? parameters.reachRadius : parameters.radius);\r\n        this._agentDestinationArmed.push(false);\r\n        this._agentDestination.push(new Vector3(0, 0, 0));\r\n        return agentIndex;\r\n    }\r\n\r\n    /**\r\n     * Returns the agent position in world space\r\n     * @param index agent index returned by addAgent\r\n     * @returns world space position\r\n     */\r\n    getAgentPosition(index: number): Vector3 {\r\n        const agentPos = this.recastCrowd.getAgentPosition(index);\r\n        return new Vector3(agentPos.x, agentPos.y, agentPos.z);\r\n    }\r\n\r\n    /**\r\n     * Returns the agent position result in world space\r\n     * @param index agent index returned by addAgent\r\n     * @param result output world space position\r\n     */\r\n    getAgentPositionToRef(index: number, result: Vector3): void {\r\n        const agentPos = this.recastCrowd.getAgentPosition(index);\r\n        result.set(agentPos.x, agentPos.y, agentPos.z);\r\n    }\r\n\r\n    /**\r\n     * Returns the agent velocity in world space\r\n     * @param index agent index returned by addAgent\r\n     * @returns world space velocity\r\n     */\r\n    getAgentVelocity(index: number): Vector3 {\r\n        const agentVel = this.recastCrowd.getAgentVelocity(index);\r\n        return new Vector3(agentVel.x, agentVel.y, agentVel.z);\r\n    }\r\n\r\n    /**\r\n     * Returns the agent velocity result in world space\r\n     * @param index agent index returned by addAgent\r\n     * @param result output world space velocity\r\n     */\r\n    getAgentVelocityToRef(index: number, result: Vector3): void {\r\n        const agentVel = this.recastCrowd.getAgentVelocity(index);\r\n        result.set(agentVel.x, agentVel.y, agentVel.z);\r\n    }\r\n\r\n    /**\r\n     * Returns the agent next target point on the path\r\n     * @param index agent index returned by addAgent\r\n     * @returns world space position\r\n     */\r\n    getAgentNextTargetPath(index: number): Vector3 {\r\n        const pathTargetPos = this.recastCrowd.getAgentNextTargetPath(index);\r\n        return new Vector3(pathTargetPos.x, pathTargetPos.y, pathTargetPos.z);\r\n    }\r\n\r\n    /**\r\n     * Returns the agent next target point on the path\r\n     * @param index agent index returned by addAgent\r\n     * @param result output world space position\r\n     */\r\n    getAgentNextTargetPathToRef(index: number, result: Vector3): void {\r\n        const pathTargetPos = this.recastCrowd.getAgentNextTargetPath(index);\r\n        result.set(pathTargetPos.x, pathTargetPos.y, pathTargetPos.z);\r\n    }\r\n\r\n    /**\r\n     * Gets the agent state\r\n     * @param index agent index returned by addAgent\r\n     * @returns agent state\r\n     */\r\n    getAgentState(index: number): number {\r\n        return this.recastCrowd.getAgentState(index);\r\n    }\r\n\r\n    /**\r\n     * returns true if the agent in over an off mesh link connection\r\n     * @param index agent index returned by addAgent\r\n     * @returns true if over an off mesh link connection\r\n     */\r\n    overOffmeshConnection(index: number): boolean {\r\n        return this.recastCrowd.overOffmeshConnection(index);\r\n    }\r\n\r\n    /**\r\n     * Asks a particular agent to go to a destination. That destination is constrained by the navigation mesh\r\n     * @param index agent index returned by addAgent\r\n     * @param destination targeted world position\r\n     */\r\n    agentGoto(index: number, destination: Vector3): void {\r\n        this.recastCrowd.agentGoto(index, new this.bjsRECASTPlugin.bjsRECAST.Vec3(destination.x, destination.y, destination.z));\r\n\r\n        // arm observer\r\n        const item = this.agents.indexOf(index);\r\n        if (item > -1) {\r\n            this._agentDestinationArmed[item] = true;\r\n            this._agentDestination[item].set(destination.x, destination.y, destination.z);\r\n        }\r\n    }\r\n\r\n    /**\r\n     * Teleport the agent to a new position\r\n     * @param index agent index returned by addAgent\r\n     * @param destination targeted world position\r\n     */\r\n    agentTeleport(index: number, destination: Vector3): void {\r\n        this.recastCrowd.agentTeleport(index, new this.bjsRECASTPlugin.bjsRECAST.Vec3(destination.x, destination.y, destination.z));\r\n    }\r\n\r\n    /**\r\n     * Update agent parameters\r\n     * @param index agent index returned by addAgent\r\n     * @param parameters agent parameters\r\n     */\r\n    updateAgentParameters(index: number, parameters: IAgentParameters): void {\r\n        const agentParams = this.recastCrowd.getAgentParameters(index);\r\n\r\n        if (parameters.radius !== undefined) {\r\n            agentParams.radius = parameters.radius;\r\n        }\r\n        if (parameters.height !== undefined) {\r\n            agentParams.height = parameters.height;\r\n        }\r\n        if (parameters.maxAcceleration !== undefined) {\r\n            agentParams.maxAcceleration = parameters.maxAcceleration;\r\n        }\r\n        if (parameters.maxSpeed !== undefined) {\r\n            agentParams.maxSpeed = parameters.maxSpeed;\r\n        }\r\n        if (parameters.collisionQueryRange !== undefined) {\r\n            agentParams.collisionQueryRange = parameters.collisionQueryRange;\r\n        }\r\n        if (parameters.pathOptimizationRange !== undefined) {\r\n            agentParams.pathOptimizationRange = parameters.pathOptimizationRange;\r\n        }\r\n        if (parameters.separationWeight !== undefined) {\r\n            agentParams.separationWeight = parameters.separationWeight;\r\n        }\r\n\r\n        this.recastCrowd.setAgentParameters(index, agentParams);\r\n    }\r\n\r\n    /**\r\n     * remove a particular agent previously created\r\n     * @param index agent index returned by addAgent\r\n     */\r\n    removeAgent(index: number): void {\r\n        this.recastCrowd.removeAgent(index);\r\n\r\n        const item = this.agents.indexOf(index);\r\n        if (item > -1) {\r\n            this.agents.splice(item, 1);\r\n            this.transforms.splice(item, 1);\r\n            this.reachRadii.splice(item, 1);\r\n            this._agentDestinationArmed.splice(item, 1);\r\n            this._agentDestination.splice(item, 1);\r\n        }\r\n    }\r\n\r\n    /**\r\n     * get the list of all agents attached to this crowd\r\n     * @returns list of agent indices\r\n     */\r\n    getAgents(): number[] {\r\n        return this.agents;\r\n    }\r\n\r\n    /**\r\n     * Tick update done by the Scene. Agent position/velocity/acceleration is updated by this function\r\n     * @param deltaTime in seconds\r\n     */\r\n    update(deltaTime: number): void {\r\n        // update obstacles\r\n        this.bjsRECASTPlugin.navMesh.update();\r\n\r\n        if (deltaTime <= Epsilon) {\r\n            return;\r\n        }\r\n        // update crowd\r\n        const timeStep = this.bjsRECASTPlugin.getTimeStep();\r\n        const maxStepCount = this.bjsRECASTPlugin.getMaximumSubStepCount();\r\n        if (timeStep <= Epsilon) {\r\n            this.recastCrowd.update(deltaTime);\r\n        } else {\r\n            let iterationCount = Math.floor(deltaTime / timeStep);\r\n            if (maxStepCount && iterationCount > maxStepCount) {\r\n                iterationCount = maxStepCount;\r\n            }\r\n            if (iterationCount < 1) {\r\n                iterationCount = 1;\r\n            }\r\n\r\n            const step = deltaTime / iterationCount;\r\n            for (let i = 0; i < iterationCount; i++) {\r\n                this.recastCrowd.update(step);\r\n            }\r\n        }\r\n\r\n        // update transforms\r\n        for (let index = 0; index < this.agents.length; index++) {\r\n            // update transform position\r\n            const agentIndex = this.agents[index];\r\n            const agentPosition = this.getAgentPosition(agentIndex);\r\n            this.transforms[index].position = agentPosition;\r\n            // check agent reach destination\r\n            if (this._agentDestinationArmed[index]) {\r\n                const dx = agentPosition.x - this._agentDestination[index].x;\r\n                const dz = agentPosition.z - this._agentDestination[index].z;\r\n                const radius = this.reachRadii[index];\r\n                const groundY = this._agentDestination[index].y - this.reachRadii[index];\r\n                const ceilingY = this._agentDestination[index].y + this.reachRadii[index];\r\n                const distanceXZSquared = dx * dx + dz * dz;\r\n                if (agentPosition.y > groundY && agentPosition.y < ceilingY && distanceXZSquared < radius * radius) {\r\n                    this._agentDestinationArmed[index] = false;\r\n                    this.onReachTargetObservable.notifyObservers({ agentIndex: agentIndex, destination: this._agentDestination[index] });\r\n                }\r\n            }\r\n        }\r\n    }\r\n\r\n    /**\r\n     * Set the Bounding box extent for doing spatial queries (getClosestPoint, getRandomPointAround, ...)\r\n     * The queries will try to find a solution within those bounds\r\n     * default is (1,1,1)\r\n     * @param extent x,y,z value that define the extent around the queries point of reference\r\n     */\r\n    setDefaultQueryExtent(extent: Vector3): void {\r\n        const ext = new this.bjsRECASTPlugin.bjsRECAST.Vec3(extent.x, extent.y, extent.z);\r\n        this.recastCrowd.setDefaultQueryExtent(ext);\r\n    }\r\n\r\n    /**\r\n     * Get the Bounding box extent specified by setDefaultQueryExtent\r\n     * @returns the box extent values\r\n     */\r\n    getDefaultQueryExtent(): Vector3 {\r\n        const p = this.recastCrowd.getDefaultQueryExtent();\r\n        return new Vector3(p.x, p.y, p.z);\r\n    }\r\n\r\n    /**\r\n     * Get the Bounding box extent result specified by setDefaultQueryExtent\r\n     * @param result output the box extent values\r\n     */\r\n    getDefaultQueryExtentToRef(result: Vector3): void {\r\n        const p = this.recastCrowd.getDefaultQueryExtent();\r\n        result.set(p.x, p.y, p.z);\r\n    }\r\n\r\n    /**\r\n     * Get the next corner points composing the path (max 4 points)\r\n     * @param index agent index returned by addAgent\r\n     * @returns array containing world position composing the path\r\n     */\r\n    getCorners(index: number): Vector3[] {\r\n        let pt: number;\r\n        const navPath = this.recastCrowd.getCorners(index);\r\n        const pointCount = navPath.getPointCount();\r\n        const positions = [];\r\n        for (pt = 0; pt < pointCount; pt++) {\r\n            const p = navPath.getPoint(pt);\r\n            positions.push(new Vector3(p.x, p.y, p.z));\r\n        }\r\n        return positions;\r\n    }\r\n\r\n    /**\r\n     * Release all resources\r\n     */\r\n    dispose(): void {\r\n        this.recastCrowd.destroy();\r\n        this._scene.onBeforeAnimationsObservable.remove(this._onBeforeAnimationsObserver);\r\n        this._onBeforeAnimationsObserver = null;\r\n        this.onReachTargetObservable.clear();\r\n    }\r\n}\r\n"]}
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type { INavigationEnginePlugin, ICrowd, IAgentParameters, INavMeshParameters, IObstacle } from \"../../Navigation/INavigationEngine\";\r\nimport { Logger } from \"../../Misc/logger\";\r\nimport { VertexData } from \"../../Meshes/mesh.vertexData\";\r\nimport { Mesh } from \"../../Meshes/mesh\";\r\nimport type { Scene } from \"../../scene\";\r\nimport { Epsilon, Vector3, Matrix } from \"../../Maths/math\";\r\nimport type { TransformNode } from \"../../Meshes/transformNode\";\r\nimport type { Observer } from \"../../Misc/observable\";\r\nimport { Observable } from \"../../Misc/observable\";\r\nimport type { Nullable } from \"../../types\";\r\nimport { VertexBuffer } from \"../../Buffers/buffer\";\r\n\r\n// eslint-disable-next-line @typescript-eslint/naming-convention\r\ndeclare let Recast: any;\r\n\r\n/**\r\n * RecastJS navigation plugin\r\n */\r\nexport class RecastJSPlugin implements INavigationEnginePlugin {\r\n    /**\r\n     * Reference to the Recast library\r\n     */\r\n    // eslint-disable-next-line @typescript-eslint/naming-convention\r\n    public bjsRECAST: any = {};\r\n\r\n    /**\r\n     * plugin name\r\n     */\r\n    public name: string = \"RecastJSPlugin\";\r\n\r\n    /**\r\n     * the first navmesh created. We might extend this to support multiple navmeshes\r\n     */\r\n    public navMesh: any;\r\n\r\n    private _maximumSubStepCount: number = 10;\r\n    private _timeStep: number = 1 / 60;\r\n    private _timeFactor: number = 1;\r\n\r\n    private _tempVec1: any;\r\n    private _tempVec2: any;\r\n\r\n    private _worker: Nullable<Worker> = null;\r\n\r\n    /**\r\n     * Initializes the recastJS plugin\r\n     * @param recastInjection can be used to inject your own recast reference\r\n     */\r\n    public constructor(recastInjection: any = Recast) {\r\n        if (typeof recastInjection === \"function\") {\r\n            Logger.Error(\"RecastJS is not ready. Please make sure you await Recast() before using the plugin.\");\r\n        } else {\r\n            this.bjsRECAST = recastInjection;\r\n        }\r\n\r\n        if (!this.isSupported()) {\r\n            Logger.Error(\"RecastJS is not available. Please make sure you included the js file.\");\r\n            return;\r\n        }\r\n        this.setTimeStep();\r\n\r\n        this._tempVec1 = new this.bjsRECAST.Vec3();\r\n        this._tempVec2 = new this.bjsRECAST.Vec3();\r\n    }\r\n\r\n    /**\r\n     * Set worker URL to be used when generating a new navmesh\r\n     * @param workerURL url string\r\n     * @returns boolean indicating if worker is created\r\n     */\r\n    public setWorkerURL(workerURL: string | URL): boolean {\r\n        if (window && window.Worker) {\r\n            this._worker = new Worker(workerURL);\r\n            return true;\r\n        }\r\n        return false;\r\n    }\r\n\r\n    /**\r\n     * Set the time step of the navigation tick update.\r\n     * Default is 1/60.\r\n     * A value of 0 will disable fixed time update\r\n     * @param newTimeStep the new timestep to apply to this world.\r\n     */\r\n    setTimeStep(newTimeStep: number = 1 / 60): void {\r\n        this._timeStep = newTimeStep;\r\n    }\r\n\r\n    /**\r\n     * Get the time step of the navigation tick update.\r\n     * @returns the current time step\r\n     */\r\n    getTimeStep(): number {\r\n        return this._timeStep;\r\n    }\r\n\r\n    /**\r\n     * If delta time in navigation tick update is greater than the time step\r\n     * a number of sub iterations are done. If more iterations are needed to reach deltatime\r\n     * they will be discarded.\r\n     * A value of 0 will set to no maximum and update will use as many substeps as needed\r\n     * @param newStepCount the maximum number of iterations\r\n     */\r\n    setMaximumSubStepCount(newStepCount: number = 10): void {\r\n        this._maximumSubStepCount = newStepCount;\r\n    }\r\n\r\n    /**\r\n     * Get the maximum number of iterations per navigation tick update\r\n     * @returns the maximum number of iterations\r\n     */\r\n    getMaximumSubStepCount(): number {\r\n        return this._maximumSubStepCount;\r\n    }\r\n\r\n    /**\r\n     * Time factor applied when updating crowd agents (default 1). A value of 0 will pause crowd updates.\r\n     * @param value the time factor applied at update\r\n     */\r\n    public set timeFactor(value: number) {\r\n        this._timeFactor = Math.max(value, 0);\r\n    }\r\n\r\n    /**\r\n     * Get the time factor used for crowd agent update\r\n     * @returns the time factor\r\n     */\r\n    public get timeFactor(): number {\r\n        return this._timeFactor;\r\n    }\r\n\r\n    /**\r\n     * Creates a navigation mesh\r\n     * @param meshes array of all the geometry used to compute the navigation mesh\r\n     * @param parameters bunch of parameters used to filter geometry\r\n     * @param completion callback when data is available from the worker. Not used without a worker\r\n     */\r\n    createNavMesh(meshes: Array<Mesh>, parameters: INavMeshParameters, completion?: (navmeshData: Uint8Array) => void): void {\r\n        if (this._worker && !completion) {\r\n            Logger.Warn(\"A worker is available but no completion callback. Defaulting to blocking navmesh creation\");\r\n        } else if (!this._worker && completion) {\r\n            Logger.Warn(\"A completion callback is available but no worker. Defaulting to blocking navmesh creation\");\r\n        }\r\n\r\n        this.navMesh = new this.bjsRECAST.NavMesh();\r\n\r\n        let index: number;\r\n        let tri: number;\r\n        let pt: number;\r\n\r\n        const indices = [];\r\n        const positions = [];\r\n        let offset = 0;\r\n        for (index = 0; index < meshes.length; index++) {\r\n            if (meshes[index]) {\r\n                const mesh = meshes[index];\r\n\r\n                const meshIndices = mesh.getIndices();\r\n                if (!meshIndices) {\r\n                    continue;\r\n                }\r\n                const meshPositions = mesh.getVerticesData(VertexBuffer.PositionKind, false, false);\r\n                if (!meshPositions) {\r\n                    continue;\r\n                }\r\n\r\n                const worldMatrices = [];\r\n                const worldMatrix = mesh.computeWorldMatrix(true);\r\n\r\n                if (mesh.hasThinInstances) {\r\n                    const thinMatrices = mesh.thinInstanceGetWorldMatrices();\r\n                    for (let instanceIndex = 0; instanceIndex < thinMatrices.length; instanceIndex++) {\r\n                        const tmpMatrix = new Matrix();\r\n                        const thinMatrix = thinMatrices[instanceIndex];\r\n                        thinMatrix.multiplyToRef(worldMatrix, tmpMatrix);\r\n                        worldMatrices.push(tmpMatrix);\r\n                    }\r\n                } else {\r\n                    worldMatrices.push(worldMatrix);\r\n                }\r\n\r\n                for (let matrixIndex = 0; matrixIndex < worldMatrices.length; matrixIndex++) {\r\n                    const wm = worldMatrices[matrixIndex];\r\n                    for (tri = 0; tri < meshIndices.length; tri++) {\r\n                        indices.push(meshIndices[tri] + offset);\r\n                    }\r\n\r\n                    const transformed = Vector3.Zero();\r\n                    const position = Vector3.Zero();\r\n                    for (pt = 0; pt < meshPositions.length; pt += 3) {\r\n                        Vector3.FromArrayToRef(meshPositions, pt, position);\r\n                        Vector3.TransformCoordinatesToRef(position, wm, transformed);\r\n                        positions.push(transformed.x, transformed.y, transformed.z);\r\n                    }\r\n\r\n                    offset += meshPositions.length / 3;\r\n                }\r\n            }\r\n        }\r\n\r\n        if (this._worker && completion) {\r\n            // spawn worker and send message\r\n            this._worker.postMessage([positions, offset, indices, indices.length, parameters]);\r\n            this._worker.onmessage = function (e) {\r\n                completion(e.data);\r\n            };\r\n        } else {\r\n            // blocking calls\r\n            const rc = new this.bjsRECAST.rcConfig();\r\n            rc.cs = parameters.cs;\r\n            rc.ch = parameters.ch;\r\n            rc.borderSize = parameters.borderSize ? parameters.borderSize : 0;\r\n            rc.tileSize = parameters.tileSize ? parameters.tileSize : 0;\r\n            rc.walkableSlopeAngle = parameters.walkableSlopeAngle;\r\n            rc.walkableHeight = parameters.walkableHeight;\r\n            rc.walkableClimb = parameters.walkableClimb;\r\n            rc.walkableRadius = parameters.walkableRadius;\r\n            rc.maxEdgeLen = parameters.maxEdgeLen;\r\n            rc.maxSimplificationError = parameters.maxSimplificationError;\r\n            rc.minRegionArea = parameters.minRegionArea;\r\n            rc.mergeRegionArea = parameters.mergeRegionArea;\r\n            rc.maxVertsPerPoly = parameters.maxVertsPerPoly;\r\n            rc.detailSampleDist = parameters.detailSampleDist;\r\n            rc.detailSampleMaxError = parameters.detailSampleMaxError;\r\n\r\n            this.navMesh.build(positions, offset, indices, indices.length, rc);\r\n        }\r\n    }\r\n\r\n    /**\r\n     * Create a navigation mesh debug mesh\r\n     * @param scene is where the mesh will be added\r\n     * @returns debug display mesh\r\n     */\r\n    createDebugNavMesh(scene: Scene): Mesh {\r\n        let tri: number;\r\n        let pt: number;\r\n        const debugNavMesh = this.navMesh.getDebugNavMesh();\r\n        const triangleCount = debugNavMesh.getTriangleCount();\r\n\r\n        const indices = [];\r\n        const positions = [];\r\n        for (tri = 0; tri < triangleCount * 3; tri++) {\r\n            indices.push(tri);\r\n        }\r\n        for (tri = 0; tri < triangleCount; tri++) {\r\n            for (pt = 0; pt < 3; pt++) {\r\n                const point = debugNavMesh.getTriangle(tri).getPoint(pt);\r\n                positions.push(point.x, point.y, point.z);\r\n            }\r\n        }\r\n\r\n        const mesh = new Mesh(\"NavMeshDebug\", scene);\r\n        const vertexData = new VertexData();\r\n\r\n        vertexData.indices = indices;\r\n        vertexData.positions = positions;\r\n        vertexData.applyToMesh(mesh, false);\r\n        return mesh;\r\n    }\r\n\r\n    /**\r\n     * Get a navigation mesh constrained position, closest to the parameter position\r\n     * @param position world position\r\n     * @returns the closest point to position constrained by the navigation mesh\r\n     */\r\n    getClosestPoint(position: Vector3): Vector3 {\r\n        this._tempVec1.x = position.x;\r\n        this._tempVec1.y = position.y;\r\n        this._tempVec1.z = position.z;\r\n        const ret = this.navMesh.getClosestPoint(this._tempVec1);\r\n        const pr = new Vector3(ret.x, ret.y, ret.z);\r\n        return pr;\r\n    }\r\n\r\n    /**\r\n     * Get a navigation mesh constrained position, closest to the parameter position\r\n     * @param position world position\r\n     * @param result output the closest point to position constrained by the navigation mesh\r\n     */\r\n    getClosestPointToRef(position: Vector3, result: Vector3): void {\r\n        this._tempVec1.x = position.x;\r\n        this._tempVec1.y = position.y;\r\n        this._tempVec1.z = position.z;\r\n        const ret = this.navMesh.getClosestPoint(this._tempVec1);\r\n        result.set(ret.x, ret.y, ret.z);\r\n    }\r\n\r\n    /**\r\n     * Get a navigation mesh constrained position, within a particular radius\r\n     * @param position world position\r\n     * @param maxRadius the maximum distance to the constrained world position\r\n     * @returns the closest point to position constrained by the navigation mesh\r\n     */\r\n    getRandomPointAround(position: Vector3, maxRadius: number): Vector3 {\r\n        this._tempVec1.x = position.x;\r\n        this._tempVec1.y = position.y;\r\n        this._tempVec1.z = position.z;\r\n        const ret = this.navMesh.getRandomPointAround(this._tempVec1, maxRadius);\r\n        const pr = new Vector3(ret.x, ret.y, ret.z);\r\n        return pr;\r\n    }\r\n\r\n    /**\r\n     * Get a navigation mesh constrained position, within a particular radius\r\n     * @param position world position\r\n     * @param maxRadius the maximum distance to the constrained world position\r\n     * @param result output the closest point to position constrained by the navigation mesh\r\n     */\r\n    getRandomPointAroundToRef(position: Vector3, maxRadius: number, result: Vector3): void {\r\n        this._tempVec1.x = position.x;\r\n        this._tempVec1.y = position.y;\r\n        this._tempVec1.z = position.z;\r\n        const ret = this.navMesh.getRandomPointAround(this._tempVec1, maxRadius);\r\n        result.set(ret.x, ret.y, ret.z);\r\n    }\r\n\r\n    /**\r\n     * Compute the final position from a segment made of destination-position\r\n     * @param position world position\r\n     * @param destination world position\r\n     * @returns the resulting point along the navmesh\r\n     */\r\n    moveAlong(position: Vector3, destination: Vector3): Vector3 {\r\n        this._tempVec1.x = position.x;\r\n        this._tempVec1.y = position.y;\r\n        this._tempVec1.z = position.z;\r\n        this._tempVec2.x = destination.x;\r\n        this._tempVec2.y = destination.y;\r\n        this._tempVec2.z = destination.z;\r\n        const ret = this.navMesh.moveAlong(this._tempVec1, this._tempVec2);\r\n        const pr = new Vector3(ret.x, ret.y, ret.z);\r\n        return pr;\r\n    }\r\n\r\n    /**\r\n     * Compute the final position from a segment made of destination-position\r\n     * @param position world position\r\n     * @param destination world position\r\n     * @param result output the resulting point along the navmesh\r\n     */\r\n    moveAlongToRef(position: Vector3, destination: Vector3, result: Vector3): void {\r\n        this._tempVec1.x = position.x;\r\n        this._tempVec1.y = position.y;\r\n        this._tempVec1.z = position.z;\r\n        this._tempVec2.x = destination.x;\r\n        this._tempVec2.y = destination.y;\r\n        this._tempVec2.z = destination.z;\r\n        const ret = this.navMesh.moveAlong(this._tempVec1, this._tempVec2);\r\n        result.set(ret.x, ret.y, ret.z);\r\n    }\r\n\r\n    private _convertNavPathPoints(navPath: any): Vector3[] {\r\n        let pt: number;\r\n        const pointCount = navPath.getPointCount();\r\n        const positions = [];\r\n        for (pt = 0; pt < pointCount; pt++) {\r\n            const p = navPath.getPoint(pt);\r\n            positions.push(new Vector3(p.x, p.y, p.z));\r\n        }\r\n        return positions;\r\n    }\r\n\r\n    /**\r\n     * Compute a navigation path from start to end. Returns an empty array if no path can be computed\r\n     * Path is straight.\r\n     * @param start world position\r\n     * @param end world position\r\n     * @returns array containing world position composing the path\r\n     */\r\n    computePath(start: Vector3, end: Vector3): Vector3[] {\r\n        this._tempVec1.x = start.x;\r\n        this._tempVec1.y = start.y;\r\n        this._tempVec1.z = start.z;\r\n        this._tempVec2.x = end.x;\r\n        this._tempVec2.y = end.y;\r\n        this._tempVec2.z = end.z;\r\n        const navPath = this.navMesh.computePath(this._tempVec1, this._tempVec2);\r\n        return this._convertNavPathPoints(navPath);\r\n    }\r\n\r\n    /**\r\n     * Compute a navigation path from start to end. Returns an empty array if no path can be computed.\r\n     * Path follows navigation mesh geometry.\r\n     * @param start world position\r\n     * @param end world position\r\n     * @returns array containing world position composing the path\r\n     */\r\n    computePathSmooth(start: Vector3, end: Vector3): Vector3[] {\r\n        this._tempVec1.x = start.x;\r\n        this._tempVec1.y = start.y;\r\n        this._tempVec1.z = start.z;\r\n        this._tempVec2.x = end.x;\r\n        this._tempVec2.y = end.y;\r\n        this._tempVec2.z = end.z;\r\n        const navPath = this.navMesh.computePathSmooth(this._tempVec1, this._tempVec2);\r\n        return this._convertNavPathPoints(navPath);\r\n    }\r\n    /**\r\n     * Create a new Crowd so you can add agents\r\n     * @param maxAgents the maximum agent count in the crowd\r\n     * @param maxAgentRadius the maximum radius an agent can have\r\n     * @param scene to attach the crowd to\r\n     * @returns the crowd you can add agents to\r\n     */\r\n    createCrowd(maxAgents: number, maxAgentRadius: number, scene: Scene): ICrowd {\r\n        const crowd = new RecastJSCrowd(this, maxAgents, maxAgentRadius, scene);\r\n        return crowd;\r\n    }\r\n\r\n    /**\r\n     * Set the Bounding box extent for doing spatial queries (getClosestPoint, getRandomPointAround, ...)\r\n     * The queries will try to find a solution within those bounds\r\n     * default is (1,1,1)\r\n     * @param extent x,y,z value that define the extent around the queries point of reference\r\n     */\r\n    setDefaultQueryExtent(extent: Vector3): void {\r\n        this._tempVec1.x = extent.x;\r\n        this._tempVec1.y = extent.y;\r\n        this._tempVec1.z = extent.z;\r\n        this.navMesh.setDefaultQueryExtent(this._tempVec1);\r\n    }\r\n\r\n    /**\r\n     * Get the Bounding box extent specified by setDefaultQueryExtent\r\n     * @returns the box extent values\r\n     */\r\n    getDefaultQueryExtent(): Vector3 {\r\n        const p = this.navMesh.getDefaultQueryExtent();\r\n        return new Vector3(p.x, p.y, p.z);\r\n    }\r\n\r\n    /**\r\n     * build the navmesh from a previously saved state using getNavmeshData\r\n     * @param data the Uint8Array returned by getNavmeshData\r\n     */\r\n    buildFromNavmeshData(data: Uint8Array): void {\r\n        const nDataBytes = data.length * data.BYTES_PER_ELEMENT;\r\n        const dataPtr = this.bjsRECAST._malloc(nDataBytes);\r\n\r\n        const dataHeap = new Uint8Array(this.bjsRECAST.HEAPU8.buffer, dataPtr, nDataBytes);\r\n        dataHeap.set(data);\r\n\r\n        const buf = new this.bjsRECAST.NavmeshData();\r\n        buf.dataPointer = dataHeap.byteOffset;\r\n        buf.size = data.length;\r\n        this.navMesh = new this.bjsRECAST.NavMesh();\r\n        this.navMesh.buildFromNavmeshData(buf);\r\n\r\n        // Free memory\r\n        this.bjsRECAST._free(dataHeap.byteOffset);\r\n    }\r\n\r\n    /**\r\n     * returns the navmesh data that can be used later. The navmesh must be built before retrieving the data\r\n     * @returns data the Uint8Array that can be saved and reused\r\n     */\r\n    getNavmeshData(): Uint8Array {\r\n        const navmeshData = this.navMesh.getNavmeshData();\r\n        const arrView = new Uint8Array(this.bjsRECAST.HEAPU8.buffer, navmeshData.dataPointer, navmeshData.size);\r\n        const ret = new Uint8Array(navmeshData.size);\r\n        ret.set(arrView);\r\n        this.navMesh.freeNavmeshData(navmeshData);\r\n        return ret;\r\n    }\r\n\r\n    /**\r\n     * Get the Bounding box extent result specified by setDefaultQueryExtent\r\n     * @param result output the box extent values\r\n     */\r\n    getDefaultQueryExtentToRef(result: Vector3): void {\r\n        const p = this.navMesh.getDefaultQueryExtent();\r\n        result.set(p.x, p.y, p.z);\r\n    }\r\n\r\n    /**\r\n     * Disposes of the plugin resources\r\n     */\r\n    public dispose() {\r\n        if (this._worker) {\r\n            // Clear handlers and terminate the worker to avoid leaks\r\n            this._worker.onmessage = null;\r\n            // Clear other handlers if they were used\r\n            (this._worker as any).onerror = null;\r\n            this._worker.terminate();\r\n        }\r\n        this._worker = null;\r\n    }\r\n\r\n    /**\r\n     * Creates a cylinder obstacle and add it to the navigation\r\n     * @param position world position\r\n     * @param radius cylinder radius\r\n     * @param height cylinder height\r\n     * @returns the obstacle freshly created\r\n     */\r\n    addCylinderObstacle(position: Vector3, radius: number, height: number): Nullable<IObstacle> {\r\n        this._tempVec1.x = position.x;\r\n        this._tempVec1.y = position.y;\r\n        this._tempVec1.z = position.z;\r\n        return this.navMesh.addCylinderObstacle(this._tempVec1, radius, height);\r\n    }\r\n\r\n    /**\r\n     * Creates an oriented box obstacle and add it to the navigation\r\n     * @param position world position\r\n     * @param extent box size\r\n     * @param angle angle in radians of the box orientation on Y axis\r\n     * @returns the obstacle freshly created\r\n     */\r\n    addBoxObstacle(position: Vector3, extent: Vector3, angle: number): Nullable<IObstacle> {\r\n        this._tempVec1.x = position.x;\r\n        this._tempVec1.y = position.y;\r\n        this._tempVec1.z = position.z;\r\n        this._tempVec2.x = extent.x;\r\n        this._tempVec2.y = extent.y;\r\n        this._tempVec2.z = extent.z;\r\n        return this.navMesh.addBoxObstacle(this._tempVec1, this._tempVec2, angle);\r\n    }\r\n\r\n    /**\r\n     * Removes an obstacle created by addCylinderObstacle or addBoxObstacle\r\n     * @param obstacle obstacle to remove from the navigation\r\n     */\r\n    removeObstacle(obstacle: IObstacle): void {\r\n        this.navMesh.removeObstacle(obstacle);\r\n    }\r\n\r\n    /**\r\n     * If this plugin is supported\r\n     * @returns true if plugin is supported\r\n     */\r\n    public isSupported(): boolean {\r\n        return this.bjsRECAST !== undefined;\r\n    }\r\n\r\n    /**\r\n     * Returns the seed used for randomized functions like `getRandomPointAround`\r\n     * @returns seed number\r\n     */\r\n    public getRandomSeed(): number {\r\n        return this.bjsRECAST._getRandomSeed();\r\n    }\r\n\r\n    /**\r\n     * Set the seed used for randomized functions like `getRandomPointAround`\r\n     * @param seed number used as seed for random functions\r\n     */\r\n    public setRandomSeed(seed: number): void {\r\n        this.bjsRECAST._setRandomSeed(seed);\r\n    }\r\n}\r\n\r\n/**\r\n * Recast detour crowd implementation\r\n */\r\nexport class RecastJSCrowd implements ICrowd {\r\n    /**\r\n     * Recast/detour plugin\r\n     */\r\n    // eslint-disable-next-line @typescript-eslint/naming-convention\r\n    public bjsRECASTPlugin: RecastJSPlugin;\r\n    /**\r\n     * Link to the detour crowd\r\n     */\r\n    public recastCrowd: any = {};\r\n    /**\r\n     * One transform per agent\r\n     */\r\n    public transforms: TransformNode[] = new Array<TransformNode>();\r\n    /**\r\n     * All agents created\r\n     */\r\n    public agents: number[] = new Array<number>();\r\n    /**\r\n     * agents reach radius\r\n     */\r\n    public reachRadii: number[] = new Array<number>();\r\n    /**\r\n     * true when a destination is active for an agent and notifier hasn't been notified of reach\r\n     */\r\n    private _agentDestinationArmed: boolean[] = new Array<boolean>();\r\n    /**\r\n     * agent current target\r\n     */\r\n    private _agentDestination: Vector3[] = new Array<Vector3>();\r\n    /**\r\n     * Link to the scene is kept to unregister the crowd from the scene\r\n     */\r\n    private _scene: Scene;\r\n\r\n    /**\r\n     * Observer for crowd updates\r\n     */\r\n    private _onBeforeAnimationsObserver: Nullable<Observer<Scene>> = null;\r\n\r\n    /**\r\n     * Fires each time an agent is in reach radius of its destination\r\n     */\r\n    public onReachTargetObservable = new Observable<{ agentIndex: number; destination: Vector3 }>();\r\n\r\n    /**\r\n     * Constructor\r\n     * @param plugin recastJS plugin\r\n     * @param maxAgents the maximum agent count in the crowd\r\n     * @param maxAgentRadius the maximum radius an agent can have\r\n     * @param scene to attach the crowd to\r\n     * @returns the crowd you can add agents to\r\n     */\r\n    public constructor(plugin: RecastJSPlugin, maxAgents: number, maxAgentRadius: number, scene: Scene) {\r\n        this.bjsRECASTPlugin = plugin;\r\n        this.recastCrowd = new this.bjsRECASTPlugin.bjsRECAST.Crowd(maxAgents, maxAgentRadius, this.bjsRECASTPlugin.navMesh.getNavMesh());\r\n        this._scene = scene;\r\n\r\n        this._onBeforeAnimationsObserver = scene.onBeforeAnimationsObservable.add(() => {\r\n            this.update(scene.getEngine().getDeltaTime() * 0.001 * plugin.timeFactor);\r\n        });\r\n    }\r\n\r\n    /**\r\n     * Add a new agent to the crowd with the specified parameter a corresponding transformNode.\r\n     * You can attach anything to that node. The node position is updated in the scene update tick.\r\n     * @param pos world position that will be constrained by the navigation mesh\r\n     * @param parameters agent parameters\r\n     * @param transform hooked to the agent that will be update by the scene\r\n     * @returns agent index\r\n     */\r\n    addAgent(pos: Vector3, parameters: IAgentParameters, transform: TransformNode): number {\r\n        const agentParams = new this.bjsRECASTPlugin.bjsRECAST.dtCrowdAgentParams();\r\n        agentParams.radius = parameters.radius;\r\n        agentParams.height = parameters.height;\r\n        agentParams.maxAcceleration = parameters.maxAcceleration;\r\n        agentParams.maxSpeed = parameters.maxSpeed;\r\n        agentParams.collisionQueryRange = parameters.collisionQueryRange;\r\n        agentParams.pathOptimizationRange = parameters.pathOptimizationRange;\r\n        agentParams.separationWeight = parameters.separationWeight;\r\n        agentParams.updateFlags = 7;\r\n        agentParams.obstacleAvoidanceType = 0;\r\n        agentParams.queryFilterType = 0;\r\n        agentParams.userData = 0;\r\n\r\n        const agentIndex = this.recastCrowd.addAgent(new this.bjsRECASTPlugin.bjsRECAST.Vec3(pos.x, pos.y, pos.z), agentParams);\r\n        this.transforms.push(transform);\r\n        this.agents.push(agentIndex);\r\n        this.reachRadii.push(parameters.reachRadius ? parameters.reachRadius : parameters.radius);\r\n        this._agentDestinationArmed.push(false);\r\n        this._agentDestination.push(new Vector3(0, 0, 0));\r\n        return agentIndex;\r\n    }\r\n\r\n    /**\r\n     * Returns the agent position in world space\r\n     * @param index agent index returned by addAgent\r\n     * @returns world space position\r\n     */\r\n    getAgentPosition(index: number): Vector3 {\r\n        const agentPos = this.recastCrowd.getAgentPosition(index);\r\n        return new Vector3(agentPos.x, agentPos.y, agentPos.z);\r\n    }\r\n\r\n    /**\r\n     * Returns the agent position result in world space\r\n     * @param index agent index returned by addAgent\r\n     * @param result output world space position\r\n     */\r\n    getAgentPositionToRef(index: number, result: Vector3): void {\r\n        const agentPos = this.recastCrowd.getAgentPosition(index);\r\n        result.set(agentPos.x, agentPos.y, agentPos.z);\r\n    }\r\n\r\n    /**\r\n     * Returns the agent velocity in world space\r\n     * @param index agent index returned by addAgent\r\n     * @returns world space velocity\r\n     */\r\n    getAgentVelocity(index: number): Vector3 {\r\n        const agentVel = this.recastCrowd.getAgentVelocity(index);\r\n        return new Vector3(agentVel.x, agentVel.y, agentVel.z);\r\n    }\r\n\r\n    /**\r\n     * Returns the agent velocity result in world space\r\n     * @param index agent index returned by addAgent\r\n     * @param result output world space velocity\r\n     */\r\n    getAgentVelocityToRef(index: number, result: Vector3): void {\r\n        const agentVel = this.recastCrowd.getAgentVelocity(index);\r\n        result.set(agentVel.x, agentVel.y, agentVel.z);\r\n    }\r\n\r\n    /**\r\n     * Returns the agent next target point on the path\r\n     * @param index agent index returned by addAgent\r\n     * @returns world space position\r\n     */\r\n    getAgentNextTargetPath(index: number): Vector3 {\r\n        const pathTargetPos = this.recastCrowd.getAgentNextTargetPath(index);\r\n        return new Vector3(pathTargetPos.x, pathTargetPos.y, pathTargetPos.z);\r\n    }\r\n\r\n    /**\r\n     * Returns the agent next target point on the path\r\n     * @param index agent index returned by addAgent\r\n     * @param result output world space position\r\n     */\r\n    getAgentNextTargetPathToRef(index: number, result: Vector3): void {\r\n        const pathTargetPos = this.recastCrowd.getAgentNextTargetPath(index);\r\n        result.set(pathTargetPos.x, pathTargetPos.y, pathTargetPos.z);\r\n    }\r\n\r\n    /**\r\n     * Gets the agent state\r\n     * @param index agent index returned by addAgent\r\n     * @returns agent state\r\n     */\r\n    getAgentState(index: number): number {\r\n        return this.recastCrowd.getAgentState(index);\r\n    }\r\n\r\n    /**\r\n     * returns true if the agent in over an off mesh link connection\r\n     * @param index agent index returned by addAgent\r\n     * @returns true if over an off mesh link connection\r\n     */\r\n    overOffmeshConnection(index: number): boolean {\r\n        return this.recastCrowd.overOffmeshConnection(index);\r\n    }\r\n\r\n    /**\r\n     * Asks a particular agent to go to a destination. That destination is constrained by the navigation mesh\r\n     * @param index agent index returned by addAgent\r\n     * @param destination targeted world position\r\n     */\r\n    agentGoto(index: number, destination: Vector3): void {\r\n        this.recastCrowd.agentGoto(index, new this.bjsRECASTPlugin.bjsRECAST.Vec3(destination.x, destination.y, destination.z));\r\n\r\n        // arm observer\r\n        const item = this.agents.indexOf(index);\r\n        if (item > -1) {\r\n            this._agentDestinationArmed[item] = true;\r\n            this._agentDestination[item].set(destination.x, destination.y, destination.z);\r\n        }\r\n    }\r\n\r\n    /**\r\n     * Teleport the agent to a new position\r\n     * @param index agent index returned by addAgent\r\n     * @param destination targeted world position\r\n     */\r\n    agentTeleport(index: number, destination: Vector3): void {\r\n        this.recastCrowd.agentTeleport(index, new this.bjsRECASTPlugin.bjsRECAST.Vec3(destination.x, destination.y, destination.z));\r\n    }\r\n\r\n    /**\r\n     * Update agent parameters\r\n     * @param index agent index returned by addAgent\r\n     * @param parameters agent parameters\r\n     */\r\n    updateAgentParameters(index: number, parameters: IAgentParameters): void {\r\n        const agentParams = this.recastCrowd.getAgentParameters(index);\r\n\r\n        if (parameters.radius !== undefined) {\r\n            agentParams.radius = parameters.radius;\r\n        }\r\n        if (parameters.height !== undefined) {\r\n            agentParams.height = parameters.height;\r\n        }\r\n        if (parameters.maxAcceleration !== undefined) {\r\n            agentParams.maxAcceleration = parameters.maxAcceleration;\r\n        }\r\n        if (parameters.maxSpeed !== undefined) {\r\n            agentParams.maxSpeed = parameters.maxSpeed;\r\n        }\r\n        if (parameters.collisionQueryRange !== undefined) {\r\n            agentParams.collisionQueryRange = parameters.collisionQueryRange;\r\n        }\r\n        if (parameters.pathOptimizationRange !== undefined) {\r\n            agentParams.pathOptimizationRange = parameters.pathOptimizationRange;\r\n        }\r\n        if (parameters.separationWeight !== undefined) {\r\n            agentParams.separationWeight = parameters.separationWeight;\r\n        }\r\n\r\n        this.recastCrowd.setAgentParameters(index, agentParams);\r\n    }\r\n\r\n    /**\r\n     * remove a particular agent previously created\r\n     * @param index agent index returned by addAgent\r\n     */\r\n    removeAgent(index: number): void {\r\n        this.recastCrowd.removeAgent(index);\r\n\r\n        const item = this.agents.indexOf(index);\r\n        if (item > -1) {\r\n            this.agents.splice(item, 1);\r\n            this.transforms.splice(item, 1);\r\n            this.reachRadii.splice(item, 1);\r\n            this._agentDestinationArmed.splice(item, 1);\r\n            this._agentDestination.splice(item, 1);\r\n        }\r\n    }\r\n\r\n    /**\r\n     * get the list of all agents attached to this crowd\r\n     * @returns list of agent indices\r\n     */\r\n    getAgents(): number[] {\r\n        return this.agents;\r\n    }\r\n\r\n    /**\r\n     * Tick update done by the Scene. Agent position/velocity/acceleration is updated by this function\r\n     * @param deltaTime in seconds\r\n     */\r\n    update(deltaTime: number): void {\r\n        // update obstacles\r\n        this.bjsRECASTPlugin.navMesh.update();\r\n\r\n        if (deltaTime <= Epsilon) {\r\n            return;\r\n        }\r\n        // update crowd\r\n        const timeStep = this.bjsRECASTPlugin.getTimeStep();\r\n        const maxStepCount = this.bjsRECASTPlugin.getMaximumSubStepCount();\r\n        if (timeStep <= Epsilon) {\r\n            this.recastCrowd.update(deltaTime);\r\n        } else {\r\n            let iterationCount = Math.floor(deltaTime / timeStep);\r\n            if (maxStepCount && iterationCount > maxStepCount) {\r\n                iterationCount = maxStepCount;\r\n            }\r\n            if (iterationCount < 1) {\r\n                iterationCount = 1;\r\n            }\r\n\r\n            const step = deltaTime / iterationCount;\r\n            for (let i = 0; i < iterationCount; i++) {\r\n                this.recastCrowd.update(step);\r\n            }\r\n        }\r\n\r\n        // update transforms\r\n        for (let index = 0; index < this.agents.length; index++) {\r\n            // update transform position\r\n            const agentIndex = this.agents[index];\r\n            const agentPosition = this.getAgentPosition(agentIndex);\r\n            this.transforms[index].position = agentPosition;\r\n            // check agent reach destination\r\n            if (this._agentDestinationArmed[index]) {\r\n                const dx = agentPosition.x - this._agentDestination[index].x;\r\n                const dz = agentPosition.z - this._agentDestination[index].z;\r\n                const radius = this.reachRadii[index];\r\n                const groundY = this._agentDestination[index].y - this.reachRadii[index];\r\n                const ceilingY = this._agentDestination[index].y + this.reachRadii[index];\r\n                const distanceXZSquared = dx * dx + dz * dz;\r\n                if (agentPosition.y > groundY && agentPosition.y < ceilingY && distanceXZSquared < radius * radius) {\r\n                    this._agentDestinationArmed[index] = false;\r\n                    this.onReachTargetObservable.notifyObservers({ agentIndex: agentIndex, destination: this._agentDestination[index] });\r\n                }\r\n            }\r\n        }\r\n    }\r\n\r\n    /**\r\n     * Set the Bounding box extent for doing spatial queries (getClosestPoint, getRandomPointAround, ...)\r\n     * The queries will try to find a solution within those bounds\r\n     * default is (1,1,1)\r\n     * @param extent x,y,z value that define the extent around the queries point of reference\r\n     */\r\n    setDefaultQueryExtent(extent: Vector3): void {\r\n        const ext = new this.bjsRECASTPlugin.bjsRECAST.Vec3(extent.x, extent.y, extent.z);\r\n        this.recastCrowd.setDefaultQueryExtent(ext);\r\n    }\r\n\r\n    /**\r\n     * Get the Bounding box extent specified by setDefaultQueryExtent\r\n     * @returns the box extent values\r\n     */\r\n    getDefaultQueryExtent(): Vector3 {\r\n        const p = this.recastCrowd.getDefaultQueryExtent();\r\n        return new Vector3(p.x, p.y, p.z);\r\n    }\r\n\r\n    /**\r\n     * Get the Bounding box extent result specified by setDefaultQueryExtent\r\n     * @param result output the box extent values\r\n     */\r\n    getDefaultQueryExtentToRef(result: Vector3): void {\r\n        const p = this.recastCrowd.getDefaultQueryExtent();\r\n        result.set(p.x, p.y, p.z);\r\n    }\r\n\r\n    /**\r\n     * Get the next corner points composing the path (max 4 points)\r\n     * @param index agent index returned by addAgent\r\n     * @returns array containing world position composing the path\r\n     */\r\n    getCorners(index: number): Vector3[] {\r\n        let pt: number;\r\n        const navPath = this.recastCrowd.getCorners(index);\r\n        const pointCount = navPath.getPointCount();\r\n        const positions = [];\r\n        for (pt = 0; pt < pointCount; pt++) {\r\n            const p = navPath.getPoint(pt);\r\n            positions.push(new Vector3(p.x, p.y, p.z));\r\n        }\r\n        return positions;\r\n    }\r\n\r\n    /**\r\n     * Release all resources\r\n     */\r\n    dispose(): void {\r\n        this.recastCrowd.destroy();\r\n        this._scene.onBeforeAnimationsObservable.remove(this._onBeforeAnimationsObserver);\r\n        this._onBeforeAnimationsObserver = null;\r\n        this.onReachTargetObservable.clear();\r\n    }\r\n}\r\n"]}

package/Physics/castingResult.d.ts

@@ -33,6 +33,9 @@ export declare class CastingResult {
      * Gets if there was a hit
      */
     get hasHit(): boolean;
+    /**
+     * The index of the original triangle which was hit. Will be -1 if contact point is not on a mesh shape
+     */
     get triangleIndex(): number;
     /**
      * Sets the hit data
@@ -47,7 +50,7 @@ export declare class CastingResult {
     reset(): void;
 }
 /**
- * Interface for the size containing width and height
+ * Interface for 3D coordinates
  */
 interface IXYZ {
     /**

package/Physics/castingResult.js

@@ -27,7 +27,7 @@ export class CastingResult {
     get hasHit() {
         return this._hasHit;
     }
-    /*
+    /**
      * The index of the original triangle which was hit. Will be -1 if contact point is not on a mesh shape
      */
     get triangleIndex() {

package/Physics/castingResult.js.map

@@ -1 +1 @@
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+{"version":3,"file":"castingResult.js","sourceRoot":"","sources":["../../../../dev/core/src/Physics/castingResult.ts"],"names":[],"mappings":"AAAA,OAAO,EAAE,OAAO,EAAE,MAAM,sBAAsB,CAAC;AAI/C;;GAEG;AACH,MAAM,OAAO,aAAa;IAA1B;QACY,YAAO,GAAY,KAAK,CAAC;QACvB,eAAU,GAAY,OAAO,CAAC,IAAI,EAAE,CAAC;QACrC,cAAS,GAAY,OAAO,CAAC,IAAI,EAAE,CAAC;QACtC,mBAAc,GAAW,CAAC,CAAC,CAAC;IAsExC,CAAC;IAtDG;;OAEG;IACH,IAAI,QAAQ;QACR,OAAO,IAAI,CAAC,SAAS,CAAC;IAC1B,CAAC;IACD;;OAEG;IACH,IAAI,SAAS;QACT,OAAO,IAAI,CAAC,UAAU,CAAC;IAC3B,CAAC;IACD;;OAEG;IACH,IAAI,MAAM;QACN,OAAO,IAAI,CAAC,OAAO,CAAC;IACxB,CAAC;IAED;;OAEG;IACH,IAAI,aAAa;QACb,OAAO,IAAI,CAAC,cAAc,CAAC;IAC/B,CAAC;IAED;;;;;OAKG;IACI,UAAU,CAAC,SAAe,EAAE,QAAc,EAAE,aAAsB;QACrE,IAAI,CAAC,OAAO,GAAG,IAAI,CAAC;QACpB,IAAI,CAAC,UAAU,CAAC,GAAG,CAAC,SAAS,CAAC,CAAC,EAAE,SAAS,CAAC,CAAC,EAAE,SAAS,CAAC,CAAC,CAAC,CAAC;QAC3D,IAAI,CAAC,SAAS,CAAC,GAAG,CAAC,QAAQ,CAAC,CAAC,EAAE,QAAQ,CAAC,CAAC,EAAE,QAAQ,CAAC,CAAC,CAAC,CAAC;QACvD,IAAI,CAAC,cAAc,GAAG,aAAa,IAAI,CAAC,CAAC,CAAC;IAC9C,CAAC;IAED;;OAEG;IACI,KAAK;QACR,IAAI,CAAC,OAAO,GAAG,KAAK,CAAC;QAErB,IAAI,CAAC,UAAU,CAAC,MAAM,CAAC,CAAC,CAAC,CAAC;QAC1B,IAAI,CAAC,SAAS,CAAC,MAAM,CAAC,CAAC,CAAC,CAAC;QACzB,IAAI,CAAC,cAAc,GAAG,CAAC,CAAC,CAAC;QAEzB,IAAI,CAAC,IAAI,GAAG,SAAS,CAAC;QACtB,IAAI,CAAC,SAAS,GAAG,SAAS,CAAC;QAE3B,IAAI,CAAC,KAAK,GAAG,SAAS,CAAC;IAC3B,CAAC;CACJ","sourcesContent":["import { Vector3 } from \"../Maths/math.vector\";\r\nimport type { PhysicsShape } from \"./v2/physicsShape\";\r\nimport type { PhysicsBody } from \"./v2/physicsBody\";\r\n\r\n/**\r\n * Base class for results of casts.\r\n */\r\nexport class CastingResult {\r\n    private _hasHit: boolean = false;\r\n    protected _hitNormal: Vector3 = Vector3.Zero();\r\n    protected _hitPoint: Vector3 = Vector3.Zero();\r\n    private _triangleIndex: number = -1;\r\n\r\n    /**\r\n     * The Physics body that the query hit.\r\n     */\r\n    public body?: PhysicsBody;\r\n    /**\r\n     * The body Index in case the Physics body is using instances\r\n     */\r\n    public bodyIndex?: number;\r\n\r\n    /**\r\n     * The shape hit by the query.\r\n     */\r\n    public shape?: PhysicsShape;\r\n\r\n    /**\r\n     * Gets the hit point.\r\n     */\r\n    get hitPoint(): Vector3 {\r\n        return this._hitPoint;\r\n    }\r\n    /**\r\n     * Gets the hit normal.\r\n     */\r\n    get hitNormal(): Vector3 {\r\n        return this._hitNormal;\r\n    }\r\n    /**\r\n     * Gets if there was a hit\r\n     */\r\n    get hasHit(): boolean {\r\n        return this._hasHit;\r\n    }\r\n\r\n    /**\r\n     * The index of the original triangle which was hit. Will be -1 if contact point is not on a mesh shape\r\n     */\r\n    get triangleIndex(): number {\r\n        return this._triangleIndex;\r\n    }\r\n\r\n    /**\r\n     * Sets the hit data\r\n     * @param hitNormal defines the normal in world space\r\n     * @param hitPoint defines the point in world space\r\n     * @param triangleIndex defines the index of the triangle in case of mesh shape\r\n     */\r\n    public setHitData(hitNormal: IXYZ, hitPoint: IXYZ, triangleIndex?: number) {\r\n        this._hasHit = true;\r\n        this._hitNormal.set(hitNormal.x, hitNormal.y, hitNormal.z);\r\n        this._hitPoint.set(hitPoint.x, hitPoint.y, hitPoint.z);\r\n        this._triangleIndex = triangleIndex ?? -1;\r\n    }\r\n\r\n    /**\r\n     * Resets all the values to default\r\n     */\r\n    public reset() {\r\n        this._hasHit = false;\r\n\r\n        this._hitNormal.setAll(0);\r\n        this._hitPoint.setAll(0);\r\n        this._triangleIndex = -1;\r\n\r\n        this.body = undefined;\r\n        this.bodyIndex = undefined;\r\n\r\n        this.shape = undefined;\r\n    }\r\n}\r\n\r\n/**\r\n * Interface for 3D coordinates\r\n */\r\n// eslint-disable-next-line @typescript-eslint/naming-convention\r\ninterface IXYZ {\r\n    /**\r\n     * X\r\n     */\r\n    x: number;\r\n\r\n    /**\r\n     * Y\r\n     */\r\n    y: number;\r\n\r\n    /**\r\n     * Z\r\n     */\r\n    z: number;\r\n}\r\n"]}

package/Physics/joinedPhysicsEngineComponent.js

@@ -60,7 +60,7 @@ Scene.prototype.disablePhysicsEngine = function () {
  * @returns a boolean indicating if there is an active physics engine
  */
 Scene.prototype.isPhysicsEnabled = function () {
-    return this._physicsEngine !== undefined;
+    return !!this._physicsEngine;
 };
 /**
  * Deletes a physics compound impostor

package/Physics/joinedPhysicsEngineComponent.js.map

@@ -1 +1 @@
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type { Nullable } from \"../types\";\r\nimport { Logger } from \"../Misc/logger\";\r\nimport { Observable } from \"../Misc/observable\";\r\nimport type { Vector3 } from \"../Maths/math.vector\";\r\nimport type { AbstractMesh } from \"../Meshes/abstractMesh\";\r\nimport type { ISceneComponent } from \"../sceneComponent\";\r\nimport { SceneComponentConstants } from \"../sceneComponent\";\r\nimport { Scene } from \"../scene\";\r\nimport type { IPhysicsEngine } from \"./IPhysicsEngine\";\r\nimport type { IPhysicsEnginePlugin as IPhysicsEnginePluginV1 } from \"./v1/IPhysicsEnginePlugin\";\r\nimport type { IPhysicsEnginePluginV2 } from \"./v2/IPhysicsEnginePlugin\";\r\nimport { PhysicsEngine as PhysicsEngineV1 } from \"./v1/physicsEngine\";\r\nimport { PhysicsEngine as PhysicsEngineV2 } from \"./v2/physicsEngine\";\r\n\r\ndeclare module \"../scene\" {\r\n    // eslint-disable-next-line @typescript-eslint/naming-convention\r\n    export interface Scene {\r\n        /** @internal (Backing field) */\r\n        _physicsEngine: Nullable<IPhysicsEngine>;\r\n        /** @internal */\r\n        _physicsTimeAccumulator: number;\r\n\r\n        /**\r\n         * Gets the current physics engine\r\n         * @returns a IPhysicsEngine or null if none attached\r\n         */\r\n        getPhysicsEngine(): Nullable<IPhysicsEngine>;\r\n\r\n        /**\r\n         * Enables physics to the current scene\r\n         * @param gravity defines the scene's gravity for the physics engine. defaults to real earth gravity : (0, -9.81, 0)\r\n         * @param plugin defines the physics engine to be used. defaults to CannonJS.\r\n         * @returns a boolean indicating if the physics engine was initialized\r\n         */\r\n        enablePhysics(gravity?: Nullable<Vector3>, plugin?: IPhysicsEnginePluginV1 | IPhysicsEnginePluginV2): boolean;\r\n\r\n        /**\r\n         * Disables and disposes the physics engine associated with the scene\r\n         */\r\n        disablePhysicsEngine(): void;\r\n\r\n        /**\r\n         * Gets a boolean indicating if there is an active physics engine\r\n         * @returns a boolean indicating if there is an active physics engine\r\n         */\r\n        isPhysicsEnabled(): boolean;\r\n\r\n        /**\r\n         * Deletes a physics compound impostor\r\n         * @param compound defines the compound to delete\r\n         */\r\n        deleteCompoundImpostor(compound: any): void;\r\n\r\n        /**\r\n         * An event triggered when physic simulation is about to be run\r\n         */\r\n        onBeforePhysicsObservable: Observable<Scene>;\r\n\r\n        /**\r\n         * An event triggered when physic simulation has been done\r\n         */\r\n        onAfterPhysicsObservable: Observable<Scene>;\r\n    }\r\n}\r\n\r\n/**\r\n * Gets the current physics engine\r\n * @returns a IPhysicsEngine or null if none attached\r\n */\r\nScene.prototype.getPhysicsEngine = function (): Nullable<IPhysicsEngine> {\r\n    return this._physicsEngine ?? null;\r\n};\r\n\r\n/**\r\n * Enables physics to the current scene\r\n * @param gravity defines the scene's gravity for the physics engine\r\n * @param plugin defines the physics engine to be used. defaults to CannonJS.\r\n * @returns a boolean indicating if the physics engine was initialized\r\n */\r\nScene.prototype.enablePhysics = function (gravity: Nullable<Vector3> = null, plugin?: IPhysicsEnginePluginV1 | IPhysicsEnginePluginV2): boolean {\r\n    if (this._physicsEngine) {\r\n        return true;\r\n    }\r\n\r\n    // Register the component to the scene\r\n    let component = this._getComponent(SceneComponentConstants.NAME_PHYSICSENGINE) as PhysicsEngineSceneComponent;\r\n    if (!component) {\r\n        component = new PhysicsEngineSceneComponent(this);\r\n        this._addComponent(component);\r\n    }\r\n\r\n    try {\r\n        if (!plugin || plugin?.getPluginVersion() === 1) {\r\n            this._physicsEngine = new PhysicsEngineV1(gravity, plugin as IPhysicsEnginePluginV1);\r\n        } else if (plugin?.getPluginVersion() === 2) {\r\n            this._physicsEngine = new PhysicsEngineV2(gravity, plugin as IPhysicsEnginePluginV2);\r\n        } else {\r\n            throw new Error(\"Unsupported Physics plugin version.\");\r\n        }\r\n        this._physicsTimeAccumulator = 0;\r\n        return true;\r\n    } catch (e) {\r\n        Logger.Error(e.message);\r\n        return false;\r\n    }\r\n};\r\n\r\n/**\r\n * Disables and disposes the physics engine associated with the scene\r\n */\r\nScene.prototype.disablePhysicsEngine = function (): void {\r\n    if (!this._physicsEngine) {\r\n        return;\r\n    }\r\n\r\n    this._physicsEngine.dispose();\r\n    this._physicsEngine = null;\r\n};\r\n\r\n/**\r\n * Gets a boolean indicating if there is an active physics engine\r\n * @returns a boolean indicating if there is an active physics engine\r\n */\r\nScene.prototype.isPhysicsEnabled = function (): boolean {\r\n    return this._physicsEngine !== undefined;\r\n};\r\n\r\n/**\r\n * Deletes a physics compound impostor\r\n * @param compound defines the compound to delete\r\n */\r\nScene.prototype.deleteCompoundImpostor = function (compound: any): void {\r\n    const mesh: AbstractMesh = compound.parts[0].mesh;\r\n\r\n    if (mesh.physicsImpostor) {\r\n        mesh.physicsImpostor.dispose(/*true*/);\r\n        mesh.physicsImpostor = null;\r\n    }\r\n};\r\n\r\n/**\r\n * @internal\r\n */\r\nScene.prototype._advancePhysicsEngineStep = function (step: number) {\r\n    if (this._physicsEngine) {\r\n        const subTime = this._physicsEngine.getSubTimeStep();\r\n        if (subTime > 0) {\r\n            this._physicsTimeAccumulator += step;\r\n            while (this._physicsTimeAccumulator > subTime) {\r\n                this.onBeforePhysicsObservable.notifyObservers(this);\r\n                this._physicsEngine._step(subTime / 1000);\r\n                this.onAfterPhysicsObservable.notifyObservers(this);\r\n                this._physicsTimeAccumulator -= subTime;\r\n            }\r\n        } else {\r\n            this.onBeforePhysicsObservable.notifyObservers(this);\r\n            this._physicsEngine._step(step / 1000);\r\n            this.onAfterPhysicsObservable.notifyObservers(this);\r\n        }\r\n    }\r\n};\r\n\r\n/**\r\n * Defines the physics engine scene component responsible to manage a physics engine\r\n */\r\nexport class PhysicsEngineSceneComponent implements ISceneComponent {\r\n    /**\r\n     * The component name helpful to identify the component in the list of scene components.\r\n     */\r\n    public readonly name = SceneComponentConstants.NAME_PHYSICSENGINE;\r\n\r\n    /**\r\n     * The scene the component belongs to.\r\n     */\r\n    public scene: Scene;\r\n\r\n    /**\r\n     * Creates a new instance of the component for the given scene\r\n     * @param scene Defines the scene to register the component in\r\n     */\r\n    constructor(scene: Scene) {\r\n        this.scene = scene;\r\n        this.scene.onBeforePhysicsObservable = new Observable<Scene>();\r\n        this.scene.onAfterPhysicsObservable = new Observable<Scene>();\r\n\r\n        // Replace the function used to get the deterministic frame time\r\n        this.scene.getDeterministicFrameTime = () => {\r\n            if (this.scene._physicsEngine) {\r\n                return this.scene._physicsEngine.getTimeStep() * 1000;\r\n            }\r\n\r\n            return 1000.0 / 60.0;\r\n        };\r\n    }\r\n\r\n    /**\r\n     * Registers the component in a given scene\r\n     */\r\n    public register(): void {}\r\n\r\n    /**\r\n     * Rebuilds the elements related to this component in case of\r\n     * context lost for instance.\r\n     */\r\n    public rebuild(): void {\r\n        // Nothing to do for this component\r\n    }\r\n\r\n    /**\r\n     * Disposes the component and the associated resources\r\n     */\r\n    public dispose(): void {\r\n        this.scene.onBeforePhysicsObservable.clear();\r\n        this.scene.onAfterPhysicsObservable.clear();\r\n\r\n        if (this.scene._physicsEngine) {\r\n            this.scene.disablePhysicsEngine();\r\n        }\r\n    }\r\n}\r\n"]}
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type { Nullable } from \"../types\";\r\nimport { Logger } from \"../Misc/logger\";\r\nimport { Observable } from \"../Misc/observable\";\r\nimport type { Vector3 } from \"../Maths/math.vector\";\r\nimport type { AbstractMesh } from \"../Meshes/abstractMesh\";\r\nimport type { ISceneComponent } from \"../sceneComponent\";\r\nimport { SceneComponentConstants } from \"../sceneComponent\";\r\nimport { Scene } from \"../scene\";\r\nimport type { IPhysicsEngine } from \"./IPhysicsEngine\";\r\nimport type { IPhysicsEnginePlugin as IPhysicsEnginePluginV1 } from \"./v1/IPhysicsEnginePlugin\";\r\nimport type { IPhysicsEnginePluginV2 } from \"./v2/IPhysicsEnginePlugin\";\r\nimport { PhysicsEngine as PhysicsEngineV1 } from \"./v1/physicsEngine\";\r\nimport { PhysicsEngine as PhysicsEngineV2 } from \"./v2/physicsEngine\";\r\n\r\ndeclare module \"../scene\" {\r\n    // eslint-disable-next-line @typescript-eslint/naming-convention\r\n    export interface Scene {\r\n        /** @internal (Backing field) */\r\n        _physicsEngine: Nullable<IPhysicsEngine>;\r\n        /** @internal */\r\n        _physicsTimeAccumulator: number;\r\n\r\n        /**\r\n         * Gets the current physics engine\r\n         * @returns a IPhysicsEngine or null if none attached\r\n         */\r\n        getPhysicsEngine(): Nullable<IPhysicsEngine>;\r\n\r\n        /**\r\n         * Enables physics to the current scene\r\n         * @param gravity defines the scene's gravity for the physics engine. defaults to real earth gravity : (0, -9.81, 0)\r\n         * @param plugin defines the physics engine to be used. defaults to CannonJS.\r\n         * @returns a boolean indicating if the physics engine was initialized\r\n         */\r\n        enablePhysics(gravity?: Nullable<Vector3>, plugin?: IPhysicsEnginePluginV1 | IPhysicsEnginePluginV2): boolean;\r\n\r\n        /**\r\n         * Disables and disposes the physics engine associated with the scene\r\n         */\r\n        disablePhysicsEngine(): void;\r\n\r\n        /**\r\n         * Gets a boolean indicating if there is an active physics engine\r\n         * @returns a boolean indicating if there is an active physics engine\r\n         */\r\n        isPhysicsEnabled(): boolean;\r\n\r\n        /**\r\n         * Deletes a physics compound impostor\r\n         * @param compound defines the compound to delete\r\n         */\r\n        deleteCompoundImpostor(compound: any): void;\r\n\r\n        /**\r\n         * An event triggered when physic simulation is about to be run\r\n         */\r\n        onBeforePhysicsObservable: Observable<Scene>;\r\n\r\n        /**\r\n         * An event triggered when physic simulation has been done\r\n         */\r\n        onAfterPhysicsObservable: Observable<Scene>;\r\n    }\r\n}\r\n\r\n/**\r\n * Gets the current physics engine\r\n * @returns a IPhysicsEngine or null if none attached\r\n */\r\nScene.prototype.getPhysicsEngine = function (): Nullable<IPhysicsEngine> {\r\n    return this._physicsEngine ?? null;\r\n};\r\n\r\n/**\r\n * Enables physics to the current scene\r\n * @param gravity defines the scene's gravity for the physics engine\r\n * @param plugin defines the physics engine to be used. defaults to CannonJS.\r\n * @returns a boolean indicating if the physics engine was initialized\r\n */\r\nScene.prototype.enablePhysics = function (gravity: Nullable<Vector3> = null, plugin?: IPhysicsEnginePluginV1 | IPhysicsEnginePluginV2): boolean {\r\n    if (this._physicsEngine) {\r\n        return true;\r\n    }\r\n\r\n    // Register the component to the scene\r\n    let component = this._getComponent(SceneComponentConstants.NAME_PHYSICSENGINE) as PhysicsEngineSceneComponent;\r\n    if (!component) {\r\n        component = new PhysicsEngineSceneComponent(this);\r\n        this._addComponent(component);\r\n    }\r\n\r\n    try {\r\n        if (!plugin || plugin?.getPluginVersion() === 1) {\r\n            this._physicsEngine = new PhysicsEngineV1(gravity, plugin as IPhysicsEnginePluginV1);\r\n        } else if (plugin?.getPluginVersion() === 2) {\r\n            this._physicsEngine = new PhysicsEngineV2(gravity, plugin as IPhysicsEnginePluginV2);\r\n        } else {\r\n            throw new Error(\"Unsupported Physics plugin version.\");\r\n        }\r\n        this._physicsTimeAccumulator = 0;\r\n        return true;\r\n    } catch (e) {\r\n        Logger.Error(e.message);\r\n        return false;\r\n    }\r\n};\r\n\r\n/**\r\n * Disables and disposes the physics engine associated with the scene\r\n */\r\nScene.prototype.disablePhysicsEngine = function (): void {\r\n    if (!this._physicsEngine) {\r\n        return;\r\n    }\r\n\r\n    this._physicsEngine.dispose();\r\n    this._physicsEngine = null;\r\n};\r\n\r\n/**\r\n * Gets a boolean indicating if there is an active physics engine\r\n * @returns a boolean indicating if there is an active physics engine\r\n */\r\nScene.prototype.isPhysicsEnabled = function (): boolean {\r\n    return !!this._physicsEngine;\r\n};\r\n\r\n/**\r\n * Deletes a physics compound impostor\r\n * @param compound defines the compound to delete\r\n */\r\nScene.prototype.deleteCompoundImpostor = function (compound: any): void {\r\n    const mesh: AbstractMesh = compound.parts[0].mesh;\r\n\r\n    if (mesh.physicsImpostor) {\r\n        mesh.physicsImpostor.dispose(/*true*/);\r\n        mesh.physicsImpostor = null;\r\n    }\r\n};\r\n\r\n/**\r\n * @internal\r\n */\r\nScene.prototype._advancePhysicsEngineStep = function (step: number) {\r\n    if (this._physicsEngine) {\r\n        const subTime = this._physicsEngine.getSubTimeStep();\r\n        if (subTime > 0) {\r\n            this._physicsTimeAccumulator += step;\r\n            while (this._physicsTimeAccumulator > subTime) {\r\n                this.onBeforePhysicsObservable.notifyObservers(this);\r\n                this._physicsEngine._step(subTime / 1000);\r\n                this.onAfterPhysicsObservable.notifyObservers(this);\r\n                this._physicsTimeAccumulator -= subTime;\r\n            }\r\n        } else {\r\n            this.onBeforePhysicsObservable.notifyObservers(this);\r\n            this._physicsEngine._step(step / 1000);\r\n            this.onAfterPhysicsObservable.notifyObservers(this);\r\n        }\r\n    }\r\n};\r\n\r\n/**\r\n * Defines the physics engine scene component responsible to manage a physics engine\r\n */\r\nexport class PhysicsEngineSceneComponent implements ISceneComponent {\r\n    /**\r\n     * The component name helpful to identify the component in the list of scene components.\r\n     */\r\n    public readonly name = SceneComponentConstants.NAME_PHYSICSENGINE;\r\n\r\n    /**\r\n     * The scene the component belongs to.\r\n     */\r\n    public scene: Scene;\r\n\r\n    /**\r\n     * Creates a new instance of the component for the given scene\r\n     * @param scene Defines the scene to register the component in\r\n     */\r\n    constructor(scene: Scene) {\r\n        this.scene = scene;\r\n        this.scene.onBeforePhysicsObservable = new Observable<Scene>();\r\n        this.scene.onAfterPhysicsObservable = new Observable<Scene>();\r\n\r\n        // Replace the function used to get the deterministic frame time\r\n        this.scene.getDeterministicFrameTime = () => {\r\n            if (this.scene._physicsEngine) {\r\n                return this.scene._physicsEngine.getTimeStep() * 1000;\r\n            }\r\n\r\n            return 1000.0 / 60.0;\r\n        };\r\n    }\r\n\r\n    /**\r\n     * Registers the component in a given scene\r\n     */\r\n    public register(): void {}\r\n\r\n    /**\r\n     * Rebuilds the elements related to this component in case of\r\n     * context lost for instance.\r\n     */\r\n    public rebuild(): void {\r\n        // Nothing to do for this component\r\n    }\r\n\r\n    /**\r\n     * Disposes the component and the associated resources\r\n     */\r\n    public dispose(): void {\r\n        this.scene.onBeforePhysicsObservable.clear();\r\n        this.scene.onAfterPhysicsObservable.clear();\r\n\r\n        if (this.scene._physicsEngine) {\r\n            this.scene.disablePhysicsEngine();\r\n        }\r\n    }\r\n}\r\n"]}