@recast-navigation/core 0.38.0 → 0.40.0

package/LICENSE

@@ -1,6 +1,6 @@
 The MIT License
 
-Copyright © 2022 Isaac Mason
+Copyright © 2025 Isaac Mason
 
 Permission is hereby granted, free of charge, to any person obtaining a copy
 of this software and associated documentation files (the "Software"), to deal

package/dist/debug-drawer-utils.d.ts

@@ -39,5 +39,6 @@ export declare class DebugDrawerUtils {
      * Disposes of the debug drawer and releases resources.
      */
     dispose(): void;
+    private rgbToDuRgba;
     private vertex;
 }

package/dist/index.mjs

@@ -1898,11 +1898,11 @@ class DebugDrawerUtils {
     return this.flush();
   }
   drawNavMeshPolysWithFlags(mesh, flags, col) {
-    Raw.DetourDebugDraw.debugDrawNavMeshPolysWithFlags(this.debugDrawImpl, mesh.raw.m_navMesh, flags, col);
+    Raw.DetourDebugDraw.debugDrawNavMeshPolysWithFlags(this.debugDrawImpl, mesh.raw.m_navMesh, flags, this.rgbToDuRgba(col));
     return this.flush();
   }
   drawNavMeshPoly(mesh, ref, col) {
-    Raw.DetourDebugDraw.debugDrawNavMeshPoly(this.debugDrawImpl, mesh.raw.m_navMesh, ref, col);
+    Raw.DetourDebugDraw.debugDrawNavMeshPoly(this.debugDrawImpl, mesh.raw.m_navMesh, ref, this.rgbToDuRgba(col));
     return this.flush();
   }
   /**
@@ -1911,10 +1911,17 @@ class DebugDrawerUtils {
   dispose() {
     Raw.Module.destroy(this.debugDrawImpl);
   }
+  rgbToDuRgba(color) {
+    // convert hexadecimal rgb color to duRGBA format
+    const r = color & 0xff;
+    const g = color >> 8 & 0xff;
+    const b = color >> 16 & 0xff;
+    return r | g << 8 | b << 16 | 255 << 24;
+  }
   vertex(x, y, z, color) {
-    const r = (color >> 16 & 0xff) / 255;
+    const r = (color & 0xff) / 255;
     const g = (color >> 8 & 0xff) / 255;
-    const b = (color & 0xff) / 255;
+    const b = (color >> 16 & 0xff) / 255;
     const a = (color >> 24 & 0xff) / 255;
     this.currentVertices.push([x, y, z, r, g, b, a]);
   }
@@ -2287,43 +2294,6 @@ class NavMesh {
   restoreTileState(tile, data, maxDataSize) {
     return this.raw.restoreTileState(tile.raw, data, maxDataSize);
   }
-  /**
-   * Returns a triangle mesh that can be used to visualize the NavMesh.
-   */
-  getDebugNavMesh() {
-    const positions = [];
-    const indices = [];
-    let tri = 0;
-    const maxTiles = this.getMaxTiles();
-    for (let tileIndex = 0; tileIndex < maxTiles; tileIndex++) {
-      const tile = this.getTile(tileIndex);
-      const tileHeader = tile.header();
-      if (!tileHeader) continue;
-      const tilePolyCount = tileHeader.polyCount();
-      for (let tilePolyIndex = 0; tilePolyIndex < tilePolyCount; ++tilePolyIndex) {
-        const poly = tile.polys(tilePolyIndex);
-        if (poly.getType() === 1) continue;
-        const polyVertCount = poly.vertCount();
-        const polyDetail = tile.detailMeshes(tilePolyIndex);
-        const polyDetailTriBase = polyDetail.triBase();
-        const polyDetailTriCount = polyDetail.triCount();
-        for (let polyDetailTriIndex = 0; polyDetailTriIndex < polyDetailTriCount; ++polyDetailTriIndex) {
-          const detailTrisBaseIndex = (polyDetailTriBase + polyDetailTriIndex) * 4;
-          for (let trianglePoint = 0; trianglePoint < 3; ++trianglePoint) {
-            if (tile.detailTris(detailTrisBaseIndex + trianglePoint) < polyVertCount) {
-              const tileVertsBaseIndex = poly.verts(tile.detailTris(detailTrisBaseIndex + trianglePoint)) * 3;
-              positions.push(tile.verts(tileVertsBaseIndex), tile.verts(tileVertsBaseIndex + 1), tile.verts(tileVertsBaseIndex + 2));
-            } else {
-              const tileVertsBaseIndex = (polyDetail.vertBase() + tile.detailTris(detailTrisBaseIndex + trianglePoint) - poly.vertCount()) * 3;
-              positions.push(tile.detailVerts(tileVertsBaseIndex), tile.detailVerts(tileVertsBaseIndex + 1), tile.detailVerts(tileVertsBaseIndex + 2));
-            }
-            indices.push(tri++);
-          }
-        }
-      }
-    }
-    return [positions, indices];
-  }
   /**
    * Destroys the NavMesh.
    */
@@ -2332,6 +2302,107 @@ class NavMesh {
     Raw.Module.destroy(this.raw);
   }
 }
+/**
+ * Gets the positions and indices of the nav mesh.
+ * @param navMesh the nav mesh
+ * @param flags poly flags to filter by, defaults to undefined to include all polys
+ * @returns the positions and indices of the nav mesh
+ */
+const getNavMeshPositionsAndIndices = (navMesh, flags) => {
+  const positions = [];
+  const indices = [];
+  let tri = 0;
+  const maxTiles = navMesh.getMaxTiles();
+  for (let tileIndex = 0; tileIndex < maxTiles; tileIndex++) {
+    const tile = navMesh.getTile(tileIndex);
+    const tileHeader = tile.header();
+    if (!tileHeader) continue;
+    const tilePolyCount = tileHeader.polyCount();
+    for (let tilePolyIndex = 0; tilePolyIndex < tilePolyCount; ++tilePolyIndex) {
+      const poly = tile.polys(tilePolyIndex);
+      if (flags !== undefined && (poly.flags() & flags) === 0) continue;
+      if (poly.getType() === 1) continue;
+      const polyVertCount = poly.vertCount();
+      const polyDetail = tile.detailMeshes(tilePolyIndex);
+      const polyDetailTriBase = polyDetail.triBase();
+      const polyDetailTriCount = polyDetail.triCount();
+      for (let polyDetailTriIndex = 0; polyDetailTriIndex < polyDetailTriCount; ++polyDetailTriIndex) {
+        const detailTrisBaseIndex = (polyDetailTriBase + polyDetailTriIndex) * 4;
+        for (let trianglePoint = 0; trianglePoint < 3; ++trianglePoint) {
+          if (tile.detailTris(detailTrisBaseIndex + trianglePoint) < polyVertCount) {
+            const tileVertsBaseIndex = poly.verts(tile.detailTris(detailTrisBaseIndex + trianglePoint)) * 3;
+            positions.push(tile.verts(tileVertsBaseIndex), tile.verts(tileVertsBaseIndex + 1), tile.verts(tileVertsBaseIndex + 2));
+          } else {
+            const tileVertsBaseIndex = (polyDetail.vertBase() + tile.detailTris(detailTrisBaseIndex + trianglePoint) - poly.vertCount()) * 3;
+            positions.push(tile.detailVerts(tileVertsBaseIndex), tile.detailVerts(tileVertsBaseIndex + 1), tile.detailVerts(tileVertsBaseIndex + 2));
+          }
+          indices.push(tri++);
+        }
+      }
+    }
+  }
+  return [positions, indices];
+};
+/**
+ * Disables all polys not connected to provided start poly refs.
+ * @param navMesh the nav mesh to prune
+ * @param startPolyRefs poly refs to start the flood fill from, can be retrieved with `navMeshQuery.findNearestPoly`
+ *
+ * @example
+ * ```ts
+ * const navMeshQuery = new NavMeshQuery(navMesh);
+ *
+ * const nearestPolyResult = navMeshQuery.findNearestPoly(point, {
+ *   halfExtents: { x: 2, y: 2, z: 2 },
+ * });
+ *
+ * if (!nearestPolyResult.success) return;
+ *
+ * floodFillPruneNavMesh(navMesh, [nearestPolyResult.nearestRef]);
+ * ```
+ */
+const floodFillPruneNavMesh = (navMesh, startPolyRefs) => {
+  /* find all polys connected to the nearest poly */
+  const visited = new Set();
+  const openList = [];
+  for (const startPolyRef of startPolyRefs) {
+    visited.add(startPolyRef);
+    openList.push(startPolyRef);
+  }
+  while (openList.length > 0) {
+    const ref = openList.pop();
+    // get current poly and tile
+    const {
+      poly,
+      tile
+    } = navMesh.getTileAndPolyByRefUnsafe(ref);
+    // visit linked polys
+    for (let i = poly.firstLink(); i !== Detour.DT_NULL_LINK; i = tile.links(i).next()) {
+      const neiRef = tile.links(i).ref();
+      // skip invalid and already visited
+      if (!neiRef || visited.has(neiRef)) continue;
+      // mark as visited
+      visited.add(neiRef);
+      // visit neighbours
+      openList.push(neiRef);
+    }
+  }
+  /* disable unvisited polys */
+  for (let tileIndex = 0; tileIndex < navMesh.getMaxTiles(); tileIndex++) {
+    const tile = navMesh.getTile(tileIndex);
+    if (!tile || !tile.header()) continue;
+    const tileHeader = tile.header();
+    const base = navMesh.getPolyRefBase(tile);
+    for (let i = 0; i < tileHeader.polyCount(); i++) {
+      const ref = base | i;
+      if (!visited.has(ref)) {
+        // set flag to 0
+        // this could also be a custom 'disabled' area flag if using custom areas
+        navMesh.setPolyFlags(ref, 0);
+      }
+    }
+  }
+};
 
 const getRandomSeed = () => {
   return Raw.Module.FastRand.prototype.getSeed();
@@ -3205,4 +3276,4 @@ const importTileCache = (data, tileCacheMeshProcess) => {
   };
 };
 
-export { ChunkIdsArray, Crowd, CrowdAgent, DebugDrawerUtils, Detour, DetourBVNode, DetourLink, DetourMeshHeader, DetourMeshTile, DetourOffMeshConnection, DetourPoly, DetourPolyDetail, DetourTileCacheParams, FloatArray, IntArray, NavMesh, NavMeshCalcTileLocResult, NavMeshCreateParams, NavMeshGetTilesAtResult, NavMeshParams, NavMeshQuery, NavMeshRemoveTileResult, NavMeshStoreTileStateResult, QueryFilter, Raw, Recast, RecastBuildContext, RecastChunkyTriMesh, RecastCompactCell, RecastCompactHeightfield, RecastCompactSpan, RecastContour, RecastContourSet, RecastHeightfield, RecastHeightfieldLayer, RecastHeightfieldLayerSet, RecastPolyMesh, RecastPolyMeshDetail, RecastSpan, RecastSpanPool, TileCache, TileCacheData, TileCacheMeshProcess, TriangleAreasArray, TrianglesArray, UnsignedCharArray, UnsignedIntArray, UnsignedShortArray, VerticesArray, allocCompactHeightfield, allocContourSet, allocHeightfield, allocHeightfieldLayerSet, allocPolyMesh, allocPolyMeshDetail, array, buildCompactHeightfield, buildContours, buildDistanceField, buildHeightfieldLayers, buildLayerRegions, buildPolyMesh, buildPolyMeshDetail, buildRegions, buildRegionsMonotone, buildTileCacheLayer, calcBounds, calcGridSize, clearUnwalkableTriangles, cloneRcConfig, copyPolyMesh, createHeightfield, createNavMeshData, createRcConfig, crowdAgentParamsDefaults, erodeWalkableArea, exportNavMesh, exportTileCache, filterLedgeSpans, filterLowHangingWalkableObstacles, filterWalkableLowHeightSpans, freeCompactHeightfield, freeContourSet, freeHeightfield, freeHeightfieldLayerSet, freePolyMesh, freePolyMeshDetail, getCon, getDirForOffset, getDirOffsetX, getDirOffsetY, getHeightFieldSpanCount, getHeightfieldLayerAreas, getHeightfieldLayerCons, getHeightfieldLayerHeights, getRandomSeed, importNavMesh, importTileCache, init, markBoxArea, markConvexPolyArea, markCylinderArea, markWalkableTriangles, medianFilterWalkableArea, mergePolyMeshDetails, mergePolyMeshes, rasterizeTriangles, recastConfigDefaults, setCon, setRandomSeed, statusDetail, statusFailed, statusInProgress, statusSucceed, statusToReadableString, vec3 };
+export { ChunkIdsArray, Crowd, CrowdAgent, DebugDrawerUtils, Detour, DetourBVNode, DetourLink, DetourMeshHeader, DetourMeshTile, DetourOffMeshConnection, DetourPoly, DetourPolyDetail, DetourTileCacheParams, FloatArray, IntArray, NavMesh, NavMeshCalcTileLocResult, NavMeshCreateParams, NavMeshGetTilesAtResult, NavMeshParams, NavMeshQuery, NavMeshRemoveTileResult, NavMeshStoreTileStateResult, QueryFilter, Raw, Recast, RecastBuildContext, RecastChunkyTriMesh, RecastCompactCell, RecastCompactHeightfield, RecastCompactSpan, RecastContour, RecastContourSet, RecastHeightfield, RecastHeightfieldLayer, RecastHeightfieldLayerSet, RecastPolyMesh, RecastPolyMeshDetail, RecastSpan, RecastSpanPool, TileCache, TileCacheData, TileCacheMeshProcess, TriangleAreasArray, TrianglesArray, UnsignedCharArray, UnsignedIntArray, UnsignedShortArray, VerticesArray, allocCompactHeightfield, allocContourSet, allocHeightfield, allocHeightfieldLayerSet, allocPolyMesh, allocPolyMeshDetail, array, buildCompactHeightfield, buildContours, buildDistanceField, buildHeightfieldLayers, buildLayerRegions, buildPolyMesh, buildPolyMeshDetail, buildRegions, buildRegionsMonotone, buildTileCacheLayer, calcBounds, calcGridSize, clearUnwalkableTriangles, cloneRcConfig, copyPolyMesh, createHeightfield, createNavMeshData, createRcConfig, crowdAgentParamsDefaults, erodeWalkableArea, exportNavMesh, exportTileCache, filterLedgeSpans, filterLowHangingWalkableObstacles, filterWalkableLowHeightSpans, floodFillPruneNavMesh, freeCompactHeightfield, freeContourSet, freeHeightfield, freeHeightfieldLayerSet, freePolyMesh, freePolyMeshDetail, getCon, getDirForOffset, getDirOffsetX, getDirOffsetY, getHeightFieldSpanCount, getHeightfieldLayerAreas, getHeightfieldLayerCons, getHeightfieldLayerHeights, getNavMeshPositionsAndIndices, getRandomSeed, importNavMesh, importTileCache, init, markBoxArea, markConvexPolyArea, markCylinderArea, markWalkableTriangles, medianFilterWalkableArea, mergePolyMeshDetails, mergePolyMeshes, rasterizeTriangles, recastConfigDefaults, setCon, setRandomSeed, statusDetail, statusFailed, statusInProgress, statusSucceed, statusToReadableString, vec3 };

package/dist/nav-mesh.d.ts

@@ -267,12 +267,34 @@ export declare class NavMesh {
      * @returns
      */
     restoreTileState(tile: DetourMeshTile, data: number[], maxDataSize: number): number;
-    /**
-     * Returns a triangle mesh that can be used to visualize the NavMesh.
-     */
-    getDebugNavMesh(): [positions: number[], indices: number[]];
     /**
      * Destroys the NavMesh.
      */
     destroy(): void;
 }
+/**
+ * Gets the positions and indices of the nav mesh.
+ * @param navMesh the nav mesh
+ * @param flags poly flags to filter by, defaults to undefined to include all polys
+ * @returns the positions and indices of the nav mesh
+ */
+export declare const getNavMeshPositionsAndIndices: (navMesh: NavMesh, flags?: number) => [positions: number[], indices: number[]];
+/**
+ * Disables all polys not connected to provided start poly refs.
+ * @param navMesh the nav mesh to prune
+ * @param startPolyRefs poly refs to start the flood fill from, can be retrieved with `navMeshQuery.findNearestPoly`
+ *
+ * @example
+ * ```ts
+ * const navMeshQuery = new NavMeshQuery(navMesh);
+ *
+ * const nearestPolyResult = navMeshQuery.findNearestPoly(point, {
+ *   halfExtents: { x: 2, y: 2, z: 2 },
+ * });
+ *
+ * if (!nearestPolyResult.success) return;
+ *
+ * floodFillPruneNavMesh(navMesh, [nearestPolyResult.nearestRef]);
+ * ```
+ */
+export declare const floodFillPruneNavMesh: (navMesh: NavMesh, startPolyRefs: number[]) => void;

package/package.json

@@ -6,7 +6,7 @@
     "email": "isaac@isaacmason.com",
     "url": "https://isaacmason.com/"
   },
-  "version": "0.38.0",
+  "version": "0.40.0",
   "license": "MIT",
   "homepage": "https://github.com/isaac-mason/recast-navigation-js",
   "bugs": {
@@ -27,7 +27,7 @@
     "lint": "eslint src"
   },
   "dependencies": {
-    "@recast-navigation/wasm": "0.38.0"
+    "@recast-navigation/wasm": "0.40.0"
   },
   "devDependencies": {
     "@babel/core": "^7.24.5",
@@ -38,7 +38,6 @@
     "@rollup/plugin-commonjs": "^25.0.7",
     "@rollup/plugin-node-resolve": "^15.0.1",
     "@rollup/plugin-typescript": "^11.1.6",
-    "@types/three": "^0.169.0",
     "babel-loader": "^9.1.3",
     "eslint": "^9.6.0",
     "prettier": "^3.1.0",