@onerjs/core 8.54.2 → 8.54.4

package/Navigation/Plugins/recastJSPlugin.js.map

@@ -1 +1 @@
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{ type INavigationEnginePlugin, type ICrowd, type IAgentParameters, type INavMeshParameters, type IObstacle } from \"../../Navigation/INavigationEngine\";\r\nimport { Logger } from \"../../Misc/logger\";\r\nimport { VertexData } from \"../../Meshes/mesh.vertexData\";\r\nimport { Mesh } from \"../../Meshes/mesh.pure\";\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, Observable } from \"../../Misc/observable\";\r\nimport { type Nullable } from \"../../types\";\r\nimport { VertexBuffer } from \"../../Buffers/buffer.pure\";\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"]}
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{ type INavigationEnginePlugin, type ICrowd, type IAgentParameters, type INavMeshParameters, type IObstacle } from \"../../Navigation/INavigationEngine\";\r\nimport { Logger } from \"../../Misc/logger\";\r\nimport { VertexData } from \"../../Meshes/mesh.vertexData\";\r\nimport { Mesh } from \"../../Meshes/mesh.pure\";\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, Observable } from \"../../Misc/observable\";\r\nimport { type Nullable } from \"../../types\";\r\nimport { VertexBuffer } from \"../../Buffers/buffer.pure\";\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].setAbsolutePosition(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/v2/Plugins/havokPlugin.d.ts

@@ -44,6 +44,12 @@ export interface HavokPluginParameters {
      * Maximum number of raycast hits to process
      */
     maxQueryCollectorHits?: number;
+    /**
+     * Whether to disable Havok world regions when floating origin mode is enabled.
+     * Set this when the application manages physics precision through its own rebasing system.
+     * Default is false.
+     */
+    disableWorldRegions?: boolean;
     /**
      * Radius of each floating origin world region.
      * Bodies within this radius of a world region's origin will use that world.
@@ -118,6 +124,15 @@ export declare class HavokPlugin implements IPhysicsEnginePluginV2 {
      * Bodies within this radius of a world region's origin will use that world.
      */
     private _floatingOriginWorldRadius;
+    /**
+     * Whether Havok world regions are disabled.
+     */
+    private _disableWorldRegions;
+    /**
+     * Whether floating origin world regions are enabled for the current scene.
+     * @returns true when the scene uses floating origin mode and world regions are not disabled
+     */
+    private _areFloatingOriginWorldRegionsEnabled;
     /**
      * Finds an existing world region that contains the given world position,
      * or creates a new world region centered at that position.

package/Physics/v2/Plugins/havokPlugin.js

@@ -249,6 +249,13 @@ class TriggerEvent {
  * The Havok Physics plugin
  */
 export class HavokPlugin {
+    /**
+     * Whether floating origin world regions are enabled for the current scene.
+     * @returns true when the scene uses floating origin mode and world regions are not disabled
+     */
+    _areFloatingOriginWorldRegionsEnabled() {
+        return !this._disableWorldRegions && !!FloatingOriginCurrentScene.getScene()?.floatingOriginMode;
+    }
     /**
      * Finds an existing world region that contains the given world position,
      * or creates a new world region centered at that position.
@@ -262,8 +269,7 @@ export class HavokPlugin {
      */
     _getOrCreateWorldRegion(worldPosition) {
         // Check if floating origin mode is enabled
-        const scene = FloatingOriginCurrentScene.getScene();
-        if (!scene?.floatingOriginMode) {
+        if (!this._areFloatingOriginWorldRegionsEnabled()) {
             // When floating origin mode is disabled, use the default world region
             return this._worldRegions[0];
         }
@@ -358,8 +364,7 @@ export class HavokPlugin {
      * @returns null if no existing region contains it (does NOT create a new one).
      */
     _findExistingRegion(worldPosition) {
-        const scene = FloatingOriginCurrentScene.getScene();
-        if (!scene?.floatingOriginMode) {
+        if (!this._areFloatingOriginWorldRegionsEnabled()) {
             return this._worldRegions[0];
         }
         for (const region of this._worldRegions) {
@@ -435,6 +440,10 @@ export class HavokPlugin {
          * Bodies within this radius of a world region's origin will use that world.
          */
         this._floatingOriginWorldRadius = 100000;
+        /**
+         * Whether Havok world regions are disabled.
+         */
+        this._disableWorldRegions = false;
         /**
          * Observable for collision started and collision continued events
          */
@@ -467,6 +476,7 @@ export class HavokPlugin {
         });
         this._queryCollector = this._hknp.HP_QueryCollector_Create(1)[1];
         this.setMaxQueryCollectorHits(parameters.maxQueryCollectorHits ?? 1);
+        this._disableWorldRegions = parameters.disableWorldRegions ?? false;
         this._floatingOriginWorldRadius = parameters.floatingOriginWorldRadius ?? 100000;
     }
     /**
@@ -594,7 +604,7 @@ export class HavokPlugin {
         // Re-region bodies that have moved outside their current world region
         // BEFORE pre-step and stepping, so the body participates in the correct
         // world's step and its body buffer transform is valid when sync reads it.
-        if (this._worldRegions.length > 1 || FloatingOriginCurrentScene.getScene()?.floatingOriginMode) {
+        if (this._areFloatingOriginWorldRegionsEnabled()) {
             for (const physicsBody of physicsBodies) {
                 if (physicsBody._pluginDataInstances.length > 0) {
                     for (const instance of physicsBody._pluginDataInstances) {
@@ -1455,7 +1465,7 @@ export class HavokPlugin {
                 // the transform node) immediately land in the correct region with
                 // correct local coordinates, avoiding a one-frame precision glitch.
                 const pluginData = body._pluginData;
-                if (pluginData.worldRegion && (this._worldRegions.length > 1 || FloatingOriginCurrentScene.getScene()?.floatingOriginMode)) {
+                if (pluginData.worldRegion && this._areFloatingOriginWorldRegionsEnabled()) {
                     // Get world position of the node
                     const worldPos = TmpVectors.Vector3[3];
                     if (node.parent) {