@recast-navigation/core 0.0.6 → 0.1.0

package/dist/nav-mesh.d.ts

@@ -1,181 +1,335 @@
 import type R from '@recast-navigation/wasm';
-import { Crowd } from './crowd';
-import { DebugNavMesh } from './debug-nav-mesh';
-import type { BoxObstacle, CylinderObstacle, Obstacle, ObstacleRef } from './obstacle';
-import type { NavPath, Vector3 } from './utils';
-export declare type NavMeshConfig = {
-    /**
-     * The size of the non-navigable border around the heightfield.
-     * [Limit: >=0] [Units: vx]
-     * @default 0
-     */
-    borderSize: number;
-    /**
-     * The width/height size of tile's on the xz-plane.
-     * [Limit: >= 0] [Units: vx]
-     *
-     * If tileSize is provided, a tiled navmesh will be created.
-     * If tileSize is not provided, or is set to zero, a solo navmesh will be created.
-     *
-     * To use obstacles, a tiled navmesh must be generated.
-     * @default 0
-     */
-    tileSize: number;
-    /**
-     * The xz-plane cell size to use for fields.
-     * [Limit: > 0] [Units: wu]
-     * @default 0.2
-     */
-    cs: number;
+import { Vector3 } from './utils';
+export declare class dtPoly {
+    raw: R.dtPoly;
+    constructor(raw: R.dtPoly);
+    firstLink(): number;
+    verts(index: number): number;
+    neis(index: number): number;
+    flags(): number;
+    vertCount(): number;
+    areaAndType(): number;
+    getType(): number;
+}
+export declare class dtPolyDetail {
+    raw: R.dtPolyDetail;
+    constructor(raw: R.dtPolyDetail);
+    vertBase(): number;
+    triBase(): number;
+    vertCount(): number;
+    triCount(): number;
+}
+export declare class dtLink {
+    raw: R.dtLink;
+    constructor(raw: R.dtLink);
+    ref(): number;
+    next(): number;
+    edge(): number;
+    side(): number;
+    bmin(): number;
+    bmax(): number;
+}
+export declare class dtBVNode {
+    raw: R.dtBVNode;
+    constructor(raw: R.dtBVNode);
+    bmin(): Vector3;
+    bmax(): Vector3;
+    i(): number;
+}
+export declare class dtOffMeshConnection {
+    raw: R.dtOffMeshConnection;
+    constructor(raw: R.dtOffMeshConnection);
+    pos(index: number): number;
+    rad(): number;
+    poly(): number;
+    flags(): number;
+    side(): number;
+    userId(): number;
+}
+export declare class dtMeshHeader {
+    raw: R.dtMeshHeader;
+    constructor(raw: R.dtMeshHeader);
+    magic(): number;
+    version(): number;
+    x(): number;
+    y(): number;
+    layer(): number;
+    userId(): number;
+    polyCount(): number;
+    vertCount(): number;
+    maxLinkCount(): number;
+    detailMeshCount(): number;
+    detailVertCount(): number;
+    detailTriCount(): number;
+    bvNodeCount(): number;
+    offMeshConCount(): number;
+    offMeshBase(): number;
+    walkableHeight(): number;
+    walkableRadius(): number;
+    walkableClimb(): number;
+    bmin(index: number): number;
+    bmax(index: number): number;
+    bvQuantFactor(): number;
+}
+export declare class dtMeshTile {
+    raw: R.dtMeshTile;
+    constructor(raw: R.dtMeshTile);
+    salt(): number;
+    linksFreeList(): number;
+    header(): dtMeshHeader | null;
+    polys(index: number): dtPoly;
+    verts(index: number): number;
+    links(index: number): dtLink;
+    detailMeshes(index: number): dtPolyDetail;
+    detailVerts(index: number): number;
+    detailTris(index: number): number;
+    bvTree(index: number): dtBVNode;
+    offMeshCons(index: number): dtOffMeshConnection;
+    data(index: number): number;
+    dataSize(): number;
+    flags(): number;
+    next(): dtMeshTile;
+}
+export declare class NavMeshGetTilesAtResult {
+    raw: R.NavMeshGetTilesAtResult;
+    constructor(raw: R.NavMeshGetTilesAtResult);
+    tiles(index: number): dtMeshTile;
+    tileCount(): number;
+}
+export declare class NavMeshAddTileResult {
+    raw: R.NavMeshAddTileResult;
+    constructor(raw: R.NavMeshAddTileResult);
+    tileRef(): number;
+    status(): number;
+}
+export declare class NavMeshRemoveTileResult {
+    raw: R.NavMeshRemoveTileResult;
+    constructor(raw: R.NavMeshRemoveTileResult);
+    data(): number[];
+    dataSize(): number;
+}
+export declare class NavMeshCalcTileLocResult {
+    raw: R.NavMeshCalcTileLocResult;
+    constructor(raw: R.NavMeshCalcTileLocResult);
+    tileX(): number;
+    tileY(): number;
+}
+export declare class NavMeshGetTileAndPolyByRefResult {
+    raw: R.NavMeshGetTileAndPolyByRefResult;
+    constructor(raw: R.NavMeshGetTileAndPolyByRefResult);
+    tile(): dtMeshTile;
+    poly(): dtPoly;
+    status(): number;
+}
+export declare class NavMeshGetOffMeshConnectionPolyEndPointsResult {
+    raw: R.NavMeshGetOffMeshConnectionPolyEndPointsResult;
+    constructor(raw: R.NavMeshGetOffMeshConnectionPolyEndPointsResult);
+    status(): number;
+    startPos(): Vector3;
+    endPos(): Vector3;
+}
+export declare class NavMeshGetPolyFlagsResult {
+    raw: R.NavMeshGetPolyFlagsResult;
+    constructor(raw: R.NavMeshGetPolyFlagsResult);
+    flags(): number;
+    status(): number;
+}
+export declare class NavMeshGetPolyAreaResult {
+    raw: R.NavMeshGetPolyAreaResult;
+    constructor(raw: R.NavMeshGetPolyAreaResult);
+    area(): number;
+    status(): number;
+}
+export declare class NavMeshStoreTileStateResult {
+    raw: R.NavMeshStoreTileStateResult;
+    constructor(raw: R.NavMeshStoreTileStateResult);
+    data(): number[];
+    dataSize(): number;
+}
+export declare class DebugNavMesh {
+    raw: R.DebugNavMesh;
+    positions: number[];
+    indices: number[];
+    constructor(debugNavMesh: R.DebugNavMesh);
+}
+export declare type NavMeshParams = {
+    orig: Vector3;
+    tileWidth: number;
+    tileHeight: number;
+    maxTiles: number;
+    maxPolys: number;
+};
+export declare class NavMesh {
+    raw: R.NavMesh;
+    constructor(raw?: R.NavMesh);
     /**
-     * The y-axis cell size to use for fields.
-     * Limit: > 0] [Units: wu]
-     * @default 0.2
+     * Initializes the NavMesh for use with a single tile.
+     * @param data the nav mesh data
+     * @param dataSize the size of the nav mesh data
+     * @param flags the flags to use when building the nav mesh
+     * @returns the status of the operation
      */
-    ch: number;
+    initSolo(data: ReadonlyArray<number>, dataSize: number, flags: number): boolean;
     /**
-     * The maximum slope that is considered walkable.
-     * [Limits: 0 <= value < 90] [Units: Degrees]
-     * @default 60
+     * Initializes the NavMesh for use with multiple tiles.
+     * @param params parameters for the NavMesh
+     * @returns the status of the operation
      */
-    walkableSlopeAngle: number;
+    initTiled({ orig, tileWidth, tileHeight, maxTiles, maxPolys, }: NavMeshParams): boolean;
     /**
-     * Minimum floor to 'ceiling' height that will still allow the floor area to be considered walkable.
-     * [Limit: >= 3] [Units: vx]
-     * @default 2
+     * Adds a tile to the NavMesh.
+     * @param data the nav mesh data
+     * @param dataSize the size of the nav mesh data
+     * @param flags the flags to use when building the nav mesh
+     * @param lastRef
+     * @returns the status of the operation and the reference of the added tile
      */
-    walkableHeight: number;
+    addTile(data: number[], dataSize: number, flags: number, lastRef: number): NavMeshAddTileResult;
     /**
-     * Maximum ledge height that is considered to still be traversable.
-     * [Limit: >=0] [Units: vx]
-     * @default 2
+     * Removes a tile from the NavMesh
+     * @param ref the tile ref
+     * @returns the nav mesh data, so it can be added back later
      */
-    walkableClimb: number;
+    removeTile(ref: number): NavMeshRemoveTileResult;
     /**
-     * The distance to erode/shrink the walkable area of the heightfield away from obstructions.
-     * [Limit: >=0] [Units: vx]
-     * @default 0.5
+     * Calculates the tile grid location for the specified world position.
+     * @param pos The world position for the query. [(x, y, z)]
+     * @returns
      */
-    walkableRadius: number;
+    calcTileLoc(pos: Vector3): NavMeshCalcTileLocResult;
     /**
-     * The maximum allowed length for contour edges along the border of the mesh.
-     * [Limit: >=0] [Units: vx]
-     * @default 12
+     * Gets the tile at the specified grid location.
+     * @param x The tile's x-location. (x, y, layer)
+     * @param y The tile's y-location. (x, y, layer)
+     * @param layer The tile's layer. (x, y, layer)
+     * @returns The tile, or null if the tile does not exist.
      */
-    maxEdgeLen: number;
+    getTileAt(x: number, y: number, layer: number): dtMeshTile | null;
     /**
-     * The maximum distance a simplfied contour's border edges should deviate the original raw contour.
-     * [Limit: >=0] [Units: vx]
-     * @default 1.3
+     * Gets all tiles at the specified grid location. (All layers.)
+     * @param x The tile's x-location. (x, y)
+     * @param y The tile's y-location. (x, y)
+     * @param maxTiles The maximum tiles the tiles parameter can hold.
      */
-    maxSimplificationError: number;
+    getTilesAt(x: number, y: number, maxTiles: number): NavMeshGetTilesAtResult;
     /**
-     * The minimum number of cells allowed to form isolated island areas.
-     * [Limit: >=0] [Units: vx]
-     * @default 8
+     * Gets the tile reference for the tile at specified grid location.
+     * @param x The tile's x-location. (x, y, layer)
+     * @param y The tile's y-location. (x, y, layer)
+     * @param layer The tile's layer. (x, y, layer)
+     * @returns The tile reference of the tile, or 0 if there is none.
      */
-    minRegionArea: number;
+    getTileRefAt(x: number, y: number, layer: number): number;
     /**
-     * Any regions with a span count smaller than this value will, if possible, be merged with larger regions.
-     * [Limit: >=0] [Units: vx]
-     * @default 20
+     * Gets the tile reference for the specified tile.
+     * @param tile
+     * @returns
      */
-    mergeRegionArea: number;
+    getTileRef(tile: dtMeshTile): number;
     /**
-     * The maximum number of vertices allowed for polygons generated during the be merged with larger regions.
-     * [Limit: >=0] [Units: vx]
-     * @default 6
+     * Gets the tile for the specified tile reference.
+     * @param ref The tile reference of the tile to retrieve.
+     * @returns The tile for the specified reference, or null if the reference is invalid.
      */
-    maxVertsPerPoly: number;
+    getTileByRef(ref: number): dtMeshTile | null;
     /**
-     * Sets the sampling distance to use when generating the detail mesh. (For height detail only.)
-     * [Limits: 0 or >= 0.9] [Units: wu]
-     * @default 6
+     * Returns the maximum number of tiles supported by the navigation mesh.
      */
-    detailSampleDist: number;
+    getMaxTiles(): number;
     /**
-     * The maximum distance the detail mesh surface should deviate from heightfield data. (For height detail only.)
-     * [Limit: >=0] [Units: wu]
-     * @default 1
+     * Gets the tile at the specified index.
+     * @param i the tile index. [Limit: 0 >= index < #getMaxTiles()]
+     * @returns
      */
-    detailSampleMaxError: number;
-};
-export declare class NavMesh {
-    raw: R.NavMesh;
-    obstacles: Map<ObstacleRef, Obstacle>;
-    constructor();
+    getTile(i: number): dtMeshTile;
     /**
-     * Updates the NavMesh tile cache by rebuilding tiles touched by unfinished obstacle requests.
-     * This should be called after adding or removing obstacles.
+     * Gets the tile and polygon for the specified polygon reference.
+     * @param ref The reference for the a polygon.
+     * @returns
      */
-    update(): void;
+    getTileAndPolyByRef(ref: number): NavMeshGetTileAndPolyByRefResult;
     /**
-     * Destroys the NavMesh.
+     * Gets the tile and polygon for the specified polygon reference.
+     * @param ref A known valid reference for a polygon.
+     * @returns
      */
-    destroy(): void;
+    getTileAndPolyByRefUnsafe(ref: number): NavMeshGetTileAndPolyByRefResult;
     /**
-     * Builds a NavMesh from the given positions and indices.
-     * @param positions a flat array of positions
-     * @param indices a flat array of indices
-     * @param navMeshConfig optional configuration for the NavMesh
+     * Checks the validity of a polygon reference.
+     * @param ref
+     * @returns
      */
-    build(positions: ArrayLike<number>, indices: ArrayLike<number>, navMeshConfig?: Partial<NavMeshConfig>): void;
+    isValidPolyRef(ref: number): boolean;
     /**
-     * Build the navmesh from a previously saved state using getNavMeshData
-     * @param data the Uint8Array returned by `getNavMeshData`
+     * Gets the polygon reference for the tile's base polygon.
+     * @param tile
+     * @returns
      */
-    buildFromNavMeshData(data: Uint8Array): void;
+    getPolyRefBase(tile: dtMeshTile): number;
     /**
-     * Returns the NavMesh data that can be used later. The NavMesh must be built before retrieving the data
-     * @returns data the Uint8Array that can be saved and reused
+     * Gets the endpoints for an off-mesh connection, ordered by "direction of travel".
+     * @param prevRef The reference of the polygon before the connection.
+     * @param polyRef The reference of the off-mesh connection polygon.
+     * @returns
      */
-    getNavMeshData(): Uint8Array;
+    getOffMeshConnectionPolyEndPoints(prevRef: number, polyRef: number): NavMeshGetOffMeshConnectionPolyEndPointsResult;
     /**
-     * Returns a DebugNavMesh that can be used to visualize the NavMesh.
+     * Gets the specified off-mesh connection.
+     * @param ref The polygon reference of the off-mesh connection.
+     * @returns
      */
-    getDebugNavMesh(): DebugNavMesh;
+    getOffMeshConnectionByRef(ref: number): dtOffMeshConnection;
     /**
-     * Returns the closest point on the NavMesh to the given position.
+     * Sets the user defined flags for the specified polygon.
+     * @param ref The polygon reference.
+     * @param flags The new flags for the polygon.
      */
-    getClosestPoint(position: Vector3): Vector3;
+    setPolyFlags(ref: number, flags: number): number;
     /**
-     * Returns a random point on the NavMesh within the given radius of the given position.
+     * Gets the user defined flags for the specified polygon.
+     * @param ref The polygon reference.
+     * @returns
      */
-    getRandomPointAround(position: Vector3, radius: number): Vector3;
+    getPolyFlags(ref: number): NavMeshGetPolyFlagsResult;
     /**
-     * Compute the final position from a segment made of destination-position
+     * Sets the user defined area for the specified polygon.
+     * @param ref The polygon reference.
+     * @param flags The new flags for the polygon.
      */
-    moveAlong(position: Vector3, destination: Vector3): Vector3;
+    setPolyArea(ref: number, area: number): number;
     /**
-     * Finds a path from the start position to the end position.
-     *
-     * @returns an array of Vector3 positions that make up the path, or an empty array if no path was found.
+     * Gets the user defined area for the specified polygon.
+     * @param ref The polygon reference.
+     * @returns
      */
-    computePath(start: Vector3, end: Vector3): NavPath;
+    getPolyArea(ref: number): NavMeshGetPolyAreaResult;
     /**
-     * Gets the Bounding box extent specified by setDefaultQueryExtent
+     * Gets the size of the buffer required by #storeTileState to store the specified tile's state.
+     * @param tile
+     * @returns The size of the buffer required to store the state.
      */
-    getDefaultQueryExtent(): Vector3;
+    getTileStateSize(tile: dtMeshTile): number;
     /**
-     * Sets the Bounding box extent for doing spatial queries (getClosestPoint, getRandomPointAround, ...)
-     * The queries will try to find a solution within those bounds.
-     * The default is (1,1,1)
+     * Stores the non-structural state of the tile in the specified buffer. (Flags, area ids, etc.)
+     * @param tile The tile.
+     * @param maxDataSize The size of the data buffer. [Limit: >= #getTileStateSize]
+     * @returns
      */
-    setDefaultQueryExtent(extent: Vector3): void;
+    storeTileState(tile: dtMeshTile, maxDataSize: number): NavMeshStoreTileStateResult;
     /**
-     * Creates a cylinder obstacle and adds it to the navigation mesh.
+     * Restores the state of the tile.
+     * @param tile The tile.
+     * @param data The new state. (Obtained from @see storeTileState)
+     * @param maxDataSize The size of the state within the data buffer.
+     * @returns
      */
-    addCylinderObstacle(position: Vector3, radius: number, height: number): CylinderObstacle;
+    restoreTileState(tile: dtMeshTile, data: number[], maxDataSize: number): number;
     /**
-     * Creates a box obstacle and adds it to the navigation mesh.
+     * Returns a DebugNavMesh that can be used to visualize the NavMesh.
      */
-    addBoxObstacle(position: Vector3, extent: Vector3, angle: number): BoxObstacle;
+    getDebugNavMesh(): DebugNavMesh;
     /**
-     * Removes an obstacle from the navigation mesh.
+     * Destroys the NavMesh.
      */
-    removeObstacle(obstacle: Obstacle | ObstacleRef): void;
-    createCrowd(config: {
-        maxAgents: number;
-        maxAgentRadius: number;
-    }): Crowd;
+    destroy(): void;
 }

package/dist/tile-cache.d.ts

@@ -0,0 +1,48 @@
+import type R from '@recast-navigation/wasm';
+import { NavMesh } from './nav-mesh';
+import { BoxObstacle, CylinderObstacle, Obstacle, ObstacleRef } from './obstacle';
+import { Vector3 } from './utils';
+export declare type TileCacheParams = {
+    orig: ReadonlyArray<number>;
+    cs: number;
+    ch: number;
+    width: number;
+    height: number;
+    walkableHeight: number;
+    walkableRadius: number;
+    walkableClimb: number;
+    maxSimplificationError: number;
+    maxTiles: number;
+    maxObstacles: number;
+};
+export declare type TileCacheUpdateResult = {
+    status: number;
+    upToDate: boolean;
+};
+export declare class TileCache {
+    raw: R.TileCache;
+    obstacles: Map<ObstacleRef, Obstacle>;
+    constructor(raw?: R.TileCache);
+    /**
+     * Initialises the TileCache
+     * @param params
+     */
+    init(params: TileCacheParams): void;
+    /**
+     * Updates the tile cache by rebuilding tiles touched by unfinished obstacle requests.
+     * This should be called after adding or removing obstacles.
+     */
+    update(navMesh: NavMesh): TileCacheUpdateResult;
+    /**
+     * Creates a cylinder obstacle and adds it to the navigation mesh.
+     */
+    addCylinderObstacle(position: Vector3, radius: number, height: number): CylinderObstacle;
+    /**
+     * Creates a box obstacle and adds it to the navigation mesh.
+     */
+    addBoxObstacle(position: Vector3, extent: Vector3, angle: number): BoxObstacle;
+    /**
+     * Removes an obstacle from the navigation mesh.
+     */
+    removeObstacle(obstacle: Obstacle | ObstacleRef): void;
+}

package/dist/utils.d.ts

@@ -11,12 +11,15 @@ export declare const vec3: {
         y: number;
         z: number;
     };
-};
-export declare type NavPath = Vector3[];
-export declare const navPath: {
-    fromRaw: (v: R.NavPath) => {
+    fromArray: ([x, y, z]: number[]) => {
         x: number;
         y: number;
         z: number;
-    }[];
+    };
+    toArray: ({ x, y, z }: Vector3) => number[];
+};
+export declare const array: <T>(getter: (index: number) => T, count: number) => T[];
+export declare const emscripten: {
+    isNull: (obj: unknown) => boolean;
+    getPointer: (obj: unknown) => number;
 };

package/dist/{raw.d.ts → wasm.d.ts}

@@ -1,5 +1,6 @@
 import Recast from '@recast-navigation/wasm';
-export declare const Raw: {
+export declare const Wasm: {
     Recast: typeof Recast;
+    DtStatus: Recast.DtStatus;
 };
 export declare const init: () => Promise<void>;

package/package.json

@@ -6,7 +6,7 @@
     "email": "isaac@isaacmason.com",
     "url": "https://isaacmason.com/"
   },
-  "version": "0.0.6",
+  "version": "0.1.0",
   "license": "MIT",
   "homepage": "https://github.com/isaac-mason/recast-navigation-js",
   "bugs": {
@@ -26,7 +26,7 @@
   },
   "devDependencies": {
     "@babel/core": "^7.18.6",
-    "@recast-navigation/wasm": "0.0.6",
+    "@recast-navigation/wasm": "0.1.0",
     "@rollup/plugin-commonjs": "^24.0.1",
     "@rollup/plugin-node-resolve": "^15.0.1",
     "@rollup/plugin-terser": "^0.4.0",

package/dist/debug-nav-mesh.d.ts

@@ -1,7 +0,0 @@
-import R from '@recast-navigation/wasm';
-export declare class DebugNavMesh {
-    raw: R.DebugNavMesh;
-    positions: number[];
-    indices: number[];
-    constructor(debugNavMesh: R.DebugNavMesh);
-}