@recast-navigation/generators 0.21.0 → 0.23.0

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Files changed (4) hide show
  1. package/dist/generators/generate-tile-cache.d.ts +2 -1
  2. package/dist/index.cjs.map +1 -1
  3. package/dist/index.mjs.map +1 -1
  4. package/package.json +3 -3
package/dist/generators/generate-tile-cache.d.ts CHANGED
@@ -1,6 +1,7 @@
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  import { NavMesh, RecastBuildContext, RecastChunkyTriMesh, RecastCompactHeightfield, RecastConfig, RecastHeightfield, RecastHeightfieldLayerSet, TileCache, TileCacheMeshProcess } from '@recast-navigation/core';
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  import { Pretty } from '../types';
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- export type TileCacheGeneratorConfig = Pretty<RecastConfig & {
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+ type TileCacheRecastConfig = Omit<RecastConfig, 'minRegionArea' | 'maxEdgeLen'>;
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+ export type TileCacheGeneratorConfig = Pretty<TileCacheRecastConfig & {
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  /**
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  * How many layers (or "floors") each navmesh tile is expected to have.
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  */
package/dist/index.cjs.map CHANGED
@@ -1 +1 @@
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- {"version":3,"file":"index.cjs","sources":["../src/generators/common.ts","../src/generators/generate-solo-nav-mesh.ts","../src/generators/generate-tile-cache.ts","../src/generators/generate-tiled-nav-mesh.ts"],"sourcesContent":["import { OffMeshConnectionParams, vec3 } from '@recast-navigation/core';\n\nexport const getBoundingBox = (\n positions: ArrayLike<number>,\n indices: ArrayLike<number>\n) => {\n const bbMin = { x: Infinity, y: Infinity, z: Infinity };\n const bbMax = { x: -Infinity, y: -Infinity, z: -Infinity };\n\n for (let i = 0; i < indices.length; i++) {\n const ind = indices[i];\n\n const x = positions[ind * 3];\n const y = positions[ind * 3 + 1];\n const z = positions[ind * 3 + 2];\n\n bbMin.x = Math.min(bbMin.x, x);\n bbMin.y = Math.min(bbMin.y, y);\n bbMin.z = Math.min(bbMin.z, z);\n\n bbMax.x = Math.max(bbMax.x, x);\n bbMax.y = Math.max(bbMax.y, y);\n bbMax.z = Math.max(bbMax.z, z);\n }\n\n return {\n bbMin: vec3.toArray(bbMin),\n bbMax: vec3.toArray(bbMax),\n };\n};\n\nexport const dtIlog2 = (v: number) => {\n let r = 0;\n let shift = 0;\n\n r = Number(v > 0xffff) << 4;\n v >>= r;\n\n shift = Number(v > 0xff) << 3;\n v >>= shift;\n r |= shift;\n\n shift = Number(v > 0xf) << 2;\n v >>= shift;\n r |= shift;\n\n shift = Number(v > 0x3) << 1;\n v >>= shift;\n r |= shift;\n r |= v >> 1;\n\n return r;\n};\n\nexport const dtNextPow2 = (v: number) => {\n v--;\n v |= v >> 1;\n v |= v >> 2;\n v |= v >> 4;\n v |= v >> 8;\n v |= v >> 16;\n v++;\n return v;\n};\n\nexport type OffMeshConnectionGeneratorParams = {\n offMeshConnections?: OffMeshConnectionParams[];\n};\n","import {\n Arrays,\n NavMesh,\n NavMeshCreateParams,\n Raw,\n RecastBuildContext,\n RecastCompactHeightfield,\n RecastConfig,\n RecastContourSet,\n RecastHeightfield,\n allocCompactHeightfield,\n allocContourSet,\n allocHeightfield,\n allocPolyMesh,\n allocPolyMeshDetail,\n buildCompactHeightfield,\n buildContours,\n buildDistanceField,\n buildPolyMesh,\n buildPolyMeshDetail,\n buildRegions,\n calcGridSize,\n createHeightfield,\n createNavMeshData,\n createRcConfig,\n erodeWalkableArea,\n filterLedgeSpans,\n filterLowHangingWalkableObstacles,\n filterWalkableLowHeightSpans,\n freeCompactHeightfield,\n freeContourSet,\n freeHeightfield,\n markWalkableTriangles,\n rasterizeTriangles,\n recastConfigDefaults,\n} from '@recast-navigation/core';\nimport { Pretty } from '../types';\nimport { OffMeshConnectionGeneratorParams, getBoundingBox } from './common';\n\nexport type SoloNavMeshGeneratorConfig = Pretty<\n Omit<RecastConfig, 'tileSize'> & OffMeshConnectionGeneratorParams\n>;\n\nexport const soloNavMeshGeneratorConfigDefaults: SoloNavMeshGeneratorConfig = {\n ...recastConfigDefaults,\n};\n\nexport type SoloNavMeshGeneratorIntermediates = {\n type: 'solo';\n buildContext: RecastBuildContext;\n heightfield?: RecastHeightfield;\n compactHeightfield?: RecastCompactHeightfield;\n contourSet?: RecastContourSet;\n};\n\ntype SoloNavMeshGeneratorSuccessResult = {\n navMesh: NavMesh;\n success: true;\n intermediates: SoloNavMeshGeneratorIntermediates;\n};\n\ntype SoloNavMeshGeneratorFailResult = {\n navMesh: undefined;\n success: false;\n intermediates: SoloNavMeshGeneratorIntermediates;\n error: string;\n};\n\nexport type SoloNavMeshGeneratorResult =\n | SoloNavMeshGeneratorSuccessResult\n | SoloNavMeshGeneratorFailResult;\n\n/**\n * Builds a Solo NavMesh from the given positions and indices.\n * @param positions a flat array of positions\n * @param indices a flat array of indices\n * @param navMeshGeneratorConfig optional configuration for the NavMesh generator\n * @param keepIntermediates if true intermediates will be returned\n */\nexport const generateSoloNavMesh = (\n positions: ArrayLike<number>,\n indices: ArrayLike<number>,\n navMeshGeneratorConfig: Partial<SoloNavMeshGeneratorConfig> = {},\n keepIntermediates = false\n): SoloNavMeshGeneratorResult => {\n const buildContext = new RecastBuildContext();\n\n const intermediates: SoloNavMeshGeneratorIntermediates = {\n type: 'solo',\n buildContext,\n };\n\n const navMesh = new NavMesh();\n\n const cleanup = () => {\n if (keepIntermediates) return;\n\n if (intermediates.heightfield) {\n freeHeightfield(intermediates.heightfield);\n intermediates.heightfield = undefined;\n }\n if (intermediates.compactHeightfield) {\n freeCompactHeightfield(intermediates.compactHeightfield);\n intermediates.compactHeightfield = undefined;\n }\n if (intermediates.contourSet) {\n freeContourSet(intermediates.contourSet);\n intermediates.contourSet = undefined;\n }\n };\n\n const fail = (error: string): SoloNavMeshGeneratorFailResult => {\n cleanup();\n\n navMesh.destroy();\n\n return {\n navMesh: undefined,\n success: false,\n intermediates,\n error,\n };\n };\n\n const verts = positions as number[];\n const nVerts = indices.length;\n const vertsArray = new Arrays.VertsArray();\n vertsArray.copy(verts, verts.length);\n\n const tris = indices as number[];\n const nTris = indices.length / 3;\n const trisArray = new Arrays.TrisArray();\n trisArray.copy(tris, tris.length);\n\n const { bbMin, bbMax } = getBoundingBox(positions, indices);\n\n //\n // Step 1. Initialize build config.\n //\n const config = createRcConfig({\n ...soloNavMeshGeneratorConfigDefaults,\n ...navMeshGeneratorConfig,\n });\n\n config.minRegionArea = config.minRegionArea * config.minRegionArea; // Note: area = size*size\n config.mergeRegionArea = config.mergeRegionArea * config.mergeRegionArea; // Note: area = size*size\n config.detailSampleDist =\n config.detailSampleDist < 0.9 ? 0 : config.cs * config.detailSampleDist;\n config.detailSampleMaxError = config.ch * config.detailSampleMaxError;\n\n const gridSize = calcGridSize(bbMin, bbMax, config.cs);\n config.width = gridSize.width;\n config.height = gridSize.height;\n\n //\n // Step 2. Rasterize input polygon soup.\n //\n // Allocate voxel heightfield where we rasterize our input data to.\n const heightfield = allocHeightfield();\n intermediates.heightfield = heightfield;\n\n if (\n !createHeightfield(\n buildContext,\n heightfield,\n config.width,\n config.height,\n bbMin,\n bbMax,\n config.cs,\n config.ch\n )\n ) {\n return fail('Could not create heightfield');\n }\n\n // Find triangles which are walkable based on their slope and rasterize them.\n // If your input data is multiple meshes, you can transform them here, calculate\n // the are type for each of the meshes and rasterize them.\n const triAreasArray = new Arrays.TriAreasArray();\n triAreasArray.resize(nTris);\n\n markWalkableTriangles(\n buildContext,\n config.walkableSlopeAngle,\n vertsArray,\n nVerts,\n trisArray,\n nTris,\n triAreasArray\n );\n\n if (\n !rasterizeTriangles(\n buildContext,\n vertsArray,\n nVerts,\n trisArray,\n triAreasArray,\n nTris,\n heightfield,\n config.walkableClimb\n )\n ) {\n return fail('Could not rasterize triangles');\n }\n\n triAreasArray.free();\n\n //\n // Step 3. Filter walkables surfaces.\n //\n // Once all geoemtry is rasterized, we do initial pass of filtering to\n // remove unwanted overhangs caused by the conservative rasterization\n // as well as filter spans where the character cannot possibly stand.\n filterLowHangingWalkableObstacles(\n buildContext,\n config.walkableClimb,\n heightfield\n );\n filterLedgeSpans(\n buildContext,\n config.walkableHeight,\n config.walkableClimb,\n heightfield\n );\n filterWalkableLowHeightSpans(\n buildContext,\n config.walkableHeight,\n heightfield\n );\n\n //\n // Step 4. Partition walkable surface to simple regions.\n //\n // Compact the heightfield so that it is faster to handle from now on.\n // This will result more cache coherent data as well as the neighbours\n // between walkable cells will be calculated.\n const compactHeightfield = allocCompactHeightfield();\n intermediates.compactHeightfield = compactHeightfield;\n\n if (\n !buildCompactHeightfield(\n buildContext,\n config.walkableHeight,\n config.walkableClimb,\n heightfield,\n compactHeightfield\n )\n ) {\n return fail('Failed to build compact data');\n }\n\n if (!keepIntermediates) {\n freeHeightfield(heightfield);\n intermediates.heightfield = undefined;\n }\n\n // Erode the walkable area by agent radius.\n if (\n !erodeWalkableArea(buildContext, config.walkableRadius, compactHeightfield)\n ) {\n return fail('Failed to erode walkable area');\n }\n\n // (Optional) Mark areas\n // markConvexPolyArea(...)\n\n // Prepare for region partitioning, by calculating Distance field along the walkable surface.\n if (!buildDistanceField(buildContext, compactHeightfield)) {\n return fail('Failed to build distance field');\n }\n\n // Partition the walkable surface into simple regions without holes.\n if (\n !buildRegions(\n buildContext,\n compactHeightfield,\n config.borderSize,\n config.minRegionArea,\n config.mergeRegionArea\n )\n ) {\n return fail('Failed to build regions');\n }\n\n //\n // Step 5. Trace and simplify region contours.\n //\n const contourSet = allocContourSet();\n intermediates.contourSet = contourSet;\n\n if (\n !buildContours(\n buildContext,\n compactHeightfield,\n config.maxSimplificationError,\n config.maxEdgeLen,\n contourSet,\n Raw.Module.RC_CONTOUR_TESS_WALL_EDGES\n )\n ) {\n return fail('Failed to create contours');\n }\n\n //\n // Step 6. Build polygons mesh from contours.\n //\n const polyMesh = allocPolyMesh();\n if (\n !buildPolyMesh(buildContext, contourSet, config.maxVertsPerPoly, polyMesh)\n ) {\n return fail('Failed to triangulate contours');\n }\n\n //\n // Step 7. Create detail mesh which allows to access approximate height on each polygon.\n //\n const polyMeshDetail = allocPolyMeshDetail();\n if (\n !buildPolyMeshDetail(\n buildContext,\n polyMesh,\n compactHeightfield,\n config.detailSampleDist,\n config.detailSampleMaxError,\n polyMeshDetail\n )\n ) {\n return fail('Failed to build detail mesh');\n }\n\n if (!keepIntermediates) {\n freeCompactHeightfield(compactHeightfield);\n intermediates.compactHeightfield = undefined;\n\n freeContourSet(contourSet);\n intermediates.contourSet = undefined;\n }\n\n //\n // Step 8. Create Detour data from Recast poly mesh.\n //\n for (let i = 0; i < polyMesh.npolys(); i++) {\n if (polyMesh.areas(i) == Raw.Recast.WALKABLE_AREA) {\n polyMesh.setAreas(i, 0);\n }\n if (polyMesh.areas(i) == 0) {\n polyMesh.setFlags(i, 1);\n }\n }\n\n const navMeshCreateParams = new NavMeshCreateParams();\n\n navMeshCreateParams.setPolyMeshCreateParams(polyMesh);\n navMeshCreateParams.setPolyMeshDetailCreateParams(polyMeshDetail);\n\n navMeshCreateParams.setWalkableHeight(config.walkableHeight);\n navMeshCreateParams.setWalkableRadius(config.walkableRadius);\n navMeshCreateParams.setWalkableClimb(config.walkableClimb);\n\n navMeshCreateParams.setCellSize(config.cs);\n navMeshCreateParams.setCellHeight(config.ch);\n\n navMeshCreateParams.setBuildBvTree(true);\n\n if (navMeshGeneratorConfig.offMeshConnections) {\n navMeshCreateParams.setOffMeshConnections(\n navMeshGeneratorConfig.offMeshConnections\n );\n }\n\n const createNavMeshDataResult = createNavMeshData(navMeshCreateParams);\n\n if (!createNavMeshDataResult.success) {\n return fail('Failed to create Detour navmesh data');\n }\n\n const { navMeshData } = createNavMeshDataResult;\n\n if (!navMesh.initSolo(navMeshData)) {\n return fail('Failed to create Detour navmesh');\n }\n\n return {\n success: true,\n navMesh,\n intermediates,\n };\n};\n","import {\n Arrays,\n DetourTileCacheParams,\n NavMesh,\n NavMeshParams,\n Raw,\n RecastBuildContext,\n RecastChunkyTriMesh,\n RecastCompactHeightfield,\n RecastConfig,\n RecastHeightfield,\n RecastHeightfieldLayerSet,\n TileCache,\n TileCacheMeshProcess,\n Vector2Tuple,\n Vector3Tuple,\n allocCompactHeightfield,\n allocHeightfield,\n allocHeightfieldLayerSet,\n buildCompactHeightfield,\n buildHeightfieldLayers,\n buildTileCacheLayer,\n calcGridSize,\n cloneRcConfig,\n createHeightfield,\n createRcConfig,\n erodeWalkableArea,\n filterLedgeSpans,\n filterLowHangingWalkableObstacles,\n filterWalkableLowHeightSpans,\n freeCompactHeightfield,\n freeHeightfield,\n freeHeightfieldLayerSet,\n getHeightfieldLayerAreas,\n getHeightfieldLayerCons,\n getHeightfieldLayerHeights,\n markWalkableTriangles,\n rasterizeTriangles,\n recastConfigDefaults,\n vec3,\n} from '@recast-navigation/core';\nimport type R from '@recast-navigation/wasm';\nimport { Pretty } from '../types';\nimport { dtIlog2, dtNextPow2, getBoundingBox } from './common';\n\nexport type TileCacheGeneratorConfig = Pretty<\n RecastConfig & {\n /**\n * How many layers (or \"floors\") each navmesh tile is expected to have.\n */\n expectedLayersPerTile: number;\n\n /**\n * The max number of obstacles\n */\n maxObstacles: number;\n\n /**\n * The tile cache mesh process implementation.\n * If not provided, a default one is created via `createDefaultTileCacheMeshProcess()`\n * @default createDefaultTileCacheMeshProcess()\n */\n tileCacheMeshProcess?: TileCacheMeshProcess;\n }\n>;\n\nexport const tileCacheGeneratorConfigDefaults: TileCacheGeneratorConfig = {\n ...recastConfigDefaults,\n tileSize: 32,\n expectedLayersPerTile: 4,\n maxObstacles: 128,\n};\n\nexport type TileCacheGeneratorTileIntermediates = {\n tileX: number;\n tileY: number;\n heightfield?: RecastHeightfield;\n compactHeightfield?: RecastCompactHeightfield;\n heightfieldLayerSet?: RecastHeightfieldLayerSet;\n};\n\nexport type TileCacheGeneratorIntermediates = {\n type: 'tilecache';\n buildContext: RecastBuildContext;\n chunkyTriMesh?: RecastChunkyTriMesh;\n tileIntermediates: TileCacheGeneratorTileIntermediates[];\n};\n\ntype TileCacheGeneratorSuccessResult = {\n tileCache: TileCache;\n navMesh: NavMesh;\n success: true;\n intermediates: TileCacheGeneratorIntermediates;\n};\n\ntype TileCacheGeneratorFailResult = {\n tileCache: undefined;\n navMesh: undefined;\n success: false;\n error: string;\n intermediates: TileCacheGeneratorIntermediates;\n};\n\nexport type TileCacheGeneratorResult =\n | TileCacheGeneratorSuccessResult\n | TileCacheGeneratorFailResult;\n\nexport const createDefaultTileCacheMeshProcess = () =>\n new TileCacheMeshProcess((navMeshCreateParams, polyAreas, polyFlags) => {\n for (let i = 0; i < navMeshCreateParams.polyCount(); ++i) {\n polyAreas.set(i, 0);\n polyFlags.set(i, 1);\n }\n });\n\n/**\n * Builds a TileCache and NavMesh from the given positions and indices.\n * TileCache assumes small tiles (around 32-64 squared) and does some tricks to make the update fast.\n * @param positions a flat array of positions\n * @param indices a flat array of indices\n * @param navMeshConfig optional configuration for the NavMesh\n * @param keepIntermediates if true intermediates will be returned\n */\nexport const generateTileCache = (\n positions: ArrayLike<number>,\n indices: ArrayLike<number>,\n navMeshGeneratorConfig: Partial<TileCacheGeneratorConfig> = {},\n keepIntermediates = false\n): TileCacheGeneratorResult => {\n const buildContext = new RecastBuildContext();\n\n const intermediates: TileCacheGeneratorIntermediates = {\n type: 'tilecache',\n buildContext,\n chunkyTriMesh: undefined,\n tileIntermediates: [],\n };\n\n const tileCache = new TileCache();\n const navMesh = new NavMesh();\n\n const cleanup = () => {\n if (!keepIntermediates) {\n for (let i = 0; i < intermediates.tileIntermediates.length; i++) {\n const tileIntermediate = intermediates.tileIntermediates[i];\n\n if (tileIntermediate.heightfield) {\n freeHeightfield(tileIntermediate.heightfield);\n tileIntermediate.heightfield = undefined;\n }\n\n if (tileIntermediate.compactHeightfield) {\n freeCompactHeightfield(tileIntermediate.compactHeightfield);\n tileIntermediate.compactHeightfield = undefined;\n }\n\n if (tileIntermediate.heightfieldLayerSet) {\n freeHeightfieldLayerSet(tileIntermediate.heightfieldLayerSet);\n tileIntermediate.heightfieldLayerSet = undefined;\n }\n }\n }\n };\n\n const fail = (error: string): TileCacheGeneratorFailResult => {\n cleanup();\n\n tileCache.destroy();\n navMesh.destroy();\n\n return {\n success: false,\n navMesh: undefined,\n tileCache: undefined,\n intermediates,\n error,\n };\n };\n\n const verts = positions as number[];\n const nVerts = indices.length;\n const vertsArray = new Arrays.VertsArray();\n vertsArray.copy(verts, verts.length);\n\n const tris = indices as number[];\n const nTris = indices.length / 3;\n const trisArray = new Arrays.TrisArray();\n trisArray.copy(tris, tris.length);\n\n const { bbMin, bbMax } = getBoundingBox(positions, indices);\n\n const { expectedLayersPerTile, maxObstacles, ...recastConfig } = {\n ...tileCacheGeneratorConfigDefaults,\n ...navMeshGeneratorConfig,\n };\n\n //\n // Step 1. Initialize build config.\n //\n const config = createRcConfig(recastConfig);\n\n const gridSize = calcGridSize(bbMin, bbMax, config.cs);\n config.width = gridSize.width;\n config.height = gridSize.height;\n\n config.minRegionArea = config.minRegionArea * config.minRegionArea; // Note: area = size*size\n config.mergeRegionArea = config.mergeRegionArea * config.mergeRegionArea; // Note: area = size*size\n config.detailSampleDist =\n config.detailSampleDist < 0.9 ? 0 : config.cs * config.detailSampleDist;\n config.detailSampleMaxError = config.ch * config.detailSampleMaxError;\n\n const tileSize = Math.floor(config.tileSize);\n const tileWidth = Math.floor((config.width + tileSize - 1) / tileSize);\n const tileHeight = Math.floor((config.height + tileSize - 1) / tileSize);\n\n // Generation params\n config.borderSize = config.walkableRadius + 3; // Reserve enough padding.\n config.width = config.tileSize + config.borderSize * 2;\n config.height = config.tileSize + config.borderSize * 2;\n\n // Tile cache params\n const tileCacheParams = DetourTileCacheParams.create({\n orig: bbMin,\n cs: config.cs,\n ch: config.ch,\n width: config.tileSize,\n height: config.tileSize,\n walkableHeight: config.walkableHeight,\n walkableRadius: config.walkableRadius,\n walkableClimb: config.walkableClimb,\n maxSimplificationError: config.maxSimplificationError,\n maxTiles: tileWidth * tileHeight * expectedLayersPerTile,\n maxObstacles,\n });\n\n const allocator = new Raw.RecastLinearAllocator(32000);\n const compressor = new Raw.RecastFastLZCompressor();\n\n const tileCacheMeshProcess =\n navMeshGeneratorConfig.tileCacheMeshProcess ??\n createDefaultTileCacheMeshProcess();\n\n if (\n !tileCache.init(\n tileCacheParams,\n allocator,\n compressor,\n tileCacheMeshProcess\n )\n ) {\n return fail('Failed to initialize tile cache');\n }\n\n const orig = vec3.fromArray(bbMin);\n\n // Max tiles and max polys affect how the tile IDs are caculated.\n // There are 22 bits available for identifying a tile and a polygon.\n let tileBits = Math.min(\n Math.floor(\n dtIlog2(dtNextPow2(tileWidth * tileHeight * expectedLayersPerTile))\n ),\n 14\n );\n if (tileBits > 14) {\n tileBits = 14;\n }\n const polyBits = 22 - tileBits;\n\n const maxTiles = 1 << tileBits;\n const maxPolysPerTile = 1 << polyBits;\n\n const navMeshParams = NavMeshParams.create({\n orig,\n tileWidth: config.tileSize * config.cs,\n tileHeight: config.tileSize * config.cs,\n maxTiles,\n maxPolys: maxPolysPerTile,\n });\n\n if (!navMesh.initTiled(navMeshParams)) {\n return fail('Failed to initialize tiled navmesh');\n }\n\n const chunkyTriMesh = new RecastChunkyTriMesh();\n intermediates.chunkyTriMesh = chunkyTriMesh;\n\n if (!chunkyTriMesh.init(vertsArray, trisArray, nTris, 256)) {\n return fail('Failed to build chunky triangle mesh');\n }\n\n const rasterizeTileLayers = (tileX: number, tileY: number) => {\n // Tile intermediates\n const tileIntermediates: TileCacheGeneratorTileIntermediates = {\n tileX,\n tileY,\n };\n\n // Tile bounds\n const tcs = config.tileSize * config.cs;\n\n const tileConfig = cloneRcConfig(config);\n\n const tileBoundsMin: Vector3Tuple = [\n bbMin[0] + tileX * tcs,\n bbMin[1],\n bbMin[2] + tileY * tcs,\n ];\n\n const tileBoundsMax: Vector3Tuple = [\n bbMin[0] + (tileX + 1) * tcs,\n bbMax[1],\n bbMin[2] + (tileY + 1) * tcs,\n ];\n\n tileBoundsMin[0] -= tileConfig.borderSize * tileConfig.cs;\n tileBoundsMin[2] -= tileConfig.borderSize * tileConfig.cs;\n tileBoundsMax[0] += tileConfig.borderSize * tileConfig.cs;\n tileBoundsMax[2] += tileConfig.borderSize * tileConfig.cs;\n\n tileConfig.set_bmin(0, tileBoundsMin[0]);\n tileConfig.set_bmin(1, tileBoundsMin[1]);\n tileConfig.set_bmin(2, tileBoundsMin[2]);\n\n tileConfig.set_bmax(0, tileBoundsMax[0]);\n tileConfig.set_bmax(1, tileBoundsMax[1]);\n tileConfig.set_bmax(2, tileBoundsMax[2]);\n\n // Allocate voxel heightfield where we rasterize our input data to.\n const heightfield = allocHeightfield();\n tileIntermediates.heightfield = heightfield;\n\n if (\n !createHeightfield(\n buildContext,\n heightfield,\n tileConfig.width,\n tileConfig.height,\n tileBoundsMin,\n tileBoundsMax,\n tileConfig.cs,\n tileConfig.ch\n )\n ) {\n return { n: 0 };\n }\n\n const tbmin: Vector2Tuple = [tileBoundsMin[0], tileBoundsMin[2]];\n const tbmax: Vector2Tuple = [tileBoundsMax[0], tileBoundsMax[2]];\n\n // TODO: Make grow when returning too many items.\n const maxChunkIds = 512;\n const chunkIdsArray = new Arrays.ChunkIdsArray();\n chunkIdsArray.resize(maxChunkIds);\n\n const nChunksOverlapping = chunkyTriMesh.getChunksOverlappingRect(\n tbmin,\n tbmax,\n chunkIdsArray,\n maxChunkIds\n );\n\n if (nChunksOverlapping === 0) {\n return { n: 0 };\n }\n\n for (let i = 0; i < nChunksOverlapping; ++i) {\n const nodeId = chunkIdsArray.get_data(i);\n const node = chunkyTriMesh.nodes(nodeId);\n const nNodeTris = node.n;\n\n const nodeTrisArray = chunkyTriMesh.getNodeTris(nodeId);\n\n const triAreasArray = new Arrays.TriAreasArray();\n triAreasArray.resize(nNodeTris);\n\n // Find triangles which are walkable based on their slope and rasterize them.\n // If your input data is multiple meshes, you can transform them here, calculate\n // the are type for each of the meshes and rasterize them.\n markWalkableTriangles(\n buildContext,\n tileConfig.walkableSlopeAngle,\n vertsArray,\n nVerts,\n nodeTrisArray,\n nNodeTris,\n triAreasArray\n );\n\n const success = rasterizeTriangles(\n buildContext,\n vertsArray,\n nVerts,\n nodeTrisArray,\n triAreasArray,\n nNodeTris,\n heightfield,\n tileConfig.walkableClimb\n );\n\n triAreasArray.free();\n\n if (!success) {\n return { n: 0 };\n }\n }\n\n // Once all geometry is rasterized, we do initial pass of filtering to\n // remove unwanted overhangs caused by the conservative rasterization\n // as well as filter spans where the character cannot possibly stand.\n filterLowHangingWalkableObstacles(\n buildContext,\n config.walkableClimb,\n heightfield\n );\n filterLedgeSpans(\n buildContext,\n config.walkableHeight,\n config.walkableClimb,\n heightfield\n );\n filterWalkableLowHeightSpans(\n buildContext,\n config.walkableHeight,\n heightfield\n );\n\n const compactHeightfield = allocCompactHeightfield();\n if (\n !buildCompactHeightfield(\n buildContext,\n config.walkableHeight,\n config.walkableClimb,\n heightfield,\n compactHeightfield\n )\n ) {\n return { n: 0 };\n }\n\n if (!keepIntermediates) {\n freeHeightfield(tileIntermediates.heightfield);\n tileIntermediates.heightfield = undefined;\n }\n\n // Erode the walkable area by agent radius\n if (\n !erodeWalkableArea(\n buildContext,\n config.walkableRadius,\n compactHeightfield\n )\n ) {\n return { n: 0 };\n }\n\n const heightfieldLayerSet = allocHeightfieldLayerSet();\n if (\n !buildHeightfieldLayers(\n buildContext,\n compactHeightfield,\n config.borderSize,\n config.walkableHeight,\n heightfieldLayerSet\n )\n ) {\n return { n: 0 };\n }\n\n if (!keepIntermediates) {\n freeCompactHeightfield(compactHeightfield);\n tileIntermediates.compactHeightfield = undefined;\n }\n\n const tiles: R.UnsignedCharArray[] = [];\n\n for (let i = 0; i < heightfieldLayerSet.nlayers(); i++) {\n const tile = new Arrays.TileCacheData();\n const heightfieldLayer = heightfieldLayerSet.layers(i);\n\n // Store header\n const header = new Raw.dtTileCacheLayerHeader();\n header.magic = Raw.Detour.TILECACHE_MAGIC;\n header.version = Raw.Detour.TILECACHE_VERSION;\n\n // Tile layer location in the navmesh\n header.tx = tileX;\n header.ty = tileY;\n header.tlayer = i;\n\n const heightfieldLayerBin = heightfieldLayer.bmin();\n const heightfieldLayerBmax = heightfieldLayer.bmax();\n header.set_bmin(0, heightfieldLayerBin.x);\n header.set_bmin(1, heightfieldLayerBin.y);\n header.set_bmin(2, heightfieldLayerBin.z);\n\n header.set_bmax(0, heightfieldLayerBmax.x);\n header.set_bmax(1, heightfieldLayerBmax.y);\n header.set_bmax(2, heightfieldLayerBmax.z);\n\n // Tile info\n header.width = heightfieldLayer.width();\n header.height = heightfieldLayer.height();\n header.minx = heightfieldLayer.minx();\n header.maxx = heightfieldLayer.maxx();\n header.miny = heightfieldLayer.miny();\n header.maxy = heightfieldLayer.maxy();\n header.hmin = heightfieldLayer.hmin();\n header.hmax = heightfieldLayer.hmax();\n\n const heights = getHeightfieldLayerHeights(heightfieldLayer);\n const areas = getHeightfieldLayerAreas(heightfieldLayer);\n const cons = getHeightfieldLayerCons(heightfieldLayer);\n\n const status = buildTileCacheLayer(\n compressor,\n header,\n heights,\n areas,\n cons,\n tile\n );\n\n if (Raw.Detour.statusFailed(status)) {\n return { n: 0 };\n }\n\n tiles.push(tile);\n }\n\n if (!keepIntermediates) {\n freeHeightfieldLayerSet(heightfieldLayerSet);\n tileIntermediates.heightfieldLayerSet = undefined;\n }\n\n intermediates.tileIntermediates.push(tileIntermediates);\n\n return { n: tiles.length, tiles };\n };\n\n // Preprocess tiles\n for (let y = 0; y < tileHeight; ++y) {\n for (let x = 0; x < tileWidth; ++x) {\n const { n, tiles: newTiles } = rasterizeTileLayers(x, y);\n\n if (n > 0 && newTiles) {\n for (let i = 0; i < n; i++) {\n const tileCacheData = newTiles[i];\n\n const addResult = tileCache.addTile(tileCacheData);\n\n if (Raw.Detour.statusFailed(addResult.status)) {\n buildContext.log(\n Raw.Module.RC_LOG_WARNING,\n `Failed to add tile to tile cache - tx: ${x}, ty: ${y}`\n );\n continue;\n }\n }\n }\n }\n }\n\n // Build initial meshes\n for (let y = 0; y < tileHeight; y++) {\n for (let x = 0; x < tileWidth; x++) {\n const dtStatus = tileCache.buildNavMeshTilesAt(x, y, navMesh);\n\n if (Raw.Detour.statusFailed(dtStatus)) {\n return fail(`Failed to build nav mesh tiles at ${x}, ${y}`);\n }\n }\n }\n\n cleanup();\n\n return {\n success: true,\n tileCache,\n navMesh,\n intermediates,\n };\n};\n","import {\n Arrays,\n NavMesh,\n NavMeshCreateParams,\n NavMeshParams,\n Raw,\n RecastBuildContext,\n RecastChunkyTriMesh,\n RecastCompactHeightfield,\n RecastConfig,\n RecastContourSet,\n RecastHeightfield,\n Vector2Tuple,\n Vector3Tuple,\n allocCompactHeightfield,\n allocContourSet,\n allocHeightfield,\n allocPolyMesh,\n allocPolyMeshDetail,\n buildCompactHeightfield,\n buildContours,\n buildDistanceField,\n buildPolyMesh,\n buildPolyMeshDetail,\n buildRegions,\n calcGridSize,\n cloneRcConfig,\n createHeightfield,\n createNavMeshData,\n createRcConfig,\n statusToReadableString,\n erodeWalkableArea,\n filterLedgeSpans,\n filterLowHangingWalkableObstacles,\n filterWalkableLowHeightSpans,\n freeCompactHeightfield,\n freeContourSet,\n freeHeightfield,\n markWalkableTriangles,\n rasterizeTriangles,\n recastConfigDefaults,\n vec3,\n} from '@recast-navigation/core';\nimport type R from '@recast-navigation/wasm';\nimport { Pretty } from '../types';\nimport {\n OffMeshConnectionGeneratorParams,\n dtIlog2,\n dtNextPow2,\n getBoundingBox,\n} from './common';\n\nexport type TiledNavMeshGeneratorConfig = Pretty<\n RecastConfig & OffMeshConnectionGeneratorParams\n>;\n\nexport const tiledNavMeshGeneratorConfigDefaults: TiledNavMeshGeneratorConfig =\n {\n ...recastConfigDefaults,\n };\n\nexport type TiledNavMeshGeneratorIntermediates = {\n type: 'tiled';\n buildContext: RecastBuildContext;\n chunkyTriMesh?: RecastChunkyTriMesh;\n tileIntermediates: {\n tileX: number;\n tileY: number;\n heightfield?: RecastHeightfield;\n compactHeightfield?: RecastCompactHeightfield;\n contourSet?: RecastContourSet;\n }[];\n};\n\ntype TiledNavMeshGeneratorSuccessResult = {\n navMesh: NavMesh;\n success: true;\n intermediates: TiledNavMeshGeneratorIntermediates;\n};\n\ntype TiledNavMeshGeneratorFailResult = {\n navMesh: undefined;\n success: false;\n intermediates: TiledNavMeshGeneratorIntermediates;\n error: string;\n};\n\nexport type TiledNavMeshGeneratorResult =\n | TiledNavMeshGeneratorSuccessResult\n | TiledNavMeshGeneratorFailResult;\n\n/**\n * Builds a Tiled NavMesh\n * @param positions a flat array of positions\n * @param indices a flat array of indices\n * @param navMeshGeneratorConfig optional configuration for the NavMesh generator\n * @param keepIntermediates if true intermediates will be returned\n */\nexport const generateTiledNavMesh = (\n positions: ArrayLike<number>,\n indices: ArrayLike<number>,\n navMeshGeneratorConfig: Partial<TiledNavMeshGeneratorConfig> = {},\n keepIntermediates = false\n): TiledNavMeshGeneratorResult => {\n const buildContext = new RecastBuildContext();\n\n const intermediates: TiledNavMeshGeneratorIntermediates = {\n type: 'tiled',\n buildContext,\n chunkyTriMesh: undefined,\n tileIntermediates: [],\n };\n\n const navMesh = new NavMesh();\n\n const cleanup = () => {\n if (keepIntermediates) return;\n\n for (let i = 0; i < intermediates.tileIntermediates.length; i++) {\n const tileIntermediate = intermediates.tileIntermediates[i];\n\n if (tileIntermediate.compactHeightfield) {\n freeCompactHeightfield(tileIntermediate.compactHeightfield);\n }\n\n if (tileIntermediate.heightfield) {\n freeHeightfield(tileIntermediate.heightfield);\n }\n\n if (tileIntermediate.contourSet) {\n freeContourSet(tileIntermediate.contourSet);\n }\n }\n\n if (intermediates.chunkyTriMesh) {\n intermediates.chunkyTriMesh = undefined;\n }\n };\n\n const fail = (error: string): TiledNavMeshGeneratorFailResult => {\n cleanup();\n\n navMesh.destroy();\n\n return {\n success: false,\n navMesh: undefined,\n intermediates,\n error,\n };\n };\n\n //\n // Initialize build config.\n //\n const config = createRcConfig({\n ...tiledNavMeshGeneratorConfigDefaults,\n ...navMeshGeneratorConfig,\n });\n\n /* get input bounding box */\n const { bbMin, bbMax } = getBoundingBox(positions, indices);\n\n /* grid size */\n const gridSize = calcGridSize(bbMin, bbMax, config.cs);\n config.width = gridSize.width;\n config.height = gridSize.height;\n\n config.minRegionArea = config.minRegionArea * config.minRegionArea; // Note: area = size*size\n config.mergeRegionArea = config.mergeRegionArea * config.mergeRegionArea; // Note: area = size*size\n config.tileSize = Math.floor(config.tileSize);\n config.borderSize = config.walkableRadius + 3; // Reserve enough padding.\n config.width = config.tileSize + config.borderSize * 2;\n config.height = config.tileSize + config.borderSize * 2;\n config.detailSampleDist =\n config.detailSampleDist < 0.9 ? 0 : config.cs * config.detailSampleDist;\n config.detailSampleMaxError = config.ch * config.detailSampleMaxError;\n\n // tile size\n const tileSize = Math.floor(config.tileSize);\n const tileWidth = Math.floor((gridSize.width + tileSize - 1) / tileSize);\n const tileHeight = Math.floor((gridSize.height + tileSize - 1) / tileSize);\n const tcs = config.tileSize * config.cs;\n\n /* verts */\n const verts = positions as number[];\n const nVerts = indices.length;\n const vertsArray = new Arrays.VertsArray();\n vertsArray.copy(verts, verts.length);\n\n /* tris */\n const tris = indices as number[];\n const nTris = indices.length / 3;\n const trisArray = new Arrays.TrisArray();\n trisArray.copy(tris, tris.length);\n\n /* Create dtNavMeshParams, initialise nav mesh for tiled use */\n const orig = vec3.fromArray(bbMin);\n\n // Max tiles and max polys affect how the tile IDs are caculated.\n // There are 22 bits available for identifying a tile and a polygon.\n let tileBits = Math.min(\n Math.floor(dtIlog2(dtNextPow2(tileWidth * tileHeight))),\n 14\n );\n if (tileBits > 14) tileBits = 14;\n const polyBits = 22 - tileBits;\n\n const maxTiles = 1 << tileBits;\n const maxPolysPerTile = 1 << polyBits;\n\n const navMeshParams = NavMeshParams.create({\n orig,\n tileWidth: config.tileSize * config.cs,\n tileHeight: config.tileSize * config.cs,\n maxTiles,\n maxPolys: maxPolysPerTile,\n });\n\n if (!navMesh.initTiled(navMeshParams)) {\n return fail('Could not init nav mesh for tiled use');\n }\n\n /* create chunky tri mesh */\n const chunkyTriMesh = new RecastChunkyTriMesh();\n intermediates.chunkyTriMesh = chunkyTriMesh;\n\n if (!chunkyTriMesh.init(vertsArray, trisArray, nTris, 256)) {\n return fail('Failed to build chunky triangle mesh');\n }\n\n /** @internal */\n const buildTileMesh = (\n tileX: number,\n tileY: number,\n tileBoundsMin: Vector3Tuple,\n tileBoundsMax: Vector3Tuple\n ):\n | { success: true; data?: R.UnsignedCharArray }\n | { success: false; error: string } => {\n const failTileMesh = (error: string) => {\n buildContext.log(Raw.Module.RC_LOG_ERROR, error);\n\n return { success: false as const, error };\n };\n\n const tileIntermediate: {\n tileX: number;\n tileY: number;\n heightfield?: RecastHeightfield;\n compactHeightfield?: RecastCompactHeightfield;\n contourSet?: RecastContourSet;\n } = { tileX, tileY };\n\n intermediates.tileIntermediates.push(tileIntermediate);\n\n const tileConfig = cloneRcConfig(config);\n\n // Expand the heightfield bounding box by border size to find the extents of geometry we need to build this tile.\n //\n // This is done in order to make sure that the navmesh tiles connect correctly at the borders,\n // and the obstacles close to the border work correctly with the dilation process.\n // No polygons (or contours) will be created on the border area.\n //\n // IMPORTANT!\n //\n // :''''''''':\n // : +-----+ :\n // : | | :\n // : | |<--- tile to build\n // : | | :\n // : +-----+ :<-- geometry needed\n // :.........:\n //\n // You should use this bounding box to query your input geometry.\n //\n // For example if you build a navmesh for terrain, and want the navmesh tiles to match the terrain tile size\n // you will need to pass in data from neighbour terrain tiles too! In a simple case, just pass in all the 8 neighbours,\n // or use the bounding box below to only pass in a sliver of each of the 8 neighbours.\n\n const expandedTileBoundsMin = [...tileBoundsMin] as Vector3Tuple;\n const expandedTileBoundsMax = [...tileBoundsMax] as Vector3Tuple;\n\n expandedTileBoundsMin[0] -= tileConfig.borderSize * tileConfig.cs;\n expandedTileBoundsMin[2] -= tileConfig.borderSize * tileConfig.cs;\n\n expandedTileBoundsMax[0] += tileConfig.borderSize * tileConfig.cs;\n expandedTileBoundsMax[2] += tileConfig.borderSize * tileConfig.cs;\n\n tileConfig.set_bmin(0, expandedTileBoundsMin[0]);\n tileConfig.set_bmin(1, expandedTileBoundsMin[1]);\n tileConfig.set_bmin(2, expandedTileBoundsMin[2]);\n\n tileConfig.set_bmax(0, expandedTileBoundsMax[0]);\n tileConfig.set_bmax(1, expandedTileBoundsMax[1]);\n tileConfig.set_bmax(2, expandedTileBoundsMax[2]);\n\n // Reset build timer\n buildContext.resetTimers();\n\n // Start the build process\n buildContext.startTimer(Raw.Module.RC_TIMER_TOTAL);\n\n buildContext.log(\n Raw.Module.RC_LOG_PROGRESS,\n `Building tile ${intermediates.tileIntermediates.length} at x: ${tileX}, y: ${tileY}`\n );\n buildContext.log(\n Raw.Module.RC_LOG_PROGRESS,\n ` - ${config.width} x ${config.height} cells`\n );\n buildContext.log(\n Raw.Module.RC_LOG_PROGRESS,\n ` - ${nVerts / 1000}fK verts, ${nTris / 1000}K tris`\n );\n\n // Allocate voxel heightfield where we rasterize our input data to.\n const heightfield = allocHeightfield();\n tileIntermediate.heightfield = heightfield;\n\n if (\n !createHeightfield(\n buildContext,\n heightfield,\n tileConfig.width,\n tileConfig.height,\n expandedTileBoundsMin,\n expandedTileBoundsMax,\n tileConfig.cs,\n tileConfig.ch\n )\n ) {\n return failTileMesh('Could not create heightfield');\n }\n\n // Allocate array that can hold triangle flags.\n // If you have multiple meshes you need to process, allocate\n // and array which can hold the max number of triangles you need to process.\n const triAreas = new Arrays.TriAreasArray();\n triAreas.resize(chunkyTriMesh.maxTrisPerChunk());\n\n const tbmin: Vector2Tuple = [\n expandedTileBoundsMin[0],\n expandedTileBoundsMin[2],\n ];\n const tbmax: Vector2Tuple = [\n expandedTileBoundsMax[0],\n expandedTileBoundsMax[2],\n ];\n\n // TODO: Make grow when returning too many items.\n const maxChunkIds = 512;\n const chunkIdsArray = new Arrays.ChunkIdsArray();\n chunkIdsArray.resize(maxChunkIds);\n\n const nChunksOverlapping = chunkyTriMesh.getChunksOverlappingRect(\n tbmin,\n tbmax,\n chunkIdsArray,\n maxChunkIds\n );\n\n if (nChunksOverlapping === 0) {\n return { success: true };\n }\n\n for (let i = 0; i < nChunksOverlapping; ++i) {\n const nodeId = chunkIdsArray.get_data(i);\n const node = chunkyTriMesh.nodes(nodeId);\n const nNodeTris = node.n;\n\n const nodeTrisArray = chunkyTriMesh.getNodeTris(nodeId);\n\n const triAreasArray = new Arrays.TriAreasArray();\n triAreasArray.resize(nNodeTris);\n\n // Find triangles which are walkable based on their slope and rasterize them.\n // If your input data is multiple meshes, you can transform them here, calculate\n // the are type for each of the meshes and rasterize them.\n markWalkableTriangles(\n buildContext,\n tileConfig.walkableSlopeAngle,\n vertsArray,\n nVerts,\n nodeTrisArray,\n nNodeTris,\n triAreasArray\n );\n\n const success = rasterizeTriangles(\n buildContext,\n vertsArray,\n nVerts,\n nodeTrisArray,\n triAreasArray,\n nNodeTris,\n heightfield,\n tileConfig.walkableClimb\n );\n\n triAreasArray.free();\n\n if (!success) {\n return failTileMesh('Could not rasterize triangles');\n }\n }\n\n // Once all geometry is rasterized, we do initial pass of filtering to\n // remove unwanted overhangs caused by the conservative rasterization\n // as well as filter spans where the character cannot possibly stand.\n filterLowHangingWalkableObstacles(\n buildContext,\n tileConfig.walkableClimb,\n heightfield\n );\n filterLedgeSpans(\n buildContext,\n tileConfig.walkableHeight,\n tileConfig.walkableClimb,\n heightfield\n );\n filterWalkableLowHeightSpans(\n buildContext,\n tileConfig.walkableHeight,\n heightfield\n );\n\n // Compact the heightfield so that it is faster to handle from now on.\n // This will result more cache coherent data as well as the neighbours\n // between walkable cells will be calculated.\n const compactHeightfield = allocCompactHeightfield();\n tileIntermediate.compactHeightfield = compactHeightfield;\n\n if (\n !buildCompactHeightfield(\n buildContext,\n tileConfig.walkableHeight,\n tileConfig.walkableClimb,\n heightfield,\n compactHeightfield\n )\n ) {\n return failTileMesh('Could not build compact heightfield');\n }\n\n if (!keepIntermediates) {\n freeHeightfield(tileIntermediate.heightfield);\n tileIntermediate.heightfield = undefined;\n }\n\n // Erode the walkable area by agent radius\n if (\n !erodeWalkableArea(\n buildContext,\n tileConfig.walkableRadius,\n compactHeightfield\n )\n ) {\n return failTileMesh('Could not erode walkable area');\n }\n\n // (Optional) Mark areas\n // markConvexPolyArea(...)\n\n // Prepare for region partitioning, by calculating Distance field along the walkable surface.\n if (!buildDistanceField(buildContext, compactHeightfield)) {\n return failTileMesh('Failed to build distance field');\n }\n\n // Partition the walkable surface into simple regions without holes.\n if (\n !buildRegions(\n buildContext,\n compactHeightfield,\n tileConfig.borderSize,\n tileConfig.minRegionArea,\n tileConfig.mergeRegionArea\n )\n ) {\n return failTileMesh('Failed to build regions');\n }\n\n //\n // Trace and simplify region contours.\n //\n const contourSet = allocContourSet();\n tileIntermediate.contourSet = contourSet;\n\n if (\n !buildContours(\n buildContext,\n compactHeightfield,\n tileConfig.maxSimplificationError,\n tileConfig.maxEdgeLen,\n contourSet,\n Raw.Module.RC_CONTOUR_TESS_WALL_EDGES\n )\n ) {\n return failTileMesh('Failed to create contours');\n }\n\n //\n // Build polygons mesh from contours.\n //\n const polyMesh = allocPolyMesh();\n if (\n !buildPolyMesh(\n buildContext,\n contourSet,\n tileConfig.maxVertsPerPoly,\n polyMesh\n )\n ) {\n return failTileMesh('Failed to triangulate contours');\n }\n\n //\n // Create detail mesh which allows to access approximate height on each polygon.\n //\n const polyMeshDetail = allocPolyMeshDetail();\n if (\n !buildPolyMeshDetail(\n buildContext,\n polyMesh,\n compactHeightfield,\n tileConfig.detailSampleDist,\n tileConfig.detailSampleMaxError,\n polyMeshDetail\n )\n ) {\n return failTileMesh('Failed to build detail mesh');\n }\n\n if (!keepIntermediates) {\n freeCompactHeightfield(compactHeightfield);\n tileIntermediate.compactHeightfield = undefined;\n\n freeContourSet(contourSet);\n tileIntermediate.contourSet = undefined;\n }\n\n // Update poly flags from areas.\n for (let i = 0; i < polyMesh.npolys(); i++) {\n if (polyMesh.areas(i) == Raw.Recast.WALKABLE_AREA) {\n polyMesh.setAreas(i, 0);\n }\n if (polyMesh.areas(i) == 0) {\n polyMesh.setFlags(i, 1);\n }\n }\n\n const navMeshCreateParams = new NavMeshCreateParams();\n\n navMeshCreateParams.setPolyMeshCreateParams(polyMesh);\n navMeshCreateParams.setPolyMeshDetailCreateParams(polyMeshDetail);\n\n navMeshCreateParams.setWalkableHeight(tileConfig.walkableHeight);\n navMeshCreateParams.setWalkableRadius(tileConfig.walkableRadius);\n navMeshCreateParams.setWalkableClimb(tileConfig.walkableClimb);\n\n navMeshCreateParams.setCellSize(tileConfig.cs);\n navMeshCreateParams.setCellHeight(tileConfig.ch);\n\n navMeshCreateParams.setBuildBvTree(true);\n\n if (navMeshGeneratorConfig.offMeshConnections) {\n navMeshCreateParams.setOffMeshConnections(\n navMeshGeneratorConfig.offMeshConnections\n );\n }\n\n navMeshCreateParams.setTileX(tileX);\n navMeshCreateParams.setTileY(tileY);\n\n const createNavMeshDataResult = createNavMeshData(navMeshCreateParams);\n\n if (!createNavMeshDataResult.success) {\n return failTileMesh('Failed to 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1
+ {"version":3,"file":"index.cjs","sources":["../src/generators/common.ts","../src/generators/generate-solo-nav-mesh.ts","../src/generators/generate-tile-cache.ts","../src/generators/generate-tiled-nav-mesh.ts"],"sourcesContent":["import { OffMeshConnectionParams, vec3 } from '@recast-navigation/core';\n\nexport const getBoundingBox = (\n positions: ArrayLike<number>,\n indices: ArrayLike<number>\n) => {\n const bbMin = { x: Infinity, y: Infinity, z: Infinity };\n const bbMax = { x: -Infinity, y: -Infinity, z: -Infinity };\n\n for (let i = 0; i < indices.length; i++) {\n const ind = indices[i];\n\n const x = positions[ind * 3];\n const y = positions[ind * 3 + 1];\n const z = positions[ind * 3 + 2];\n\n bbMin.x = Math.min(bbMin.x, x);\n bbMin.y = Math.min(bbMin.y, y);\n bbMin.z = Math.min(bbMin.z, z);\n\n bbMax.x = Math.max(bbMax.x, x);\n bbMax.y = Math.max(bbMax.y, y);\n bbMax.z = Math.max(bbMax.z, z);\n }\n\n return {\n bbMin: vec3.toArray(bbMin),\n bbMax: vec3.toArray(bbMax),\n };\n};\n\nexport const dtIlog2 = (v: number) => {\n let r = 0;\n let shift = 0;\n\n r = Number(v > 0xffff) << 4;\n v >>= r;\n\n shift = Number(v > 0xff) << 3;\n v >>= shift;\n r |= shift;\n\n shift = Number(v > 0xf) << 2;\n v >>= shift;\n r |= shift;\n\n shift = Number(v > 0x3) << 1;\n v >>= shift;\n r |= shift;\n r |= v >> 1;\n\n return r;\n};\n\nexport const dtNextPow2 = (v: number) => {\n v--;\n v |= v >> 1;\n v |= v >> 2;\n v |= v >> 4;\n v |= v >> 8;\n v |= v >> 16;\n v++;\n return v;\n};\n\nexport type OffMeshConnectionGeneratorParams = {\n offMeshConnections?: OffMeshConnectionParams[];\n};\n","import {\n Arrays,\n NavMesh,\n NavMeshCreateParams,\n Raw,\n RecastBuildContext,\n RecastCompactHeightfield,\n RecastConfig,\n RecastContourSet,\n RecastHeightfield,\n allocCompactHeightfield,\n allocContourSet,\n allocHeightfield,\n allocPolyMesh,\n allocPolyMeshDetail,\n buildCompactHeightfield,\n buildContours,\n buildDistanceField,\n buildPolyMesh,\n buildPolyMeshDetail,\n buildRegions,\n calcGridSize,\n createHeightfield,\n createNavMeshData,\n createRcConfig,\n erodeWalkableArea,\n filterLedgeSpans,\n filterLowHangingWalkableObstacles,\n filterWalkableLowHeightSpans,\n freeCompactHeightfield,\n freeContourSet,\n freeHeightfield,\n markWalkableTriangles,\n rasterizeTriangles,\n recastConfigDefaults,\n} from '@recast-navigation/core';\nimport { Pretty } from '../types';\nimport { OffMeshConnectionGeneratorParams, getBoundingBox } from './common';\n\nexport type SoloNavMeshGeneratorConfig = Pretty<\n Omit<RecastConfig, 'tileSize'> & OffMeshConnectionGeneratorParams\n>;\n\nexport const soloNavMeshGeneratorConfigDefaults: SoloNavMeshGeneratorConfig = {\n ...recastConfigDefaults,\n};\n\nexport type SoloNavMeshGeneratorIntermediates = {\n type: 'solo';\n buildContext: RecastBuildContext;\n heightfield?: RecastHeightfield;\n compactHeightfield?: RecastCompactHeightfield;\n contourSet?: RecastContourSet;\n};\n\ntype SoloNavMeshGeneratorSuccessResult = {\n navMesh: NavMesh;\n success: true;\n intermediates: SoloNavMeshGeneratorIntermediates;\n};\n\ntype SoloNavMeshGeneratorFailResult = {\n navMesh: undefined;\n success: false;\n intermediates: SoloNavMeshGeneratorIntermediates;\n error: string;\n};\n\nexport type SoloNavMeshGeneratorResult =\n | SoloNavMeshGeneratorSuccessResult\n | SoloNavMeshGeneratorFailResult;\n\n/**\n * Builds a Solo NavMesh from the given positions and indices.\n * @param positions a flat array of positions\n * @param indices a flat array of indices\n * @param navMeshGeneratorConfig optional configuration for the NavMesh generator\n * @param keepIntermediates if true intermediates will be returned\n */\nexport const generateSoloNavMesh = (\n positions: ArrayLike<number>,\n indices: ArrayLike<number>,\n navMeshGeneratorConfig: Partial<SoloNavMeshGeneratorConfig> = {},\n keepIntermediates = false\n): SoloNavMeshGeneratorResult => {\n const buildContext = new RecastBuildContext();\n\n const intermediates: SoloNavMeshGeneratorIntermediates = {\n type: 'solo',\n buildContext,\n };\n\n const navMesh = new NavMesh();\n\n const cleanup = () => {\n if (keepIntermediates) return;\n\n if (intermediates.heightfield) {\n freeHeightfield(intermediates.heightfield);\n intermediates.heightfield = undefined;\n }\n if (intermediates.compactHeightfield) {\n freeCompactHeightfield(intermediates.compactHeightfield);\n intermediates.compactHeightfield = undefined;\n }\n if (intermediates.contourSet) {\n freeContourSet(intermediates.contourSet);\n intermediates.contourSet = undefined;\n }\n };\n\n const fail = (error: string): SoloNavMeshGeneratorFailResult => {\n cleanup();\n\n navMesh.destroy();\n\n return {\n navMesh: undefined,\n success: false,\n intermediates,\n error,\n };\n };\n\n const verts = positions as number[];\n const nVerts = indices.length;\n const vertsArray = new Arrays.VertsArray();\n vertsArray.copy(verts, verts.length);\n\n const tris = indices as number[];\n const nTris = indices.length / 3;\n const trisArray = new Arrays.TrisArray();\n trisArray.copy(tris, tris.length);\n\n const { bbMin, bbMax } = getBoundingBox(positions, indices);\n\n //\n // Step 1. Initialize build config.\n //\n const config = createRcConfig({\n ...soloNavMeshGeneratorConfigDefaults,\n ...navMeshGeneratorConfig,\n });\n\n config.minRegionArea = config.minRegionArea * config.minRegionArea; // Note: area = size*size\n config.mergeRegionArea = config.mergeRegionArea * config.mergeRegionArea; // Note: area = size*size\n config.detailSampleDist =\n config.detailSampleDist < 0.9 ? 0 : config.cs * config.detailSampleDist;\n config.detailSampleMaxError = config.ch * config.detailSampleMaxError;\n\n const gridSize = calcGridSize(bbMin, bbMax, config.cs);\n config.width = gridSize.width;\n config.height = gridSize.height;\n\n //\n // Step 2. Rasterize input polygon soup.\n //\n // Allocate voxel heightfield where we rasterize our input data to.\n const heightfield = allocHeightfield();\n intermediates.heightfield = heightfield;\n\n if (\n !createHeightfield(\n buildContext,\n heightfield,\n config.width,\n config.height,\n bbMin,\n bbMax,\n config.cs,\n config.ch\n )\n ) {\n return fail('Could not create heightfield');\n }\n\n // Find triangles which are walkable based on their slope and rasterize them.\n // If your input data is multiple meshes, you can transform them here, calculate\n // the are type for each of the meshes and rasterize them.\n const triAreasArray = new Arrays.TriAreasArray();\n triAreasArray.resize(nTris);\n\n markWalkableTriangles(\n buildContext,\n config.walkableSlopeAngle,\n vertsArray,\n nVerts,\n trisArray,\n nTris,\n triAreasArray\n );\n\n if (\n !rasterizeTriangles(\n buildContext,\n vertsArray,\n nVerts,\n trisArray,\n triAreasArray,\n nTris,\n heightfield,\n config.walkableClimb\n )\n ) {\n return fail('Could not rasterize triangles');\n }\n\n triAreasArray.free();\n\n //\n // Step 3. Filter walkables surfaces.\n //\n // Once all geoemtry is rasterized, we do initial pass of filtering to\n // remove unwanted overhangs caused by the conservative rasterization\n // as well as filter spans where the character cannot possibly stand.\n filterLowHangingWalkableObstacles(\n buildContext,\n config.walkableClimb,\n heightfield\n );\n filterLedgeSpans(\n buildContext,\n config.walkableHeight,\n config.walkableClimb,\n heightfield\n );\n filterWalkableLowHeightSpans(\n buildContext,\n config.walkableHeight,\n heightfield\n );\n\n //\n // Step 4. Partition walkable surface to simple regions.\n //\n // Compact the heightfield so that it is faster to handle from now on.\n // This will result more cache coherent data as well as the neighbours\n // between walkable cells will be calculated.\n const compactHeightfield = allocCompactHeightfield();\n intermediates.compactHeightfield = compactHeightfield;\n\n if (\n !buildCompactHeightfield(\n buildContext,\n config.walkableHeight,\n config.walkableClimb,\n heightfield,\n compactHeightfield\n )\n ) {\n return fail('Failed to build compact data');\n }\n\n if (!keepIntermediates) {\n freeHeightfield(heightfield);\n intermediates.heightfield = undefined;\n }\n\n // Erode the walkable area by agent radius.\n if (\n !erodeWalkableArea(buildContext, config.walkableRadius, compactHeightfield)\n ) {\n return fail('Failed to erode walkable area');\n }\n\n // (Optional) Mark areas\n // markConvexPolyArea(...)\n\n // Prepare for region partitioning, by calculating Distance field along the walkable surface.\n if (!buildDistanceField(buildContext, compactHeightfield)) {\n return fail('Failed to build distance field');\n }\n\n // Partition the walkable surface into simple regions without holes.\n if (\n !buildRegions(\n buildContext,\n compactHeightfield,\n config.borderSize,\n config.minRegionArea,\n config.mergeRegionArea\n )\n ) {\n return fail('Failed to build regions');\n }\n\n //\n // Step 5. Trace and simplify region contours.\n //\n const contourSet = allocContourSet();\n intermediates.contourSet = contourSet;\n\n if (\n !buildContours(\n buildContext,\n compactHeightfield,\n config.maxSimplificationError,\n config.maxEdgeLen,\n contourSet,\n Raw.Module.RC_CONTOUR_TESS_WALL_EDGES\n )\n ) {\n return fail('Failed to create contours');\n }\n\n //\n // Step 6. Build polygons mesh from contours.\n //\n const polyMesh = allocPolyMesh();\n if (\n !buildPolyMesh(buildContext, contourSet, config.maxVertsPerPoly, polyMesh)\n ) {\n return fail('Failed to triangulate contours');\n }\n\n //\n // Step 7. Create detail mesh which allows to access approximate height on each polygon.\n //\n const polyMeshDetail = allocPolyMeshDetail();\n if (\n !buildPolyMeshDetail(\n buildContext,\n polyMesh,\n compactHeightfield,\n config.detailSampleDist,\n config.detailSampleMaxError,\n polyMeshDetail\n )\n ) {\n return fail('Failed to build detail mesh');\n }\n\n if (!keepIntermediates) {\n freeCompactHeightfield(compactHeightfield);\n intermediates.compactHeightfield = undefined;\n\n freeContourSet(contourSet);\n intermediates.contourSet = undefined;\n }\n\n //\n // Step 8. Create Detour data from Recast poly mesh.\n //\n for (let i = 0; i < polyMesh.npolys(); i++) {\n if (polyMesh.areas(i) == Raw.Recast.WALKABLE_AREA) {\n polyMesh.setAreas(i, 0);\n }\n if (polyMesh.areas(i) == 0) {\n polyMesh.setFlags(i, 1);\n }\n }\n\n const navMeshCreateParams = new NavMeshCreateParams();\n\n navMeshCreateParams.setPolyMeshCreateParams(polyMesh);\n navMeshCreateParams.setPolyMeshDetailCreateParams(polyMeshDetail);\n\n navMeshCreateParams.setWalkableHeight(config.walkableHeight);\n navMeshCreateParams.setWalkableRadius(config.walkableRadius);\n navMeshCreateParams.setWalkableClimb(config.walkableClimb);\n\n navMeshCreateParams.setCellSize(config.cs);\n navMeshCreateParams.setCellHeight(config.ch);\n\n navMeshCreateParams.setBuildBvTree(true);\n\n if (navMeshGeneratorConfig.offMeshConnections) {\n navMeshCreateParams.setOffMeshConnections(\n navMeshGeneratorConfig.offMeshConnections\n );\n }\n\n const createNavMeshDataResult = createNavMeshData(navMeshCreateParams);\n\n if (!createNavMeshDataResult.success) {\n return fail('Failed to create Detour navmesh data');\n }\n\n const { navMeshData } = createNavMeshDataResult;\n\n if (!navMesh.initSolo(navMeshData)) {\n return fail('Failed to create Detour navmesh');\n }\n\n return {\n success: true,\n navMesh,\n intermediates,\n };\n};\n","import {\n Arrays,\n DetourTileCacheParams,\n NavMesh,\n NavMeshParams,\n Raw,\n RecastBuildContext,\n RecastChunkyTriMesh,\n RecastCompactHeightfield,\n RecastConfig,\n RecastHeightfield,\n RecastHeightfieldLayerSet,\n TileCache,\n TileCacheMeshProcess,\n Vector2Tuple,\n Vector3Tuple,\n allocCompactHeightfield,\n allocHeightfield,\n allocHeightfieldLayerSet,\n buildCompactHeightfield,\n buildHeightfieldLayers,\n buildTileCacheLayer,\n calcGridSize,\n cloneRcConfig,\n createHeightfield,\n createRcConfig,\n erodeWalkableArea,\n filterLedgeSpans,\n filterLowHangingWalkableObstacles,\n filterWalkableLowHeightSpans,\n freeCompactHeightfield,\n freeHeightfield,\n freeHeightfieldLayerSet,\n getHeightfieldLayerAreas,\n getHeightfieldLayerCons,\n getHeightfieldLayerHeights,\n markWalkableTriangles,\n rasterizeTriangles,\n recastConfigDefaults,\n vec3,\n} from '@recast-navigation/core';\nimport type R from '@recast-navigation/wasm';\nimport { Pretty } from '../types';\nimport { dtIlog2, dtNextPow2, getBoundingBox } from './common';\n\ntype TileCacheRecastConfig = Omit<RecastConfig, 'minRegionArea' | 'maxEdgeLen'>;\n\nexport type TileCacheGeneratorConfig = Pretty<\n TileCacheRecastConfig & {\n /**\n * How many layers (or \"floors\") each navmesh tile is expected to have.\n */\n expectedLayersPerTile: number;\n\n /**\n * The max number of obstacles\n */\n maxObstacles: number;\n\n /**\n * The tile cache mesh process implementation.\n * If not provided, a default one is created via `createDefaultTileCacheMeshProcess()`\n * @default createDefaultTileCacheMeshProcess()\n */\n tileCacheMeshProcess?: TileCacheMeshProcess;\n }\n>;\n\nexport const tileCacheGeneratorConfigDefaults: TileCacheGeneratorConfig = {\n ...recastConfigDefaults,\n tileSize: 32,\n expectedLayersPerTile: 4,\n maxObstacles: 128,\n};\n\nexport type TileCacheGeneratorTileIntermediates = {\n tileX: number;\n tileY: number;\n heightfield?: RecastHeightfield;\n compactHeightfield?: RecastCompactHeightfield;\n heightfieldLayerSet?: RecastHeightfieldLayerSet;\n};\n\nexport type TileCacheGeneratorIntermediates = {\n type: 'tilecache';\n buildContext: RecastBuildContext;\n chunkyTriMesh?: RecastChunkyTriMesh;\n tileIntermediates: TileCacheGeneratorTileIntermediates[];\n};\n\ntype TileCacheGeneratorSuccessResult = {\n tileCache: TileCache;\n navMesh: NavMesh;\n success: true;\n intermediates: TileCacheGeneratorIntermediates;\n};\n\ntype TileCacheGeneratorFailResult = {\n tileCache: undefined;\n navMesh: undefined;\n success: false;\n error: string;\n intermediates: TileCacheGeneratorIntermediates;\n};\n\nexport type TileCacheGeneratorResult =\n | TileCacheGeneratorSuccessResult\n | TileCacheGeneratorFailResult;\n\nexport const createDefaultTileCacheMeshProcess = () =>\n new TileCacheMeshProcess((navMeshCreateParams, polyAreas, polyFlags) => {\n for (let i = 0; i < navMeshCreateParams.polyCount(); ++i) {\n polyAreas.set(i, 0);\n polyFlags.set(i, 1);\n }\n });\n\n/**\n * Builds a TileCache and NavMesh from the given positions and indices.\n * TileCache assumes small tiles (around 32-64 squared) and does some tricks to make the update fast.\n * @param positions a flat array of positions\n * @param indices a flat array of indices\n * @param navMeshConfig optional configuration for the NavMesh\n * @param keepIntermediates if true intermediates will be returned\n */\nexport const generateTileCache = (\n positions: ArrayLike<number>,\n indices: ArrayLike<number>,\n navMeshGeneratorConfig: Partial<TileCacheGeneratorConfig> = {},\n keepIntermediates = false\n): TileCacheGeneratorResult => {\n const buildContext = new RecastBuildContext();\n\n const intermediates: TileCacheGeneratorIntermediates = {\n type: 'tilecache',\n buildContext,\n chunkyTriMesh: undefined,\n tileIntermediates: [],\n };\n\n const tileCache = new TileCache();\n const navMesh = new NavMesh();\n\n const cleanup = () => {\n if (!keepIntermediates) {\n for (let i = 0; i < intermediates.tileIntermediates.length; i++) {\n const tileIntermediate = intermediates.tileIntermediates[i];\n\n if (tileIntermediate.heightfield) {\n freeHeightfield(tileIntermediate.heightfield);\n tileIntermediate.heightfield = undefined;\n }\n\n if (tileIntermediate.compactHeightfield) {\n freeCompactHeightfield(tileIntermediate.compactHeightfield);\n tileIntermediate.compactHeightfield = undefined;\n }\n\n if (tileIntermediate.heightfieldLayerSet) {\n freeHeightfieldLayerSet(tileIntermediate.heightfieldLayerSet);\n tileIntermediate.heightfieldLayerSet = undefined;\n }\n }\n }\n };\n\n const fail = (error: string): TileCacheGeneratorFailResult => {\n cleanup();\n\n tileCache.destroy();\n navMesh.destroy();\n\n return {\n success: false,\n navMesh: undefined,\n tileCache: undefined,\n intermediates,\n error,\n };\n };\n\n const verts = positions as number[];\n const nVerts = indices.length;\n const vertsArray = new Arrays.VertsArray();\n vertsArray.copy(verts, verts.length);\n\n const tris = indices as number[];\n const nTris = indices.length / 3;\n const trisArray = new Arrays.TrisArray();\n trisArray.copy(tris, tris.length);\n\n const { bbMin, bbMax } = getBoundingBox(positions, indices);\n\n const { expectedLayersPerTile, maxObstacles, ...recastConfig } = {\n ...tileCacheGeneratorConfigDefaults,\n ...navMeshGeneratorConfig,\n };\n\n //\n // Step 1. Initialize build config.\n //\n const config = createRcConfig(recastConfig);\n\n const gridSize = calcGridSize(bbMin, bbMax, config.cs);\n config.width = gridSize.width;\n config.height = gridSize.height;\n\n config.minRegionArea = config.minRegionArea * config.minRegionArea; // Note: area = size*size\n config.mergeRegionArea = config.mergeRegionArea * config.mergeRegionArea; // Note: area = size*size\n config.detailSampleDist =\n config.detailSampleDist < 0.9 ? 0 : config.cs * config.detailSampleDist;\n config.detailSampleMaxError = config.ch * config.detailSampleMaxError;\n\n const tileSize = Math.floor(config.tileSize);\n const tileWidth = Math.floor((config.width + tileSize - 1) / tileSize);\n const tileHeight = Math.floor((config.height + tileSize - 1) / tileSize);\n\n // Generation params\n config.borderSize = config.walkableRadius + 3; // Reserve enough padding.\n config.width = config.tileSize + config.borderSize * 2;\n config.height = config.tileSize + config.borderSize * 2;\n\n // Tile cache params\n const tileCacheParams = DetourTileCacheParams.create({\n orig: bbMin,\n cs: config.cs,\n ch: config.ch,\n width: config.tileSize,\n height: config.tileSize,\n walkableHeight: config.walkableHeight,\n walkableRadius: config.walkableRadius,\n walkableClimb: config.walkableClimb,\n maxSimplificationError: config.maxSimplificationError,\n maxTiles: tileWidth * tileHeight * expectedLayersPerTile,\n maxObstacles,\n });\n\n const allocator = new Raw.RecastLinearAllocator(32000);\n const compressor = new Raw.RecastFastLZCompressor();\n\n const tileCacheMeshProcess =\n navMeshGeneratorConfig.tileCacheMeshProcess ??\n createDefaultTileCacheMeshProcess();\n\n if (\n !tileCache.init(\n tileCacheParams,\n allocator,\n compressor,\n tileCacheMeshProcess\n )\n ) {\n return fail('Failed to initialize tile cache');\n }\n\n const orig = vec3.fromArray(bbMin);\n\n // Max tiles and max polys affect how the tile IDs are caculated.\n // There are 22 bits available for identifying a tile and a polygon.\n let tileBits = Math.min(\n Math.floor(\n dtIlog2(dtNextPow2(tileWidth * tileHeight * expectedLayersPerTile))\n ),\n 14\n );\n if (tileBits > 14) {\n tileBits = 14;\n }\n const polyBits = 22 - tileBits;\n\n const maxTiles = 1 << tileBits;\n const maxPolysPerTile = 1 << polyBits;\n\n const navMeshParams = NavMeshParams.create({\n orig,\n tileWidth: config.tileSize * config.cs,\n tileHeight: config.tileSize * config.cs,\n maxTiles,\n maxPolys: maxPolysPerTile,\n });\n\n if (!navMesh.initTiled(navMeshParams)) {\n return fail('Failed to initialize tiled navmesh');\n }\n\n const chunkyTriMesh = new RecastChunkyTriMesh();\n intermediates.chunkyTriMesh = chunkyTriMesh;\n\n if (!chunkyTriMesh.init(vertsArray, trisArray, nTris, 256)) {\n return fail('Failed to build chunky triangle mesh');\n }\n\n const rasterizeTileLayers = (tileX: number, tileY: number) => {\n // Tile intermediates\n const tileIntermediates: TileCacheGeneratorTileIntermediates = {\n tileX,\n tileY,\n };\n\n // Tile bounds\n const tcs = config.tileSize * config.cs;\n\n const tileConfig = cloneRcConfig(config);\n\n const tileBoundsMin: Vector3Tuple = [\n bbMin[0] + tileX * tcs,\n bbMin[1],\n bbMin[2] + tileY * tcs,\n ];\n\n const tileBoundsMax: Vector3Tuple = [\n bbMin[0] + (tileX + 1) * tcs,\n bbMax[1],\n bbMin[2] + (tileY + 1) * tcs,\n ];\n\n tileBoundsMin[0] -= tileConfig.borderSize * tileConfig.cs;\n tileBoundsMin[2] -= tileConfig.borderSize * tileConfig.cs;\n tileBoundsMax[0] += tileConfig.borderSize * tileConfig.cs;\n tileBoundsMax[2] += tileConfig.borderSize * tileConfig.cs;\n\n tileConfig.set_bmin(0, tileBoundsMin[0]);\n tileConfig.set_bmin(1, tileBoundsMin[1]);\n tileConfig.set_bmin(2, tileBoundsMin[2]);\n\n tileConfig.set_bmax(0, tileBoundsMax[0]);\n tileConfig.set_bmax(1, tileBoundsMax[1]);\n tileConfig.set_bmax(2, tileBoundsMax[2]);\n\n // Allocate voxel heightfield where we rasterize our input data to.\n const heightfield = allocHeightfield();\n tileIntermediates.heightfield = heightfield;\n\n if (\n !createHeightfield(\n buildContext,\n heightfield,\n tileConfig.width,\n tileConfig.height,\n tileBoundsMin,\n tileBoundsMax,\n tileConfig.cs,\n tileConfig.ch\n )\n ) {\n return { n: 0 };\n }\n\n const tbmin: Vector2Tuple = [tileBoundsMin[0], tileBoundsMin[2]];\n const tbmax: Vector2Tuple = [tileBoundsMax[0], tileBoundsMax[2]];\n\n // TODO: Make grow when returning too many items.\n const maxChunkIds = 512;\n const chunkIdsArray = new Arrays.ChunkIdsArray();\n chunkIdsArray.resize(maxChunkIds);\n\n const nChunksOverlapping = chunkyTriMesh.getChunksOverlappingRect(\n tbmin,\n tbmax,\n chunkIdsArray,\n maxChunkIds\n );\n\n if (nChunksOverlapping === 0) {\n return { n: 0 };\n }\n\n for (let i = 0; i < nChunksOverlapping; ++i) {\n const nodeId = chunkIdsArray.get_data(i);\n const node = chunkyTriMesh.nodes(nodeId);\n const nNodeTris = node.n;\n\n const nodeTrisArray = chunkyTriMesh.getNodeTris(nodeId);\n\n const triAreasArray = new Arrays.TriAreasArray();\n triAreasArray.resize(nNodeTris);\n\n // Find triangles which are walkable based on their slope and rasterize them.\n // If your input data is multiple meshes, you can transform them here, calculate\n // the are type for each of the meshes and rasterize them.\n markWalkableTriangles(\n buildContext,\n tileConfig.walkableSlopeAngle,\n vertsArray,\n nVerts,\n nodeTrisArray,\n nNodeTris,\n triAreasArray\n );\n\n const success = rasterizeTriangles(\n buildContext,\n vertsArray,\n nVerts,\n nodeTrisArray,\n triAreasArray,\n nNodeTris,\n heightfield,\n tileConfig.walkableClimb\n );\n\n triAreasArray.free();\n\n if (!success) {\n return { n: 0 };\n }\n }\n\n // Once all geometry is rasterized, we do initial pass of filtering to\n // remove unwanted overhangs caused by the conservative rasterization\n // as well as filter spans where the character cannot possibly stand.\n filterLowHangingWalkableObstacles(\n buildContext,\n config.walkableClimb,\n heightfield\n );\n filterLedgeSpans(\n buildContext,\n config.walkableHeight,\n config.walkableClimb,\n heightfield\n );\n filterWalkableLowHeightSpans(\n buildContext,\n config.walkableHeight,\n heightfield\n );\n\n const compactHeightfield = allocCompactHeightfield();\n if (\n !buildCompactHeightfield(\n buildContext,\n config.walkableHeight,\n config.walkableClimb,\n heightfield,\n compactHeightfield\n )\n ) {\n return { n: 0 };\n }\n\n if (!keepIntermediates) {\n freeHeightfield(tileIntermediates.heightfield);\n tileIntermediates.heightfield = undefined;\n }\n\n // Erode the walkable area by agent radius\n if (\n !erodeWalkableArea(\n buildContext,\n config.walkableRadius,\n compactHeightfield\n )\n ) {\n return { n: 0 };\n }\n\n const heightfieldLayerSet = allocHeightfieldLayerSet();\n if (\n !buildHeightfieldLayers(\n buildContext,\n compactHeightfield,\n config.borderSize,\n config.walkableHeight,\n heightfieldLayerSet\n )\n ) {\n return { n: 0 };\n }\n\n if (!keepIntermediates) {\n freeCompactHeightfield(compactHeightfield);\n tileIntermediates.compactHeightfield = undefined;\n }\n\n const tiles: R.UnsignedCharArray[] = [];\n\n for (let i = 0; i < heightfieldLayerSet.nlayers(); i++) {\n const tile = new Arrays.TileCacheData();\n const heightfieldLayer = heightfieldLayerSet.layers(i);\n\n // Store header\n const header = new Raw.dtTileCacheLayerHeader();\n header.magic = Raw.Detour.TILECACHE_MAGIC;\n header.version = Raw.Detour.TILECACHE_VERSION;\n\n // Tile layer location in the navmesh\n header.tx = tileX;\n header.ty = tileY;\n header.tlayer = i;\n\n const heightfieldLayerBin = heightfieldLayer.bmin();\n const heightfieldLayerBmax = heightfieldLayer.bmax();\n header.set_bmin(0, heightfieldLayerBin.x);\n header.set_bmin(1, heightfieldLayerBin.y);\n header.set_bmin(2, heightfieldLayerBin.z);\n\n header.set_bmax(0, heightfieldLayerBmax.x);\n header.set_bmax(1, heightfieldLayerBmax.y);\n header.set_bmax(2, heightfieldLayerBmax.z);\n\n // Tile info\n header.width = heightfieldLayer.width();\n header.height = heightfieldLayer.height();\n header.minx = heightfieldLayer.minx();\n header.maxx = heightfieldLayer.maxx();\n header.miny = heightfieldLayer.miny();\n header.maxy = heightfieldLayer.maxy();\n header.hmin = heightfieldLayer.hmin();\n header.hmax = heightfieldLayer.hmax();\n\n const heights = getHeightfieldLayerHeights(heightfieldLayer);\n const areas = getHeightfieldLayerAreas(heightfieldLayer);\n const cons = getHeightfieldLayerCons(heightfieldLayer);\n\n const status = buildTileCacheLayer(\n compressor,\n header,\n heights,\n areas,\n cons,\n tile\n );\n\n if (Raw.Detour.statusFailed(status)) {\n return { n: 0 };\n }\n\n tiles.push(tile);\n }\n\n if (!keepIntermediates) {\n freeHeightfieldLayerSet(heightfieldLayerSet);\n tileIntermediates.heightfieldLayerSet = undefined;\n }\n\n intermediates.tileIntermediates.push(tileIntermediates);\n\n return { n: tiles.length, tiles };\n };\n\n // Preprocess tiles\n for (let y = 0; y < tileHeight; ++y) {\n for (let x = 0; x < tileWidth; ++x) {\n const { n, tiles: newTiles } = rasterizeTileLayers(x, y);\n\n if (n > 0 && newTiles) {\n for (let i = 0; i < n; i++) {\n const tileCacheData = newTiles[i];\n\n const addResult = tileCache.addTile(tileCacheData);\n\n if (Raw.Detour.statusFailed(addResult.status)) {\n buildContext.log(\n Raw.Module.RC_LOG_WARNING,\n `Failed to add tile to tile cache - tx: ${x}, ty: ${y}`\n );\n continue;\n }\n }\n }\n }\n }\n\n // Build initial meshes\n for (let y = 0; y < tileHeight; y++) {\n for (let x = 0; x < tileWidth; x++) {\n const dtStatus = tileCache.buildNavMeshTilesAt(x, y, navMesh);\n\n if (Raw.Detour.statusFailed(dtStatus)) {\n return fail(`Failed to build nav mesh tiles at ${x}, ${y}`);\n }\n }\n }\n\n cleanup();\n\n return {\n success: true,\n tileCache,\n navMesh,\n intermediates,\n };\n};\n","import {\n Arrays,\n NavMesh,\n NavMeshCreateParams,\n NavMeshParams,\n Raw,\n RecastBuildContext,\n RecastChunkyTriMesh,\n RecastCompactHeightfield,\n RecastConfig,\n RecastContourSet,\n RecastHeightfield,\n Vector2Tuple,\n Vector3Tuple,\n allocCompactHeightfield,\n allocContourSet,\n allocHeightfield,\n allocPolyMesh,\n allocPolyMeshDetail,\n buildCompactHeightfield,\n buildContours,\n buildDistanceField,\n buildPolyMesh,\n buildPolyMeshDetail,\n buildRegions,\n calcGridSize,\n cloneRcConfig,\n createHeightfield,\n createNavMeshData,\n createRcConfig,\n statusToReadableString,\n erodeWalkableArea,\n filterLedgeSpans,\n filterLowHangingWalkableObstacles,\n filterWalkableLowHeightSpans,\n freeCompactHeightfield,\n freeContourSet,\n freeHeightfield,\n markWalkableTriangles,\n rasterizeTriangles,\n recastConfigDefaults,\n vec3,\n} from '@recast-navigation/core';\nimport type R from '@recast-navigation/wasm';\nimport { Pretty } from '../types';\nimport {\n OffMeshConnectionGeneratorParams,\n dtIlog2,\n dtNextPow2,\n getBoundingBox,\n} from './common';\n\nexport type TiledNavMeshGeneratorConfig = Pretty<\n RecastConfig & OffMeshConnectionGeneratorParams\n>;\n\nexport const tiledNavMeshGeneratorConfigDefaults: TiledNavMeshGeneratorConfig =\n {\n ...recastConfigDefaults,\n };\n\nexport type TiledNavMeshGeneratorIntermediates = {\n type: 'tiled';\n buildContext: RecastBuildContext;\n chunkyTriMesh?: RecastChunkyTriMesh;\n tileIntermediates: {\n tileX: number;\n tileY: number;\n heightfield?: RecastHeightfield;\n compactHeightfield?: RecastCompactHeightfield;\n contourSet?: RecastContourSet;\n }[];\n};\n\ntype TiledNavMeshGeneratorSuccessResult = {\n navMesh: NavMesh;\n success: true;\n intermediates: TiledNavMeshGeneratorIntermediates;\n};\n\ntype TiledNavMeshGeneratorFailResult = {\n navMesh: undefined;\n success: false;\n intermediates: TiledNavMeshGeneratorIntermediates;\n error: string;\n};\n\nexport type TiledNavMeshGeneratorResult =\n | TiledNavMeshGeneratorSuccessResult\n | TiledNavMeshGeneratorFailResult;\n\n/**\n * Builds a Tiled NavMesh\n * @param positions a flat array of positions\n * @param indices a flat array of indices\n * @param navMeshGeneratorConfig optional configuration for the NavMesh generator\n * @param keepIntermediates if true intermediates will be returned\n */\nexport const generateTiledNavMesh = (\n positions: ArrayLike<number>,\n indices: ArrayLike<number>,\n navMeshGeneratorConfig: Partial<TiledNavMeshGeneratorConfig> = {},\n keepIntermediates = false\n): TiledNavMeshGeneratorResult => {\n const buildContext = new RecastBuildContext();\n\n const intermediates: TiledNavMeshGeneratorIntermediates = {\n type: 'tiled',\n buildContext,\n chunkyTriMesh: undefined,\n tileIntermediates: [],\n };\n\n const navMesh = new NavMesh();\n\n const cleanup = () => {\n if (keepIntermediates) return;\n\n for (let i = 0; i < intermediates.tileIntermediates.length; i++) {\n const tileIntermediate = intermediates.tileIntermediates[i];\n\n if (tileIntermediate.compactHeightfield) {\n freeCompactHeightfield(tileIntermediate.compactHeightfield);\n }\n\n if (tileIntermediate.heightfield) {\n freeHeightfield(tileIntermediate.heightfield);\n }\n\n if (tileIntermediate.contourSet) {\n freeContourSet(tileIntermediate.contourSet);\n }\n }\n\n if (intermediates.chunkyTriMesh) {\n intermediates.chunkyTriMesh = undefined;\n }\n };\n\n const fail = (error: string): TiledNavMeshGeneratorFailResult => {\n cleanup();\n\n navMesh.destroy();\n\n return {\n success: false,\n navMesh: undefined,\n intermediates,\n error,\n };\n };\n\n //\n // Initialize build config.\n //\n const config = createRcConfig({\n ...tiledNavMeshGeneratorConfigDefaults,\n ...navMeshGeneratorConfig,\n });\n\n /* get input bounding box */\n const { bbMin, bbMax } = getBoundingBox(positions, indices);\n\n /* grid size */\n const gridSize = calcGridSize(bbMin, bbMax, config.cs);\n config.width = gridSize.width;\n config.height = gridSize.height;\n\n config.minRegionArea = config.minRegionArea * config.minRegionArea; // Note: area = size*size\n config.mergeRegionArea = config.mergeRegionArea * config.mergeRegionArea; // Note: area = size*size\n config.tileSize = Math.floor(config.tileSize);\n config.borderSize = config.walkableRadius + 3; // Reserve enough padding.\n config.width = config.tileSize + config.borderSize * 2;\n config.height = config.tileSize + config.borderSize * 2;\n config.detailSampleDist =\n config.detailSampleDist < 0.9 ? 0 : config.cs * config.detailSampleDist;\n config.detailSampleMaxError = config.ch * config.detailSampleMaxError;\n\n // tile size\n const tileSize = Math.floor(config.tileSize);\n const tileWidth = Math.floor((gridSize.width + tileSize - 1) / tileSize);\n const tileHeight = Math.floor((gridSize.height + tileSize - 1) / tileSize);\n const tcs = config.tileSize * config.cs;\n\n /* verts */\n const verts = positions as number[];\n const nVerts = indices.length;\n const vertsArray = new Arrays.VertsArray();\n vertsArray.copy(verts, verts.length);\n\n /* tris */\n const tris = indices as number[];\n const nTris = indices.length / 3;\n const trisArray = new Arrays.TrisArray();\n trisArray.copy(tris, tris.length);\n\n /* Create dtNavMeshParams, initialise nav mesh for tiled use */\n const orig = vec3.fromArray(bbMin);\n\n // Max tiles and max polys affect how the tile IDs are caculated.\n // There are 22 bits available for identifying a tile and a polygon.\n let tileBits = Math.min(\n Math.floor(dtIlog2(dtNextPow2(tileWidth * tileHeight))),\n 14\n );\n if (tileBits > 14) tileBits = 14;\n const polyBits = 22 - tileBits;\n\n const maxTiles = 1 << tileBits;\n const maxPolysPerTile = 1 << polyBits;\n\n const navMeshParams = NavMeshParams.create({\n orig,\n tileWidth: config.tileSize * config.cs,\n tileHeight: config.tileSize * config.cs,\n maxTiles,\n maxPolys: maxPolysPerTile,\n });\n\n if (!navMesh.initTiled(navMeshParams)) {\n return fail('Could not init nav mesh for tiled use');\n }\n\n /* create chunky tri mesh */\n const chunkyTriMesh = new RecastChunkyTriMesh();\n intermediates.chunkyTriMesh = chunkyTriMesh;\n\n if (!chunkyTriMesh.init(vertsArray, trisArray, nTris, 256)) {\n return fail('Failed to build chunky triangle mesh');\n }\n\n /** @internal */\n const buildTileMesh = (\n tileX: number,\n tileY: number,\n tileBoundsMin: Vector3Tuple,\n tileBoundsMax: Vector3Tuple\n ):\n | { success: true; data?: R.UnsignedCharArray }\n | { success: false; error: string } => {\n const failTileMesh = (error: string) => {\n buildContext.log(Raw.Module.RC_LOG_ERROR, error);\n\n return { success: false as const, error };\n };\n\n const tileIntermediate: {\n tileX: number;\n tileY: number;\n heightfield?: RecastHeightfield;\n compactHeightfield?: RecastCompactHeightfield;\n contourSet?: RecastContourSet;\n } = { tileX, tileY };\n\n intermediates.tileIntermediates.push(tileIntermediate);\n\n const tileConfig = cloneRcConfig(config);\n\n // Expand the heightfield bounding box by border size to find the extents of geometry we need to build this tile.\n //\n // This is done in order to make sure that the navmesh tiles connect correctly at the borders,\n // and the obstacles close to the border work correctly with the dilation process.\n // No polygons (or contours) will be created on the border area.\n //\n // IMPORTANT!\n //\n // :''''''''':\n // : +-----+ :\n // : | | :\n // : | |<--- tile to build\n // : | | :\n // : +-----+ :<-- geometry needed\n // :.........:\n //\n // You should use this bounding box to query your input geometry.\n //\n // For example if you build a navmesh for terrain, and want the navmesh tiles to match the terrain tile size\n // you will need to pass in data from neighbour terrain tiles too! In a simple case, just pass in all the 8 neighbours,\n // or use the bounding box below to only pass in a sliver of each of the 8 neighbours.\n\n const expandedTileBoundsMin = [...tileBoundsMin] as Vector3Tuple;\n const expandedTileBoundsMax = [...tileBoundsMax] as Vector3Tuple;\n\n expandedTileBoundsMin[0] -= tileConfig.borderSize * tileConfig.cs;\n expandedTileBoundsMin[2] -= tileConfig.borderSize * tileConfig.cs;\n\n expandedTileBoundsMax[0] += tileConfig.borderSize * tileConfig.cs;\n expandedTileBoundsMax[2] += tileConfig.borderSize * tileConfig.cs;\n\n tileConfig.set_bmin(0, expandedTileBoundsMin[0]);\n tileConfig.set_bmin(1, expandedTileBoundsMin[1]);\n tileConfig.set_bmin(2, expandedTileBoundsMin[2]);\n\n tileConfig.set_bmax(0, expandedTileBoundsMax[0]);\n tileConfig.set_bmax(1, expandedTileBoundsMax[1]);\n tileConfig.set_bmax(2, expandedTileBoundsMax[2]);\n\n // Reset build timer\n buildContext.resetTimers();\n\n // Start the build process\n buildContext.startTimer(Raw.Module.RC_TIMER_TOTAL);\n\n buildContext.log(\n Raw.Module.RC_LOG_PROGRESS,\n `Building tile ${intermediates.tileIntermediates.length} at x: ${tileX}, y: ${tileY}`\n );\n buildContext.log(\n Raw.Module.RC_LOG_PROGRESS,\n ` - ${config.width} x ${config.height} cells`\n );\n buildContext.log(\n Raw.Module.RC_LOG_PROGRESS,\n ` - ${nVerts / 1000}fK verts, ${nTris / 1000}K tris`\n );\n\n // Allocate voxel heightfield where we rasterize our input data to.\n const heightfield = allocHeightfield();\n tileIntermediate.heightfield = heightfield;\n\n if (\n !createHeightfield(\n buildContext,\n heightfield,\n tileConfig.width,\n tileConfig.height,\n expandedTileBoundsMin,\n expandedTileBoundsMax,\n tileConfig.cs,\n tileConfig.ch\n )\n ) {\n return failTileMesh('Could not create heightfield');\n }\n\n // Allocate array that can hold triangle flags.\n // If you have multiple meshes you need to process, allocate\n // and array which can hold the max number of triangles you need to process.\n const triAreas = new Arrays.TriAreasArray();\n triAreas.resize(chunkyTriMesh.maxTrisPerChunk());\n\n const tbmin: Vector2Tuple = [\n expandedTileBoundsMin[0],\n expandedTileBoundsMin[2],\n ];\n const tbmax: Vector2Tuple = [\n expandedTileBoundsMax[0],\n expandedTileBoundsMax[2],\n ];\n\n // TODO: Make grow when returning too many items.\n const maxChunkIds = 512;\n const chunkIdsArray = new Arrays.ChunkIdsArray();\n chunkIdsArray.resize(maxChunkIds);\n\n const nChunksOverlapping = chunkyTriMesh.getChunksOverlappingRect(\n tbmin,\n tbmax,\n chunkIdsArray,\n maxChunkIds\n );\n\n if (nChunksOverlapping === 0) {\n return { success: true };\n }\n\n for (let i = 0; i < nChunksOverlapping; ++i) {\n const nodeId = chunkIdsArray.get_data(i);\n const node = chunkyTriMesh.nodes(nodeId);\n const nNodeTris = node.n;\n\n const nodeTrisArray = chunkyTriMesh.getNodeTris(nodeId);\n\n const triAreasArray = new Arrays.TriAreasArray();\n triAreasArray.resize(nNodeTris);\n\n // Find triangles which are walkable based on their slope and rasterize them.\n // If your input data is multiple meshes, you can transform them here, calculate\n // the are type for each of the meshes and rasterize them.\n markWalkableTriangles(\n buildContext,\n tileConfig.walkableSlopeAngle,\n vertsArray,\n nVerts,\n nodeTrisArray,\n nNodeTris,\n triAreasArray\n );\n\n const success = rasterizeTriangles(\n buildContext,\n vertsArray,\n nVerts,\n nodeTrisArray,\n triAreasArray,\n nNodeTris,\n heightfield,\n tileConfig.walkableClimb\n );\n\n triAreasArray.free();\n\n if (!success) {\n return failTileMesh('Could not rasterize triangles');\n }\n }\n\n // Once all geometry is rasterized, we do initial pass of filtering to\n // remove unwanted overhangs caused by the conservative rasterization\n // as well as filter spans where the character cannot possibly stand.\n filterLowHangingWalkableObstacles(\n buildContext,\n tileConfig.walkableClimb,\n heightfield\n );\n filterLedgeSpans(\n buildContext,\n tileConfig.walkableHeight,\n tileConfig.walkableClimb,\n heightfield\n );\n filterWalkableLowHeightSpans(\n buildContext,\n tileConfig.walkableHeight,\n heightfield\n );\n\n // Compact the heightfield so that it is faster to handle from now on.\n // This will result more cache coherent data as well as the neighbours\n // between walkable cells will be calculated.\n const compactHeightfield = allocCompactHeightfield();\n tileIntermediate.compactHeightfield = compactHeightfield;\n\n if (\n !buildCompactHeightfield(\n buildContext,\n tileConfig.walkableHeight,\n tileConfig.walkableClimb,\n heightfield,\n compactHeightfield\n )\n ) {\n return failTileMesh('Could not build compact heightfield');\n }\n\n if (!keepIntermediates) {\n freeHeightfield(tileIntermediate.heightfield);\n tileIntermediate.heightfield = undefined;\n }\n\n // Erode the walkable area by agent radius\n if (\n !erodeWalkableArea(\n buildContext,\n tileConfig.walkableRadius,\n compactHeightfield\n )\n ) {\n return failTileMesh('Could not erode walkable area');\n }\n\n // (Optional) Mark areas\n // markConvexPolyArea(...)\n\n // Prepare for region partitioning, by calculating Distance field along the walkable surface.\n if (!buildDistanceField(buildContext, compactHeightfield)) {\n return failTileMesh('Failed to build distance field');\n }\n\n // Partition the walkable surface into simple regions without holes.\n if (\n !buildRegions(\n buildContext,\n compactHeightfield,\n tileConfig.borderSize,\n tileConfig.minRegionArea,\n tileConfig.mergeRegionArea\n )\n ) {\n return failTileMesh('Failed to build regions');\n }\n\n //\n // Trace and simplify region contours.\n //\n const contourSet = allocContourSet();\n tileIntermediate.contourSet = contourSet;\n\n if (\n !buildContours(\n buildContext,\n compactHeightfield,\n tileConfig.maxSimplificationError,\n tileConfig.maxEdgeLen,\n contourSet,\n Raw.Module.RC_CONTOUR_TESS_WALL_EDGES\n )\n ) {\n return failTileMesh('Failed to create contours');\n }\n\n //\n // Build polygons mesh from contours.\n //\n const polyMesh = allocPolyMesh();\n if (\n !buildPolyMesh(\n buildContext,\n contourSet,\n tileConfig.maxVertsPerPoly,\n polyMesh\n )\n ) {\n return failTileMesh('Failed to triangulate contours');\n }\n\n //\n // Create detail mesh which allows to access approximate height on each polygon.\n //\n const polyMeshDetail = allocPolyMeshDetail();\n if (\n !buildPolyMeshDetail(\n buildContext,\n polyMesh,\n compactHeightfield,\n tileConfig.detailSampleDist,\n tileConfig.detailSampleMaxError,\n polyMeshDetail\n )\n ) {\n return failTileMesh('Failed to build detail mesh');\n }\n\n if (!keepIntermediates) {\n freeCompactHeightfield(compactHeightfield);\n tileIntermediate.compactHeightfield = undefined;\n\n freeContourSet(contourSet);\n tileIntermediate.contourSet = undefined;\n }\n\n // Update poly flags from areas.\n for (let i = 0; i < polyMesh.npolys(); i++) {\n if (polyMesh.areas(i) == Raw.Recast.WALKABLE_AREA) {\n polyMesh.setAreas(i, 0);\n }\n if (polyMesh.areas(i) == 0) {\n polyMesh.setFlags(i, 1);\n }\n }\n\n const navMeshCreateParams = new NavMeshCreateParams();\n\n navMeshCreateParams.setPolyMeshCreateParams(polyMesh);\n navMeshCreateParams.setPolyMeshDetailCreateParams(polyMeshDetail);\n\n navMeshCreateParams.setWalkableHeight(tileConfig.walkableHeight);\n navMeshCreateParams.setWalkableRadius(tileConfig.walkableRadius);\n navMeshCreateParams.setWalkableClimb(tileConfig.walkableClimb);\n\n navMeshCreateParams.setCellSize(tileConfig.cs);\n navMeshCreateParams.setCellHeight(tileConfig.ch);\n\n navMeshCreateParams.setBuildBvTree(true);\n\n if (navMeshGeneratorConfig.offMeshConnections) {\n navMeshCreateParams.setOffMeshConnections(\n navMeshGeneratorConfig.offMeshConnections\n );\n }\n\n navMeshCreateParams.setTileX(tileX);\n navMeshCreateParams.setTileY(tileY);\n\n const createNavMeshDataResult = createNavMeshData(navMeshCreateParams);\n\n if (!createNavMeshDataResult.success) {\n return failTileMesh('Failed to create Detour navmesh data');\n }\n\n buildContext.log(\n Raw.Module.RC_LOG_PROGRESS,\n `>> Polymesh: ${polyMesh.nverts()} vertices ${polyMesh.npolys()} polygons`\n );\n\n return { success: true, data: createNavMeshDataResult.navMeshData };\n };\n\n buildContext.startTimer(Raw.Module.RC_TIMER_TEMP);\n\n const lastBuiltTileBmin: Vector3Tuple = [0, 0, 0];\n const lastBuiltTileBmax: Vector3Tuple = [0, 0, 0];\n\n for (let y = 0; y < tileHeight; y++) {\n for (let x = 0; x < tileWidth; x++) {\n lastBuiltTileBmin[0] = bbMin[0] + x * tcs;\n lastBuiltTileBmin[1] = bbMin[1];\n lastBuiltTileBmin[2] = bbMin[2] + y * tcs;\n\n lastBuiltTileBmax[0] = bbMin[0] + (x + 1) * tcs;\n lastBuiltTileBmax[1] = bbMax[1];\n lastBuiltTileBmax[2] = bbMin[2] + (y + 1) * tcs;\n\n const result = buildTileMesh(x, y, lastBuiltTileBmin, lastBuiltTileBmax);\n\n if (result.success && result.data) {\n navMesh.removeTile(navMesh.getTileRefAt(x, y, 0));\n\n const addTileResult = navMesh.addTile(\n result.data,\n Raw.Module.DT_TILE_FREE_DATA,\n 0\n );\n\n if (Raw.Detour.statusFailed(addTileResult.status)) {\n buildContext.log(\n Raw.Module.RC_LOG_WARNING,\n `Failed to add tile to nav mesh` +\n '\\n\\t' +\n `tx: ${x}, ty: ${y},` +\n `status: ${statusToReadableString(addTileResult.status)} (${\n addTileResult.status\n })`\n );\n\n result.data.free();\n }\n }\n }\n }\n\n buildContext.stopTimer(Raw.Module.RC_TIMER_TEMP);\n\n if (!keepIntermediates) {\n cleanup();\n }\n\n return {\n success: true,\n navMesh,\n intermediates,\n 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package/dist/index.mjs.map CHANGED
@@ -1 +1 @@
1
- {"version":3,"file":"index.mjs","sources":["../src/generators/common.ts","../src/generators/generate-solo-nav-mesh.ts","../src/generators/generate-tile-cache.ts","../src/generators/generate-tiled-nav-mesh.ts"],"sourcesContent":["import { OffMeshConnectionParams, vec3 } from '@recast-navigation/core';\n\nexport const getBoundingBox = (\n positions: ArrayLike<number>,\n indices: ArrayLike<number>\n) => {\n const bbMin = { x: Infinity, y: Infinity, z: Infinity };\n const bbMax = { x: -Infinity, y: -Infinity, z: -Infinity };\n\n for (let i = 0; i < indices.length; i++) {\n const ind = indices[i];\n\n const x = positions[ind * 3];\n const y = positions[ind * 3 + 1];\n const z = positions[ind * 3 + 2];\n\n bbMin.x = Math.min(bbMin.x, x);\n bbMin.y = Math.min(bbMin.y, y);\n bbMin.z = Math.min(bbMin.z, z);\n\n bbMax.x = Math.max(bbMax.x, x);\n bbMax.y = Math.max(bbMax.y, y);\n bbMax.z = Math.max(bbMax.z, z);\n }\n\n return {\n bbMin: vec3.toArray(bbMin),\n bbMax: vec3.toArray(bbMax),\n };\n};\n\nexport const dtIlog2 = (v: number) => {\n let r = 0;\n let shift = 0;\n\n r = Number(v > 0xffff) << 4;\n v >>= r;\n\n shift = Number(v > 0xff) << 3;\n v >>= shift;\n r |= shift;\n\n shift = Number(v > 0xf) << 2;\n v >>= shift;\n r |= shift;\n\n shift = Number(v > 0x3) << 1;\n v >>= shift;\n r |= shift;\n r |= v >> 1;\n\n return r;\n};\n\nexport const dtNextPow2 = (v: number) => {\n v--;\n v |= v >> 1;\n v |= v >> 2;\n v |= v >> 4;\n v |= v >> 8;\n v |= v >> 16;\n v++;\n return v;\n};\n\nexport type OffMeshConnectionGeneratorParams = {\n offMeshConnections?: OffMeshConnectionParams[];\n};\n","import {\n Arrays,\n NavMesh,\n NavMeshCreateParams,\n Raw,\n RecastBuildContext,\n RecastCompactHeightfield,\n RecastConfig,\n RecastContourSet,\n RecastHeightfield,\n allocCompactHeightfield,\n allocContourSet,\n allocHeightfield,\n allocPolyMesh,\n allocPolyMeshDetail,\n buildCompactHeightfield,\n buildContours,\n buildDistanceField,\n buildPolyMesh,\n buildPolyMeshDetail,\n buildRegions,\n calcGridSize,\n createHeightfield,\n createNavMeshData,\n createRcConfig,\n erodeWalkableArea,\n filterLedgeSpans,\n filterLowHangingWalkableObstacles,\n filterWalkableLowHeightSpans,\n freeCompactHeightfield,\n freeContourSet,\n freeHeightfield,\n markWalkableTriangles,\n rasterizeTriangles,\n recastConfigDefaults,\n} from '@recast-navigation/core';\nimport { Pretty } from '../types';\nimport { OffMeshConnectionGeneratorParams, getBoundingBox } from './common';\n\nexport type SoloNavMeshGeneratorConfig = Pretty<\n Omit<RecastConfig, 'tileSize'> & OffMeshConnectionGeneratorParams\n>;\n\nexport const soloNavMeshGeneratorConfigDefaults: SoloNavMeshGeneratorConfig = {\n ...recastConfigDefaults,\n};\n\nexport type SoloNavMeshGeneratorIntermediates = {\n type: 'solo';\n buildContext: RecastBuildContext;\n heightfield?: RecastHeightfield;\n compactHeightfield?: RecastCompactHeightfield;\n contourSet?: RecastContourSet;\n};\n\ntype SoloNavMeshGeneratorSuccessResult = {\n navMesh: NavMesh;\n success: true;\n intermediates: SoloNavMeshGeneratorIntermediates;\n};\n\ntype SoloNavMeshGeneratorFailResult = {\n navMesh: undefined;\n success: false;\n intermediates: SoloNavMeshGeneratorIntermediates;\n error: string;\n};\n\nexport type SoloNavMeshGeneratorResult =\n | SoloNavMeshGeneratorSuccessResult\n | SoloNavMeshGeneratorFailResult;\n\n/**\n * Builds a Solo NavMesh from the given positions and indices.\n * @param positions a flat array of positions\n * @param indices a flat array of indices\n * @param navMeshGeneratorConfig optional configuration for the NavMesh generator\n * @param keepIntermediates if true intermediates will be returned\n */\nexport const generateSoloNavMesh = (\n positions: ArrayLike<number>,\n indices: ArrayLike<number>,\n navMeshGeneratorConfig: Partial<SoloNavMeshGeneratorConfig> = {},\n keepIntermediates = false\n): SoloNavMeshGeneratorResult => {\n const buildContext = new RecastBuildContext();\n\n const intermediates: SoloNavMeshGeneratorIntermediates = {\n type: 'solo',\n buildContext,\n };\n\n const navMesh = new NavMesh();\n\n const cleanup = () => {\n if (keepIntermediates) return;\n\n if (intermediates.heightfield) {\n freeHeightfield(intermediates.heightfield);\n intermediates.heightfield = undefined;\n }\n if (intermediates.compactHeightfield) {\n freeCompactHeightfield(intermediates.compactHeightfield);\n intermediates.compactHeightfield = undefined;\n }\n if (intermediates.contourSet) {\n freeContourSet(intermediates.contourSet);\n intermediates.contourSet = undefined;\n }\n };\n\n const fail = (error: string): SoloNavMeshGeneratorFailResult => {\n cleanup();\n\n navMesh.destroy();\n\n return {\n navMesh: undefined,\n success: false,\n intermediates,\n error,\n };\n };\n\n const verts = positions as number[];\n const nVerts = indices.length;\n const vertsArray = new Arrays.VertsArray();\n vertsArray.copy(verts, verts.length);\n\n const tris = indices as number[];\n const nTris = indices.length / 3;\n const trisArray = new Arrays.TrisArray();\n trisArray.copy(tris, tris.length);\n\n const { bbMin, bbMax } = getBoundingBox(positions, indices);\n\n //\n // Step 1. Initialize build config.\n //\n const config = createRcConfig({\n ...soloNavMeshGeneratorConfigDefaults,\n ...navMeshGeneratorConfig,\n });\n\n config.minRegionArea = config.minRegionArea * config.minRegionArea; // Note: area = size*size\n config.mergeRegionArea = config.mergeRegionArea * config.mergeRegionArea; // Note: area = size*size\n config.detailSampleDist =\n config.detailSampleDist < 0.9 ? 0 : config.cs * config.detailSampleDist;\n config.detailSampleMaxError = config.ch * config.detailSampleMaxError;\n\n const gridSize = calcGridSize(bbMin, bbMax, config.cs);\n config.width = gridSize.width;\n config.height = gridSize.height;\n\n //\n // Step 2. Rasterize input polygon soup.\n //\n // Allocate voxel heightfield where we rasterize our input data to.\n const heightfield = allocHeightfield();\n intermediates.heightfield = heightfield;\n\n if (\n !createHeightfield(\n buildContext,\n heightfield,\n config.width,\n config.height,\n bbMin,\n bbMax,\n config.cs,\n config.ch\n )\n ) {\n return fail('Could not create heightfield');\n }\n\n // Find triangles which are walkable based on their slope and rasterize them.\n // If your input data is multiple meshes, you can transform them here, calculate\n // the are type for each of the meshes and rasterize them.\n const triAreasArray = new Arrays.TriAreasArray();\n triAreasArray.resize(nTris);\n\n markWalkableTriangles(\n buildContext,\n config.walkableSlopeAngle,\n vertsArray,\n nVerts,\n trisArray,\n nTris,\n triAreasArray\n );\n\n if (\n !rasterizeTriangles(\n buildContext,\n vertsArray,\n nVerts,\n trisArray,\n triAreasArray,\n nTris,\n heightfield,\n config.walkableClimb\n )\n ) {\n return fail('Could not rasterize triangles');\n }\n\n triAreasArray.free();\n\n //\n // Step 3. Filter walkables surfaces.\n //\n // Once all geoemtry is rasterized, we do initial pass of filtering to\n // remove unwanted overhangs caused by the conservative rasterization\n // as well as filter spans where the character cannot possibly stand.\n filterLowHangingWalkableObstacles(\n buildContext,\n config.walkableClimb,\n heightfield\n );\n filterLedgeSpans(\n buildContext,\n config.walkableHeight,\n config.walkableClimb,\n heightfield\n );\n filterWalkableLowHeightSpans(\n buildContext,\n config.walkableHeight,\n heightfield\n );\n\n //\n // Step 4. Partition walkable surface to simple regions.\n //\n // Compact the heightfield so that it is faster to handle from now on.\n // This will result more cache coherent data as well as the neighbours\n // between walkable cells will be calculated.\n const compactHeightfield = allocCompactHeightfield();\n intermediates.compactHeightfield = compactHeightfield;\n\n if (\n !buildCompactHeightfield(\n buildContext,\n config.walkableHeight,\n config.walkableClimb,\n heightfield,\n compactHeightfield\n )\n ) {\n return fail('Failed to build compact data');\n }\n\n if (!keepIntermediates) {\n freeHeightfield(heightfield);\n intermediates.heightfield = undefined;\n }\n\n // Erode the walkable area by agent radius.\n if (\n !erodeWalkableArea(buildContext, config.walkableRadius, compactHeightfield)\n ) {\n return fail('Failed to erode walkable area');\n }\n\n // (Optional) Mark areas\n // markConvexPolyArea(...)\n\n // Prepare for region partitioning, by calculating Distance field along the walkable surface.\n if (!buildDistanceField(buildContext, compactHeightfield)) {\n return fail('Failed to build distance field');\n }\n\n // Partition the walkable surface into simple regions without holes.\n if (\n !buildRegions(\n buildContext,\n compactHeightfield,\n config.borderSize,\n config.minRegionArea,\n config.mergeRegionArea\n )\n ) {\n return fail('Failed to build regions');\n }\n\n //\n // Step 5. Trace and simplify region contours.\n //\n const contourSet = allocContourSet();\n intermediates.contourSet = contourSet;\n\n if (\n !buildContours(\n buildContext,\n compactHeightfield,\n config.maxSimplificationError,\n config.maxEdgeLen,\n contourSet,\n Raw.Module.RC_CONTOUR_TESS_WALL_EDGES\n )\n ) {\n return fail('Failed to create contours');\n }\n\n //\n // Step 6. Build polygons mesh from contours.\n //\n const polyMesh = allocPolyMesh();\n if (\n !buildPolyMesh(buildContext, contourSet, config.maxVertsPerPoly, polyMesh)\n ) {\n return fail('Failed to triangulate contours');\n }\n\n //\n // Step 7. Create detail mesh which allows to access approximate height on each polygon.\n //\n const polyMeshDetail = allocPolyMeshDetail();\n if (\n !buildPolyMeshDetail(\n buildContext,\n polyMesh,\n compactHeightfield,\n config.detailSampleDist,\n config.detailSampleMaxError,\n polyMeshDetail\n )\n ) {\n return fail('Failed to build detail mesh');\n }\n\n if (!keepIntermediates) {\n freeCompactHeightfield(compactHeightfield);\n intermediates.compactHeightfield = undefined;\n\n freeContourSet(contourSet);\n intermediates.contourSet = undefined;\n }\n\n //\n // Step 8. Create Detour data from Recast poly mesh.\n //\n for (let i = 0; i < polyMesh.npolys(); i++) {\n if (polyMesh.areas(i) == Raw.Recast.WALKABLE_AREA) {\n polyMesh.setAreas(i, 0);\n }\n if (polyMesh.areas(i) == 0) {\n polyMesh.setFlags(i, 1);\n }\n }\n\n const navMeshCreateParams = new NavMeshCreateParams();\n\n navMeshCreateParams.setPolyMeshCreateParams(polyMesh);\n navMeshCreateParams.setPolyMeshDetailCreateParams(polyMeshDetail);\n\n navMeshCreateParams.setWalkableHeight(config.walkableHeight);\n navMeshCreateParams.setWalkableRadius(config.walkableRadius);\n navMeshCreateParams.setWalkableClimb(config.walkableClimb);\n\n navMeshCreateParams.setCellSize(config.cs);\n navMeshCreateParams.setCellHeight(config.ch);\n\n navMeshCreateParams.setBuildBvTree(true);\n\n if (navMeshGeneratorConfig.offMeshConnections) {\n navMeshCreateParams.setOffMeshConnections(\n navMeshGeneratorConfig.offMeshConnections\n );\n }\n\n const createNavMeshDataResult = createNavMeshData(navMeshCreateParams);\n\n if (!createNavMeshDataResult.success) {\n return fail('Failed to create Detour navmesh data');\n }\n\n const { navMeshData } = createNavMeshDataResult;\n\n if (!navMesh.initSolo(navMeshData)) {\n return fail('Failed to create Detour navmesh');\n }\n\n return {\n success: true,\n navMesh,\n intermediates,\n };\n};\n","import {\n Arrays,\n DetourTileCacheParams,\n NavMesh,\n NavMeshParams,\n Raw,\n RecastBuildContext,\n RecastChunkyTriMesh,\n RecastCompactHeightfield,\n RecastConfig,\n RecastHeightfield,\n RecastHeightfieldLayerSet,\n TileCache,\n TileCacheMeshProcess,\n Vector2Tuple,\n Vector3Tuple,\n allocCompactHeightfield,\n allocHeightfield,\n allocHeightfieldLayerSet,\n buildCompactHeightfield,\n buildHeightfieldLayers,\n buildTileCacheLayer,\n calcGridSize,\n cloneRcConfig,\n createHeightfield,\n createRcConfig,\n erodeWalkableArea,\n filterLedgeSpans,\n filterLowHangingWalkableObstacles,\n filterWalkableLowHeightSpans,\n freeCompactHeightfield,\n freeHeightfield,\n freeHeightfieldLayerSet,\n getHeightfieldLayerAreas,\n getHeightfieldLayerCons,\n getHeightfieldLayerHeights,\n markWalkableTriangles,\n rasterizeTriangles,\n recastConfigDefaults,\n vec3,\n} from '@recast-navigation/core';\nimport type R from '@recast-navigation/wasm';\nimport { Pretty } from '../types';\nimport { dtIlog2, dtNextPow2, getBoundingBox } from './common';\n\nexport type TileCacheGeneratorConfig = Pretty<\n RecastConfig & {\n /**\n * How many layers (or \"floors\") each navmesh tile is expected to have.\n */\n expectedLayersPerTile: number;\n\n /**\n * The max number of obstacles\n */\n maxObstacles: number;\n\n /**\n * The tile cache mesh process implementation.\n * If not provided, a default one is created via `createDefaultTileCacheMeshProcess()`\n * @default createDefaultTileCacheMeshProcess()\n */\n tileCacheMeshProcess?: TileCacheMeshProcess;\n }\n>;\n\nexport const tileCacheGeneratorConfigDefaults: TileCacheGeneratorConfig = {\n ...recastConfigDefaults,\n tileSize: 32,\n expectedLayersPerTile: 4,\n maxObstacles: 128,\n};\n\nexport type TileCacheGeneratorTileIntermediates = {\n tileX: number;\n tileY: number;\n heightfield?: RecastHeightfield;\n compactHeightfield?: RecastCompactHeightfield;\n heightfieldLayerSet?: RecastHeightfieldLayerSet;\n};\n\nexport type TileCacheGeneratorIntermediates = {\n type: 'tilecache';\n buildContext: RecastBuildContext;\n chunkyTriMesh?: RecastChunkyTriMesh;\n tileIntermediates: TileCacheGeneratorTileIntermediates[];\n};\n\ntype TileCacheGeneratorSuccessResult = {\n tileCache: TileCache;\n navMesh: NavMesh;\n success: true;\n intermediates: TileCacheGeneratorIntermediates;\n};\n\ntype TileCacheGeneratorFailResult = {\n tileCache: undefined;\n navMesh: undefined;\n success: false;\n error: string;\n intermediates: TileCacheGeneratorIntermediates;\n};\n\nexport type TileCacheGeneratorResult =\n | TileCacheGeneratorSuccessResult\n | TileCacheGeneratorFailResult;\n\nexport const createDefaultTileCacheMeshProcess = () =>\n new TileCacheMeshProcess((navMeshCreateParams, polyAreas, polyFlags) => {\n for (let i = 0; i < navMeshCreateParams.polyCount(); ++i) {\n polyAreas.set(i, 0);\n polyFlags.set(i, 1);\n }\n });\n\n/**\n * Builds a TileCache and NavMesh from the given positions and indices.\n * TileCache assumes small tiles (around 32-64 squared) and does some tricks to make the update fast.\n * @param positions a flat array of positions\n * @param indices a flat array of indices\n * @param navMeshConfig optional configuration for the NavMesh\n * @param keepIntermediates if true intermediates will be returned\n */\nexport const generateTileCache = (\n positions: ArrayLike<number>,\n indices: ArrayLike<number>,\n navMeshGeneratorConfig: Partial<TileCacheGeneratorConfig> = {},\n keepIntermediates = false\n): TileCacheGeneratorResult => {\n const buildContext = new RecastBuildContext();\n\n const intermediates: TileCacheGeneratorIntermediates = {\n type: 'tilecache',\n buildContext,\n chunkyTriMesh: undefined,\n tileIntermediates: [],\n };\n\n const tileCache = new TileCache();\n const navMesh = new NavMesh();\n\n const cleanup = () => {\n if (!keepIntermediates) {\n for (let i = 0; i < intermediates.tileIntermediates.length; i++) {\n const tileIntermediate = intermediates.tileIntermediates[i];\n\n if (tileIntermediate.heightfield) {\n freeHeightfield(tileIntermediate.heightfield);\n tileIntermediate.heightfield = undefined;\n }\n\n if (tileIntermediate.compactHeightfield) {\n freeCompactHeightfield(tileIntermediate.compactHeightfield);\n tileIntermediate.compactHeightfield = undefined;\n }\n\n if (tileIntermediate.heightfieldLayerSet) {\n freeHeightfieldLayerSet(tileIntermediate.heightfieldLayerSet);\n tileIntermediate.heightfieldLayerSet = undefined;\n }\n }\n }\n };\n\n const fail = (error: string): TileCacheGeneratorFailResult => {\n cleanup();\n\n tileCache.destroy();\n navMesh.destroy();\n\n return {\n success: false,\n navMesh: undefined,\n tileCache: undefined,\n intermediates,\n error,\n };\n };\n\n const verts = positions as number[];\n const nVerts = indices.length;\n const vertsArray = new Arrays.VertsArray();\n vertsArray.copy(verts, verts.length);\n\n const tris = indices as number[];\n const nTris = indices.length / 3;\n const trisArray = new Arrays.TrisArray();\n trisArray.copy(tris, tris.length);\n\n const { bbMin, bbMax } = getBoundingBox(positions, indices);\n\n const { expectedLayersPerTile, maxObstacles, ...recastConfig } = {\n ...tileCacheGeneratorConfigDefaults,\n ...navMeshGeneratorConfig,\n };\n\n //\n // Step 1. Initialize build config.\n //\n const config = createRcConfig(recastConfig);\n\n const gridSize = calcGridSize(bbMin, bbMax, config.cs);\n config.width = gridSize.width;\n config.height = gridSize.height;\n\n config.minRegionArea = config.minRegionArea * config.minRegionArea; // Note: area = size*size\n config.mergeRegionArea = config.mergeRegionArea * config.mergeRegionArea; // Note: area = size*size\n config.detailSampleDist =\n config.detailSampleDist < 0.9 ? 0 : config.cs * config.detailSampleDist;\n config.detailSampleMaxError = config.ch * config.detailSampleMaxError;\n\n const tileSize = Math.floor(config.tileSize);\n const tileWidth = Math.floor((config.width + tileSize - 1) / tileSize);\n const tileHeight = Math.floor((config.height + tileSize - 1) / tileSize);\n\n // Generation params\n config.borderSize = config.walkableRadius + 3; // Reserve enough padding.\n config.width = config.tileSize + config.borderSize * 2;\n config.height = config.tileSize + config.borderSize * 2;\n\n // Tile cache params\n const tileCacheParams = DetourTileCacheParams.create({\n orig: bbMin,\n cs: config.cs,\n ch: config.ch,\n width: config.tileSize,\n height: config.tileSize,\n walkableHeight: config.walkableHeight,\n walkableRadius: config.walkableRadius,\n walkableClimb: config.walkableClimb,\n maxSimplificationError: config.maxSimplificationError,\n maxTiles: tileWidth * tileHeight * expectedLayersPerTile,\n maxObstacles,\n });\n\n const allocator = new Raw.RecastLinearAllocator(32000);\n const compressor = new Raw.RecastFastLZCompressor();\n\n const tileCacheMeshProcess =\n navMeshGeneratorConfig.tileCacheMeshProcess ??\n createDefaultTileCacheMeshProcess();\n\n if (\n !tileCache.init(\n tileCacheParams,\n allocator,\n compressor,\n tileCacheMeshProcess\n )\n ) {\n return fail('Failed to initialize tile cache');\n }\n\n const orig = vec3.fromArray(bbMin);\n\n // Max tiles and max polys affect how the tile IDs are caculated.\n // There are 22 bits available for identifying a tile and a polygon.\n let tileBits = Math.min(\n Math.floor(\n dtIlog2(dtNextPow2(tileWidth * tileHeight * expectedLayersPerTile))\n ),\n 14\n );\n if (tileBits > 14) {\n tileBits = 14;\n }\n const polyBits = 22 - tileBits;\n\n const maxTiles = 1 << tileBits;\n const maxPolysPerTile = 1 << polyBits;\n\n const navMeshParams = NavMeshParams.create({\n orig,\n tileWidth: config.tileSize * config.cs,\n tileHeight: config.tileSize * config.cs,\n maxTiles,\n maxPolys: maxPolysPerTile,\n });\n\n if (!navMesh.initTiled(navMeshParams)) {\n return fail('Failed to initialize tiled navmesh');\n }\n\n const chunkyTriMesh = new RecastChunkyTriMesh();\n intermediates.chunkyTriMesh = chunkyTriMesh;\n\n if (!chunkyTriMesh.init(vertsArray, trisArray, nTris, 256)) {\n return fail('Failed to build chunky triangle mesh');\n }\n\n const rasterizeTileLayers = (tileX: number, tileY: number) => {\n // Tile intermediates\n const tileIntermediates: TileCacheGeneratorTileIntermediates = {\n tileX,\n tileY,\n };\n\n // Tile bounds\n const tcs = config.tileSize * config.cs;\n\n const tileConfig = cloneRcConfig(config);\n\n const tileBoundsMin: Vector3Tuple = [\n bbMin[0] + tileX * tcs,\n bbMin[1],\n bbMin[2] + tileY * tcs,\n ];\n\n const tileBoundsMax: Vector3Tuple = [\n bbMin[0] + (tileX + 1) * tcs,\n bbMax[1],\n bbMin[2] + (tileY + 1) * tcs,\n ];\n\n tileBoundsMin[0] -= tileConfig.borderSize * tileConfig.cs;\n tileBoundsMin[2] -= tileConfig.borderSize * tileConfig.cs;\n tileBoundsMax[0] += tileConfig.borderSize * tileConfig.cs;\n tileBoundsMax[2] += tileConfig.borderSize * tileConfig.cs;\n\n tileConfig.set_bmin(0, tileBoundsMin[0]);\n tileConfig.set_bmin(1, tileBoundsMin[1]);\n tileConfig.set_bmin(2, tileBoundsMin[2]);\n\n tileConfig.set_bmax(0, tileBoundsMax[0]);\n tileConfig.set_bmax(1, tileBoundsMax[1]);\n tileConfig.set_bmax(2, tileBoundsMax[2]);\n\n // Allocate voxel heightfield where we rasterize our input data to.\n const heightfield = allocHeightfield();\n tileIntermediates.heightfield = heightfield;\n\n if (\n !createHeightfield(\n buildContext,\n heightfield,\n tileConfig.width,\n tileConfig.height,\n tileBoundsMin,\n tileBoundsMax,\n tileConfig.cs,\n tileConfig.ch\n )\n ) {\n return { n: 0 };\n }\n\n const tbmin: Vector2Tuple = [tileBoundsMin[0], tileBoundsMin[2]];\n const tbmax: Vector2Tuple = [tileBoundsMax[0], tileBoundsMax[2]];\n\n // TODO: Make grow when returning too many items.\n const maxChunkIds = 512;\n const chunkIdsArray = new Arrays.ChunkIdsArray();\n chunkIdsArray.resize(maxChunkIds);\n\n const nChunksOverlapping = chunkyTriMesh.getChunksOverlappingRect(\n tbmin,\n tbmax,\n chunkIdsArray,\n maxChunkIds\n );\n\n if (nChunksOverlapping === 0) {\n return { n: 0 };\n }\n\n for (let i = 0; i < nChunksOverlapping; ++i) {\n const nodeId = chunkIdsArray.get_data(i);\n const node = chunkyTriMesh.nodes(nodeId);\n const nNodeTris = node.n;\n\n const nodeTrisArray = chunkyTriMesh.getNodeTris(nodeId);\n\n const triAreasArray = new Arrays.TriAreasArray();\n triAreasArray.resize(nNodeTris);\n\n // Find triangles which are walkable based on their slope and rasterize them.\n // If your input data is multiple meshes, you can transform them here, calculate\n // the are type for each of the meshes and rasterize them.\n markWalkableTriangles(\n buildContext,\n tileConfig.walkableSlopeAngle,\n vertsArray,\n nVerts,\n nodeTrisArray,\n nNodeTris,\n triAreasArray\n );\n\n const success = rasterizeTriangles(\n buildContext,\n vertsArray,\n nVerts,\n nodeTrisArray,\n triAreasArray,\n nNodeTris,\n heightfield,\n tileConfig.walkableClimb\n );\n\n triAreasArray.free();\n\n if (!success) {\n return { n: 0 };\n }\n }\n\n // Once all geometry is rasterized, we do initial pass of filtering to\n // remove unwanted overhangs caused by the conservative rasterization\n // as well as filter spans where the character cannot possibly stand.\n filterLowHangingWalkableObstacles(\n buildContext,\n config.walkableClimb,\n heightfield\n );\n filterLedgeSpans(\n buildContext,\n config.walkableHeight,\n config.walkableClimb,\n heightfield\n );\n filterWalkableLowHeightSpans(\n buildContext,\n config.walkableHeight,\n heightfield\n );\n\n const compactHeightfield = allocCompactHeightfield();\n if (\n !buildCompactHeightfield(\n buildContext,\n config.walkableHeight,\n config.walkableClimb,\n heightfield,\n compactHeightfield\n )\n ) {\n return { n: 0 };\n }\n\n if (!keepIntermediates) {\n freeHeightfield(tileIntermediates.heightfield);\n tileIntermediates.heightfield = undefined;\n }\n\n // Erode the walkable area by agent radius\n if (\n !erodeWalkableArea(\n buildContext,\n config.walkableRadius,\n compactHeightfield\n )\n ) {\n return { n: 0 };\n }\n\n const heightfieldLayerSet = allocHeightfieldLayerSet();\n if (\n !buildHeightfieldLayers(\n buildContext,\n compactHeightfield,\n config.borderSize,\n config.walkableHeight,\n heightfieldLayerSet\n )\n ) {\n return { n: 0 };\n }\n\n if (!keepIntermediates) {\n freeCompactHeightfield(compactHeightfield);\n tileIntermediates.compactHeightfield = undefined;\n }\n\n const tiles: R.UnsignedCharArray[] = [];\n\n for (let i = 0; i < heightfieldLayerSet.nlayers(); i++) {\n const tile = new Arrays.TileCacheData();\n const heightfieldLayer = heightfieldLayerSet.layers(i);\n\n // Store header\n const header = new Raw.dtTileCacheLayerHeader();\n header.magic = Raw.Detour.TILECACHE_MAGIC;\n header.version = Raw.Detour.TILECACHE_VERSION;\n\n // Tile layer location in the navmesh\n header.tx = tileX;\n header.ty = tileY;\n header.tlayer = i;\n\n const heightfieldLayerBin = heightfieldLayer.bmin();\n const heightfieldLayerBmax = heightfieldLayer.bmax();\n header.set_bmin(0, heightfieldLayerBin.x);\n header.set_bmin(1, heightfieldLayerBin.y);\n header.set_bmin(2, heightfieldLayerBin.z);\n\n header.set_bmax(0, heightfieldLayerBmax.x);\n header.set_bmax(1, heightfieldLayerBmax.y);\n header.set_bmax(2, heightfieldLayerBmax.z);\n\n // Tile info\n header.width = heightfieldLayer.width();\n header.height = heightfieldLayer.height();\n header.minx = heightfieldLayer.minx();\n header.maxx = heightfieldLayer.maxx();\n header.miny = heightfieldLayer.miny();\n header.maxy = heightfieldLayer.maxy();\n header.hmin = heightfieldLayer.hmin();\n header.hmax = heightfieldLayer.hmax();\n\n const heights = getHeightfieldLayerHeights(heightfieldLayer);\n const areas = getHeightfieldLayerAreas(heightfieldLayer);\n const cons = getHeightfieldLayerCons(heightfieldLayer);\n\n const status = buildTileCacheLayer(\n compressor,\n header,\n heights,\n areas,\n cons,\n tile\n );\n\n if (Raw.Detour.statusFailed(status)) {\n return { n: 0 };\n }\n\n tiles.push(tile);\n }\n\n if (!keepIntermediates) {\n freeHeightfieldLayerSet(heightfieldLayerSet);\n tileIntermediates.heightfieldLayerSet = undefined;\n }\n\n intermediates.tileIntermediates.push(tileIntermediates);\n\n return { n: tiles.length, tiles };\n };\n\n // Preprocess tiles\n for (let y = 0; y < tileHeight; ++y) {\n for (let x = 0; x < tileWidth; ++x) {\n const { n, tiles: newTiles } = rasterizeTileLayers(x, y);\n\n if (n > 0 && newTiles) {\n for (let i = 0; i < n; i++) {\n const tileCacheData = newTiles[i];\n\n const addResult = tileCache.addTile(tileCacheData);\n\n if (Raw.Detour.statusFailed(addResult.status)) {\n buildContext.log(\n Raw.Module.RC_LOG_WARNING,\n `Failed to add tile to tile cache - tx: ${x}, ty: ${y}`\n );\n continue;\n }\n }\n }\n }\n }\n\n // Build initial meshes\n for (let y = 0; y < tileHeight; y++) {\n for (let x = 0; x < tileWidth; x++) {\n const dtStatus = tileCache.buildNavMeshTilesAt(x, y, navMesh);\n\n if (Raw.Detour.statusFailed(dtStatus)) {\n return fail(`Failed to build nav mesh tiles at ${x}, ${y}`);\n }\n }\n }\n\n cleanup();\n\n return {\n success: true,\n tileCache,\n navMesh,\n intermediates,\n };\n};\n","import {\n Arrays,\n NavMesh,\n NavMeshCreateParams,\n NavMeshParams,\n Raw,\n RecastBuildContext,\n RecastChunkyTriMesh,\n RecastCompactHeightfield,\n RecastConfig,\n RecastContourSet,\n RecastHeightfield,\n Vector2Tuple,\n Vector3Tuple,\n allocCompactHeightfield,\n allocContourSet,\n allocHeightfield,\n allocPolyMesh,\n allocPolyMeshDetail,\n buildCompactHeightfield,\n buildContours,\n buildDistanceField,\n buildPolyMesh,\n buildPolyMeshDetail,\n buildRegions,\n calcGridSize,\n cloneRcConfig,\n createHeightfield,\n createNavMeshData,\n createRcConfig,\n statusToReadableString,\n erodeWalkableArea,\n filterLedgeSpans,\n filterLowHangingWalkableObstacles,\n filterWalkableLowHeightSpans,\n freeCompactHeightfield,\n freeContourSet,\n freeHeightfield,\n markWalkableTriangles,\n rasterizeTriangles,\n recastConfigDefaults,\n vec3,\n} from '@recast-navigation/core';\nimport type R from '@recast-navigation/wasm';\nimport { Pretty } from '../types';\nimport {\n OffMeshConnectionGeneratorParams,\n dtIlog2,\n dtNextPow2,\n getBoundingBox,\n} from './common';\n\nexport type TiledNavMeshGeneratorConfig = Pretty<\n RecastConfig & OffMeshConnectionGeneratorParams\n>;\n\nexport const tiledNavMeshGeneratorConfigDefaults: TiledNavMeshGeneratorConfig =\n {\n ...recastConfigDefaults,\n };\n\nexport type TiledNavMeshGeneratorIntermediates = {\n type: 'tiled';\n buildContext: RecastBuildContext;\n chunkyTriMesh?: RecastChunkyTriMesh;\n tileIntermediates: {\n tileX: number;\n tileY: number;\n heightfield?: RecastHeightfield;\n compactHeightfield?: RecastCompactHeightfield;\n contourSet?: RecastContourSet;\n }[];\n};\n\ntype TiledNavMeshGeneratorSuccessResult = {\n navMesh: NavMesh;\n success: true;\n intermediates: TiledNavMeshGeneratorIntermediates;\n};\n\ntype TiledNavMeshGeneratorFailResult = {\n navMesh: undefined;\n success: false;\n intermediates: TiledNavMeshGeneratorIntermediates;\n error: string;\n};\n\nexport type TiledNavMeshGeneratorResult =\n | TiledNavMeshGeneratorSuccessResult\n | TiledNavMeshGeneratorFailResult;\n\n/**\n * Builds a Tiled NavMesh\n * @param positions a flat array of positions\n * @param indices a flat array of indices\n * @param navMeshGeneratorConfig optional configuration for the NavMesh generator\n * @param keepIntermediates if true intermediates will be returned\n */\nexport const generateTiledNavMesh = (\n positions: ArrayLike<number>,\n indices: ArrayLike<number>,\n navMeshGeneratorConfig: Partial<TiledNavMeshGeneratorConfig> = {},\n keepIntermediates = false\n): TiledNavMeshGeneratorResult => {\n const buildContext = new RecastBuildContext();\n\n const intermediates: TiledNavMeshGeneratorIntermediates = {\n type: 'tiled',\n buildContext,\n chunkyTriMesh: undefined,\n tileIntermediates: [],\n };\n\n const navMesh = new NavMesh();\n\n const cleanup = () => {\n if (keepIntermediates) return;\n\n for (let i = 0; i < intermediates.tileIntermediates.length; i++) {\n const tileIntermediate = intermediates.tileIntermediates[i];\n\n if (tileIntermediate.compactHeightfield) {\n freeCompactHeightfield(tileIntermediate.compactHeightfield);\n }\n\n if (tileIntermediate.heightfield) {\n freeHeightfield(tileIntermediate.heightfield);\n }\n\n if (tileIntermediate.contourSet) {\n freeContourSet(tileIntermediate.contourSet);\n }\n }\n\n if (intermediates.chunkyTriMesh) {\n intermediates.chunkyTriMesh = undefined;\n }\n };\n\n const fail = (error: string): TiledNavMeshGeneratorFailResult => {\n cleanup();\n\n navMesh.destroy();\n\n return {\n success: false,\n navMesh: undefined,\n intermediates,\n error,\n };\n };\n\n //\n // Initialize build config.\n //\n const config = createRcConfig({\n ...tiledNavMeshGeneratorConfigDefaults,\n ...navMeshGeneratorConfig,\n });\n\n /* get input bounding box */\n const { bbMin, bbMax } = getBoundingBox(positions, indices);\n\n /* grid size */\n const gridSize = calcGridSize(bbMin, bbMax, config.cs);\n config.width = gridSize.width;\n config.height = gridSize.height;\n\n config.minRegionArea = config.minRegionArea * config.minRegionArea; // Note: area = size*size\n config.mergeRegionArea = config.mergeRegionArea * config.mergeRegionArea; // Note: area = size*size\n config.tileSize = Math.floor(config.tileSize);\n config.borderSize = config.walkableRadius + 3; // Reserve enough padding.\n config.width = config.tileSize + config.borderSize * 2;\n config.height = config.tileSize + config.borderSize * 2;\n config.detailSampleDist =\n config.detailSampleDist < 0.9 ? 0 : config.cs * config.detailSampleDist;\n config.detailSampleMaxError = config.ch * config.detailSampleMaxError;\n\n // tile size\n const tileSize = Math.floor(config.tileSize);\n const tileWidth = Math.floor((gridSize.width + tileSize - 1) / tileSize);\n const tileHeight = Math.floor((gridSize.height + tileSize - 1) / tileSize);\n const tcs = config.tileSize * config.cs;\n\n /* verts */\n const verts = positions as number[];\n const nVerts = indices.length;\n const vertsArray = new Arrays.VertsArray();\n vertsArray.copy(verts, verts.length);\n\n /* tris */\n const tris = indices as number[];\n const nTris = indices.length / 3;\n const trisArray = new Arrays.TrisArray();\n trisArray.copy(tris, tris.length);\n\n /* Create dtNavMeshParams, initialise nav mesh for tiled use */\n const orig = vec3.fromArray(bbMin);\n\n // Max tiles and max polys affect how the tile IDs are caculated.\n // There are 22 bits available for identifying a tile and a polygon.\n let tileBits = Math.min(\n Math.floor(dtIlog2(dtNextPow2(tileWidth * tileHeight))),\n 14\n );\n if (tileBits > 14) tileBits = 14;\n const polyBits = 22 - tileBits;\n\n const maxTiles = 1 << tileBits;\n const maxPolysPerTile = 1 << polyBits;\n\n const navMeshParams = NavMeshParams.create({\n orig,\n tileWidth: config.tileSize * config.cs,\n tileHeight: config.tileSize * config.cs,\n maxTiles,\n maxPolys: maxPolysPerTile,\n });\n\n if (!navMesh.initTiled(navMeshParams)) {\n return fail('Could not init nav mesh for tiled use');\n }\n\n /* create chunky tri mesh */\n const chunkyTriMesh = new RecastChunkyTriMesh();\n intermediates.chunkyTriMesh = chunkyTriMesh;\n\n if (!chunkyTriMesh.init(vertsArray, trisArray, nTris, 256)) {\n return fail('Failed to build chunky triangle mesh');\n }\n\n /** @internal */\n const buildTileMesh = (\n tileX: number,\n tileY: number,\n tileBoundsMin: Vector3Tuple,\n tileBoundsMax: Vector3Tuple\n ):\n | { success: true; data?: R.UnsignedCharArray }\n | { success: false; error: string } => {\n const failTileMesh = (error: string) => {\n buildContext.log(Raw.Module.RC_LOG_ERROR, error);\n\n return { success: false as const, error };\n };\n\n const tileIntermediate: {\n tileX: number;\n tileY: number;\n heightfield?: RecastHeightfield;\n compactHeightfield?: RecastCompactHeightfield;\n contourSet?: RecastContourSet;\n } = { tileX, tileY };\n\n intermediates.tileIntermediates.push(tileIntermediate);\n\n const tileConfig = cloneRcConfig(config);\n\n // Expand the heightfield bounding box by border size to find the extents of geometry we need to build this tile.\n //\n // This is done in order to make sure that the navmesh tiles connect correctly at the borders,\n // and the obstacles close to the border work correctly with the dilation process.\n // No polygons (or contours) will be created on the border area.\n //\n // IMPORTANT!\n //\n // :''''''''':\n // : +-----+ :\n // : | | :\n // : | |<--- tile to build\n // : | | :\n // : +-----+ :<-- geometry needed\n // :.........:\n //\n // You should use this bounding box to query your input geometry.\n //\n // For example if you build a navmesh for terrain, and want the navmesh tiles to match the terrain tile size\n // you will need to pass in data from neighbour terrain tiles too! In a simple case, just pass in all the 8 neighbours,\n // or use the bounding box below to only pass in a sliver of each of the 8 neighbours.\n\n const expandedTileBoundsMin = [...tileBoundsMin] as Vector3Tuple;\n const expandedTileBoundsMax = [...tileBoundsMax] as Vector3Tuple;\n\n expandedTileBoundsMin[0] -= tileConfig.borderSize * tileConfig.cs;\n expandedTileBoundsMin[2] -= tileConfig.borderSize * tileConfig.cs;\n\n expandedTileBoundsMax[0] += tileConfig.borderSize * tileConfig.cs;\n expandedTileBoundsMax[2] += tileConfig.borderSize * tileConfig.cs;\n\n tileConfig.set_bmin(0, expandedTileBoundsMin[0]);\n tileConfig.set_bmin(1, expandedTileBoundsMin[1]);\n tileConfig.set_bmin(2, expandedTileBoundsMin[2]);\n\n tileConfig.set_bmax(0, expandedTileBoundsMax[0]);\n tileConfig.set_bmax(1, expandedTileBoundsMax[1]);\n tileConfig.set_bmax(2, expandedTileBoundsMax[2]);\n\n // Reset build timer\n buildContext.resetTimers();\n\n // Start the build process\n buildContext.startTimer(Raw.Module.RC_TIMER_TOTAL);\n\n buildContext.log(\n Raw.Module.RC_LOG_PROGRESS,\n `Building tile ${intermediates.tileIntermediates.length} at x: ${tileX}, y: ${tileY}`\n );\n buildContext.log(\n Raw.Module.RC_LOG_PROGRESS,\n ` - ${config.width} x ${config.height} cells`\n );\n buildContext.log(\n Raw.Module.RC_LOG_PROGRESS,\n ` - ${nVerts / 1000}fK verts, ${nTris / 1000}K tris`\n );\n\n // Allocate voxel heightfield where we rasterize our input data to.\n const heightfield = allocHeightfield();\n tileIntermediate.heightfield = heightfield;\n\n if (\n !createHeightfield(\n buildContext,\n heightfield,\n tileConfig.width,\n tileConfig.height,\n expandedTileBoundsMin,\n expandedTileBoundsMax,\n tileConfig.cs,\n tileConfig.ch\n )\n ) {\n return failTileMesh('Could not create heightfield');\n }\n\n // Allocate array that can hold triangle flags.\n // If you have multiple meshes you need to process, allocate\n // and array which can hold the max number of triangles you need to process.\n const triAreas = new Arrays.TriAreasArray();\n triAreas.resize(chunkyTriMesh.maxTrisPerChunk());\n\n const tbmin: Vector2Tuple = [\n expandedTileBoundsMin[0],\n expandedTileBoundsMin[2],\n ];\n const tbmax: Vector2Tuple = [\n expandedTileBoundsMax[0],\n expandedTileBoundsMax[2],\n ];\n\n // TODO: Make grow when returning too many items.\n const maxChunkIds = 512;\n const chunkIdsArray = new Arrays.ChunkIdsArray();\n chunkIdsArray.resize(maxChunkIds);\n\n const nChunksOverlapping = chunkyTriMesh.getChunksOverlappingRect(\n tbmin,\n tbmax,\n chunkIdsArray,\n maxChunkIds\n );\n\n if (nChunksOverlapping === 0) {\n return { success: true };\n }\n\n for (let i = 0; i < nChunksOverlapping; ++i) {\n const nodeId = chunkIdsArray.get_data(i);\n const node = chunkyTriMesh.nodes(nodeId);\n const nNodeTris = node.n;\n\n const nodeTrisArray = chunkyTriMesh.getNodeTris(nodeId);\n\n const triAreasArray = new Arrays.TriAreasArray();\n triAreasArray.resize(nNodeTris);\n\n // Find triangles which are walkable based on their slope and rasterize them.\n // If your input data is multiple meshes, you can transform them here, calculate\n // the are type for each of the meshes and rasterize them.\n markWalkableTriangles(\n buildContext,\n tileConfig.walkableSlopeAngle,\n vertsArray,\n nVerts,\n nodeTrisArray,\n nNodeTris,\n triAreasArray\n );\n\n const success = rasterizeTriangles(\n buildContext,\n vertsArray,\n nVerts,\n nodeTrisArray,\n triAreasArray,\n nNodeTris,\n heightfield,\n tileConfig.walkableClimb\n );\n\n triAreasArray.free();\n\n if (!success) {\n return failTileMesh('Could not rasterize triangles');\n }\n }\n\n // Once all geometry is rasterized, we do initial pass of filtering to\n // remove unwanted overhangs caused by the conservative rasterization\n // as well as filter spans where the character cannot possibly stand.\n filterLowHangingWalkableObstacles(\n buildContext,\n tileConfig.walkableClimb,\n heightfield\n );\n filterLedgeSpans(\n buildContext,\n tileConfig.walkableHeight,\n tileConfig.walkableClimb,\n heightfield\n );\n filterWalkableLowHeightSpans(\n buildContext,\n tileConfig.walkableHeight,\n heightfield\n );\n\n // Compact the heightfield so that it is faster to handle from now on.\n // This will result more cache coherent data as well as the neighbours\n // between walkable cells will be calculated.\n const compactHeightfield = allocCompactHeightfield();\n tileIntermediate.compactHeightfield = compactHeightfield;\n\n if (\n !buildCompactHeightfield(\n buildContext,\n tileConfig.walkableHeight,\n tileConfig.walkableClimb,\n heightfield,\n compactHeightfield\n )\n ) {\n return failTileMesh('Could not build compact heightfield');\n }\n\n if (!keepIntermediates) {\n freeHeightfield(tileIntermediate.heightfield);\n tileIntermediate.heightfield = undefined;\n }\n\n // Erode the walkable area by agent radius\n if (\n !erodeWalkableArea(\n buildContext,\n tileConfig.walkableRadius,\n compactHeightfield\n )\n ) {\n return failTileMesh('Could not erode walkable area');\n }\n\n // (Optional) Mark areas\n // markConvexPolyArea(...)\n\n // Prepare for region partitioning, by calculating Distance field along the walkable surface.\n if (!buildDistanceField(buildContext, compactHeightfield)) {\n return failTileMesh('Failed to build distance field');\n }\n\n // Partition the walkable surface into simple regions without holes.\n if (\n !buildRegions(\n buildContext,\n compactHeightfield,\n tileConfig.borderSize,\n tileConfig.minRegionArea,\n tileConfig.mergeRegionArea\n )\n ) {\n return failTileMesh('Failed to build regions');\n }\n\n //\n // Trace and simplify region contours.\n //\n const contourSet = allocContourSet();\n tileIntermediate.contourSet = contourSet;\n\n if (\n !buildContours(\n buildContext,\n compactHeightfield,\n tileConfig.maxSimplificationError,\n tileConfig.maxEdgeLen,\n contourSet,\n Raw.Module.RC_CONTOUR_TESS_WALL_EDGES\n )\n ) {\n return failTileMesh('Failed to create contours');\n }\n\n //\n // Build polygons mesh from contours.\n //\n const polyMesh = allocPolyMesh();\n if (\n !buildPolyMesh(\n buildContext,\n contourSet,\n tileConfig.maxVertsPerPoly,\n polyMesh\n )\n ) {\n return failTileMesh('Failed to triangulate contours');\n }\n\n //\n // Create detail mesh which allows to access approximate height on each polygon.\n //\n const polyMeshDetail = allocPolyMeshDetail();\n if (\n !buildPolyMeshDetail(\n buildContext,\n polyMesh,\n compactHeightfield,\n tileConfig.detailSampleDist,\n tileConfig.detailSampleMaxError,\n polyMeshDetail\n )\n ) {\n return failTileMesh('Failed to build detail mesh');\n }\n\n if (!keepIntermediates) {\n freeCompactHeightfield(compactHeightfield);\n tileIntermediate.compactHeightfield = undefined;\n\n freeContourSet(contourSet);\n tileIntermediate.contourSet = undefined;\n }\n\n // Update poly flags from areas.\n for (let i = 0; i < polyMesh.npolys(); i++) {\n if (polyMesh.areas(i) == Raw.Recast.WALKABLE_AREA) {\n polyMesh.setAreas(i, 0);\n }\n if (polyMesh.areas(i) == 0) {\n polyMesh.setFlags(i, 1);\n }\n }\n\n const navMeshCreateParams = new NavMeshCreateParams();\n\n navMeshCreateParams.setPolyMeshCreateParams(polyMesh);\n navMeshCreateParams.setPolyMeshDetailCreateParams(polyMeshDetail);\n\n navMeshCreateParams.setWalkableHeight(tileConfig.walkableHeight);\n navMeshCreateParams.setWalkableRadius(tileConfig.walkableRadius);\n navMeshCreateParams.setWalkableClimb(tileConfig.walkableClimb);\n\n navMeshCreateParams.setCellSize(tileConfig.cs);\n navMeshCreateParams.setCellHeight(tileConfig.ch);\n\n navMeshCreateParams.setBuildBvTree(true);\n\n if (navMeshGeneratorConfig.offMeshConnections) {\n navMeshCreateParams.setOffMeshConnections(\n navMeshGeneratorConfig.offMeshConnections\n );\n }\n\n navMeshCreateParams.setTileX(tileX);\n navMeshCreateParams.setTileY(tileY);\n\n const createNavMeshDataResult = createNavMeshData(navMeshCreateParams);\n\n if (!createNavMeshDataResult.success) {\n return failTileMesh('Failed to create Detour navmesh data');\n }\n\n buildContext.log(\n Raw.Module.RC_LOG_PROGRESS,\n `>> Polymesh: ${polyMesh.nverts()} vertices ${polyMesh.npolys()} polygons`\n );\n\n return { success: true, data: createNavMeshDataResult.navMeshData };\n };\n\n buildContext.startTimer(Raw.Module.RC_TIMER_TEMP);\n\n const lastBuiltTileBmin: Vector3Tuple = [0, 0, 0];\n const lastBuiltTileBmax: Vector3Tuple = [0, 0, 0];\n\n for (let y = 0; y < tileHeight; y++) {\n for (let x = 0; x < tileWidth; x++) {\n lastBuiltTileBmin[0] = bbMin[0] + x * tcs;\n lastBuiltTileBmin[1] = bbMin[1];\n lastBuiltTileBmin[2] = bbMin[2] + y * tcs;\n\n lastBuiltTileBmax[0] = bbMin[0] + (x + 1) * tcs;\n lastBuiltTileBmax[1] = bbMax[1];\n lastBuiltTileBmax[2] = bbMin[2] + (y + 1) * tcs;\n\n const result = buildTileMesh(x, y, lastBuiltTileBmin, lastBuiltTileBmax);\n\n if (result.success && result.data) {\n navMesh.removeTile(navMesh.getTileRefAt(x, y, 0));\n\n const addTileResult = navMesh.addTile(\n result.data,\n Raw.Module.DT_TILE_FREE_DATA,\n 0\n );\n\n if (Raw.Detour.statusFailed(addTileResult.status)) {\n buildContext.log(\n Raw.Module.RC_LOG_WARNING,\n `Failed to add tile to nav mesh` +\n '\\n\\t' +\n `tx: ${x}, ty: ${y},` +\n `status: ${statusToReadableString(addTileResult.status)} (${\n addTileResult.status\n })`\n );\n\n result.data.free();\n }\n }\n }\n }\n\n buildContext.stopTimer(Raw.Module.RC_TIMER_TEMP);\n\n if (!keepIntermediates) {\n cleanup();\n }\n\n return {\n success: true,\n navMesh,\n intermediates,\n 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1
+ {"version":3,"file":"index.mjs","sources":["../src/generators/common.ts","../src/generators/generate-solo-nav-mesh.ts","../src/generators/generate-tile-cache.ts","../src/generators/generate-tiled-nav-mesh.ts"],"sourcesContent":["import { OffMeshConnectionParams, vec3 } from '@recast-navigation/core';\n\nexport const getBoundingBox = (\n positions: ArrayLike<number>,\n indices: ArrayLike<number>\n) => {\n const bbMin = { x: Infinity, y: Infinity, z: Infinity };\n const bbMax = { x: -Infinity, y: -Infinity, z: -Infinity };\n\n for (let i = 0; i < indices.length; i++) {\n const ind = indices[i];\n\n const x = positions[ind * 3];\n const y = positions[ind * 3 + 1];\n const z = positions[ind * 3 + 2];\n\n bbMin.x = Math.min(bbMin.x, x);\n bbMin.y = Math.min(bbMin.y, y);\n bbMin.z = Math.min(bbMin.z, z);\n\n bbMax.x = Math.max(bbMax.x, x);\n bbMax.y = Math.max(bbMax.y, y);\n bbMax.z = Math.max(bbMax.z, z);\n }\n\n return {\n bbMin: vec3.toArray(bbMin),\n bbMax: vec3.toArray(bbMax),\n };\n};\n\nexport const dtIlog2 = (v: number) => {\n let r = 0;\n let shift = 0;\n\n r = Number(v > 0xffff) << 4;\n v >>= r;\n\n shift = Number(v > 0xff) << 3;\n v >>= shift;\n r |= shift;\n\n shift = Number(v > 0xf) << 2;\n v >>= shift;\n r |= shift;\n\n shift = Number(v > 0x3) << 1;\n v >>= shift;\n r |= shift;\n r |= v >> 1;\n\n return r;\n};\n\nexport const dtNextPow2 = (v: number) => {\n v--;\n v |= v >> 1;\n v |= v >> 2;\n v |= v >> 4;\n v |= v >> 8;\n v |= v >> 16;\n v++;\n return v;\n};\n\nexport type OffMeshConnectionGeneratorParams = {\n offMeshConnections?: OffMeshConnectionParams[];\n};\n","import {\n Arrays,\n NavMesh,\n NavMeshCreateParams,\n Raw,\n RecastBuildContext,\n RecastCompactHeightfield,\n RecastConfig,\n RecastContourSet,\n RecastHeightfield,\n allocCompactHeightfield,\n allocContourSet,\n allocHeightfield,\n allocPolyMesh,\n allocPolyMeshDetail,\n buildCompactHeightfield,\n buildContours,\n buildDistanceField,\n buildPolyMesh,\n buildPolyMeshDetail,\n buildRegions,\n calcGridSize,\n createHeightfield,\n createNavMeshData,\n createRcConfig,\n erodeWalkableArea,\n filterLedgeSpans,\n filterLowHangingWalkableObstacles,\n filterWalkableLowHeightSpans,\n freeCompactHeightfield,\n freeContourSet,\n freeHeightfield,\n markWalkableTriangles,\n rasterizeTriangles,\n recastConfigDefaults,\n} from '@recast-navigation/core';\nimport { Pretty } from '../types';\nimport { OffMeshConnectionGeneratorParams, getBoundingBox } from './common';\n\nexport type SoloNavMeshGeneratorConfig = Pretty<\n Omit<RecastConfig, 'tileSize'> & OffMeshConnectionGeneratorParams\n>;\n\nexport const soloNavMeshGeneratorConfigDefaults: SoloNavMeshGeneratorConfig = {\n ...recastConfigDefaults,\n};\n\nexport type SoloNavMeshGeneratorIntermediates = {\n type: 'solo';\n buildContext: RecastBuildContext;\n heightfield?: RecastHeightfield;\n compactHeightfield?: RecastCompactHeightfield;\n contourSet?: RecastContourSet;\n};\n\ntype SoloNavMeshGeneratorSuccessResult = {\n navMesh: NavMesh;\n success: true;\n intermediates: SoloNavMeshGeneratorIntermediates;\n};\n\ntype SoloNavMeshGeneratorFailResult = {\n navMesh: undefined;\n success: false;\n intermediates: SoloNavMeshGeneratorIntermediates;\n error: string;\n};\n\nexport type SoloNavMeshGeneratorResult =\n | SoloNavMeshGeneratorSuccessResult\n | SoloNavMeshGeneratorFailResult;\n\n/**\n * Builds a Solo NavMesh from the given positions and indices.\n * @param positions a flat array of positions\n * @param indices a flat array of indices\n * @param navMeshGeneratorConfig optional configuration for the NavMesh generator\n * @param keepIntermediates if true intermediates will be returned\n */\nexport const generateSoloNavMesh = (\n positions: ArrayLike<number>,\n indices: ArrayLike<number>,\n navMeshGeneratorConfig: Partial<SoloNavMeshGeneratorConfig> = {},\n keepIntermediates = false\n): SoloNavMeshGeneratorResult => {\n const buildContext = new RecastBuildContext();\n\n const intermediates: SoloNavMeshGeneratorIntermediates = {\n type: 'solo',\n buildContext,\n };\n\n const navMesh = new NavMesh();\n\n const cleanup = () => {\n if (keepIntermediates) return;\n\n if (intermediates.heightfield) {\n freeHeightfield(intermediates.heightfield);\n intermediates.heightfield = undefined;\n }\n if (intermediates.compactHeightfield) {\n freeCompactHeightfield(intermediates.compactHeightfield);\n intermediates.compactHeightfield = undefined;\n }\n if (intermediates.contourSet) {\n freeContourSet(intermediates.contourSet);\n intermediates.contourSet = undefined;\n }\n };\n\n const fail = (error: string): SoloNavMeshGeneratorFailResult => {\n cleanup();\n\n navMesh.destroy();\n\n return {\n navMesh: undefined,\n success: false,\n intermediates,\n error,\n };\n };\n\n const verts = positions as number[];\n const nVerts = indices.length;\n const vertsArray = new Arrays.VertsArray();\n vertsArray.copy(verts, verts.length);\n\n const tris = indices as number[];\n const nTris = indices.length / 3;\n const trisArray = new Arrays.TrisArray();\n trisArray.copy(tris, tris.length);\n\n const { bbMin, bbMax } = getBoundingBox(positions, indices);\n\n //\n // Step 1. Initialize build config.\n //\n const config = createRcConfig({\n ...soloNavMeshGeneratorConfigDefaults,\n ...navMeshGeneratorConfig,\n });\n\n config.minRegionArea = config.minRegionArea * config.minRegionArea; // Note: area = size*size\n config.mergeRegionArea = config.mergeRegionArea * config.mergeRegionArea; // Note: area = size*size\n config.detailSampleDist =\n config.detailSampleDist < 0.9 ? 0 : config.cs * config.detailSampleDist;\n config.detailSampleMaxError = config.ch * config.detailSampleMaxError;\n\n const gridSize = calcGridSize(bbMin, bbMax, config.cs);\n config.width = gridSize.width;\n config.height = gridSize.height;\n\n //\n // Step 2. Rasterize input polygon soup.\n //\n // Allocate voxel heightfield where we rasterize our input data to.\n const heightfield = allocHeightfield();\n intermediates.heightfield = heightfield;\n\n if (\n !createHeightfield(\n buildContext,\n heightfield,\n config.width,\n config.height,\n bbMin,\n bbMax,\n config.cs,\n config.ch\n )\n ) {\n return fail('Could not create heightfield');\n }\n\n // Find triangles which are walkable based on their slope and rasterize them.\n // If your input data is multiple meshes, you can transform them here, calculate\n // the are type for each of the meshes and rasterize them.\n const triAreasArray = new Arrays.TriAreasArray();\n triAreasArray.resize(nTris);\n\n markWalkableTriangles(\n buildContext,\n config.walkableSlopeAngle,\n vertsArray,\n nVerts,\n trisArray,\n nTris,\n triAreasArray\n );\n\n if (\n !rasterizeTriangles(\n buildContext,\n vertsArray,\n nVerts,\n trisArray,\n triAreasArray,\n nTris,\n heightfield,\n config.walkableClimb\n )\n ) {\n return fail('Could not rasterize triangles');\n }\n\n triAreasArray.free();\n\n //\n // Step 3. Filter walkables surfaces.\n //\n // Once all geoemtry is rasterized, we do initial pass of filtering to\n // remove unwanted overhangs caused by the conservative rasterization\n // as well as filter spans where the character cannot possibly stand.\n filterLowHangingWalkableObstacles(\n buildContext,\n config.walkableClimb,\n heightfield\n );\n filterLedgeSpans(\n buildContext,\n config.walkableHeight,\n config.walkableClimb,\n heightfield\n );\n filterWalkableLowHeightSpans(\n buildContext,\n config.walkableHeight,\n heightfield\n );\n\n //\n // Step 4. Partition walkable surface to simple regions.\n //\n // Compact the heightfield so that it is faster to handle from now on.\n // This will result more cache coherent data as well as the neighbours\n // between walkable cells will be calculated.\n const compactHeightfield = allocCompactHeightfield();\n intermediates.compactHeightfield = compactHeightfield;\n\n if (\n !buildCompactHeightfield(\n buildContext,\n config.walkableHeight,\n config.walkableClimb,\n heightfield,\n compactHeightfield\n )\n ) {\n return fail('Failed to build compact data');\n }\n\n if (!keepIntermediates) {\n freeHeightfield(heightfield);\n intermediates.heightfield = undefined;\n }\n\n // Erode the walkable area by agent radius.\n if (\n !erodeWalkableArea(buildContext, config.walkableRadius, compactHeightfield)\n ) {\n return fail('Failed to erode walkable area');\n }\n\n // (Optional) Mark areas\n // markConvexPolyArea(...)\n\n // Prepare for region partitioning, by calculating Distance field along the walkable surface.\n if (!buildDistanceField(buildContext, compactHeightfield)) {\n return fail('Failed to build distance field');\n }\n\n // Partition the walkable surface into simple regions without holes.\n if (\n !buildRegions(\n buildContext,\n compactHeightfield,\n config.borderSize,\n config.minRegionArea,\n config.mergeRegionArea\n )\n ) {\n return fail('Failed to build regions');\n }\n\n //\n // Step 5. Trace and simplify region contours.\n //\n const contourSet = allocContourSet();\n intermediates.contourSet = contourSet;\n\n if (\n !buildContours(\n buildContext,\n compactHeightfield,\n config.maxSimplificationError,\n config.maxEdgeLen,\n contourSet,\n Raw.Module.RC_CONTOUR_TESS_WALL_EDGES\n )\n ) {\n return fail('Failed to create contours');\n }\n\n //\n // Step 6. Build polygons mesh from contours.\n //\n const polyMesh = allocPolyMesh();\n if (\n !buildPolyMesh(buildContext, contourSet, config.maxVertsPerPoly, polyMesh)\n ) {\n return fail('Failed to triangulate contours');\n }\n\n //\n // Step 7. Create detail mesh which allows to access approximate height on each polygon.\n //\n const polyMeshDetail = allocPolyMeshDetail();\n if (\n !buildPolyMeshDetail(\n buildContext,\n polyMesh,\n compactHeightfield,\n config.detailSampleDist,\n config.detailSampleMaxError,\n polyMeshDetail\n )\n ) {\n return fail('Failed to build detail mesh');\n }\n\n if (!keepIntermediates) {\n freeCompactHeightfield(compactHeightfield);\n intermediates.compactHeightfield = undefined;\n\n freeContourSet(contourSet);\n intermediates.contourSet = undefined;\n }\n\n //\n // Step 8. Create Detour data from Recast poly mesh.\n //\n for (let i = 0; i < polyMesh.npolys(); i++) {\n if (polyMesh.areas(i) == Raw.Recast.WALKABLE_AREA) {\n polyMesh.setAreas(i, 0);\n }\n if (polyMesh.areas(i) == 0) {\n polyMesh.setFlags(i, 1);\n }\n }\n\n const navMeshCreateParams = new NavMeshCreateParams();\n\n navMeshCreateParams.setPolyMeshCreateParams(polyMesh);\n navMeshCreateParams.setPolyMeshDetailCreateParams(polyMeshDetail);\n\n navMeshCreateParams.setWalkableHeight(config.walkableHeight);\n navMeshCreateParams.setWalkableRadius(config.walkableRadius);\n navMeshCreateParams.setWalkableClimb(config.walkableClimb);\n\n navMeshCreateParams.setCellSize(config.cs);\n navMeshCreateParams.setCellHeight(config.ch);\n\n navMeshCreateParams.setBuildBvTree(true);\n\n if (navMeshGeneratorConfig.offMeshConnections) {\n navMeshCreateParams.setOffMeshConnections(\n navMeshGeneratorConfig.offMeshConnections\n );\n }\n\n const createNavMeshDataResult = createNavMeshData(navMeshCreateParams);\n\n if (!createNavMeshDataResult.success) {\n return fail('Failed to create Detour navmesh data');\n }\n\n const { navMeshData } = createNavMeshDataResult;\n\n if (!navMesh.initSolo(navMeshData)) {\n return fail('Failed to create Detour navmesh');\n }\n\n return {\n success: true,\n navMesh,\n intermediates,\n };\n};\n","import {\n Arrays,\n DetourTileCacheParams,\n NavMesh,\n NavMeshParams,\n Raw,\n RecastBuildContext,\n RecastChunkyTriMesh,\n RecastCompactHeightfield,\n RecastConfig,\n RecastHeightfield,\n RecastHeightfieldLayerSet,\n TileCache,\n TileCacheMeshProcess,\n Vector2Tuple,\n Vector3Tuple,\n allocCompactHeightfield,\n allocHeightfield,\n allocHeightfieldLayerSet,\n buildCompactHeightfield,\n buildHeightfieldLayers,\n buildTileCacheLayer,\n calcGridSize,\n cloneRcConfig,\n createHeightfield,\n createRcConfig,\n erodeWalkableArea,\n filterLedgeSpans,\n filterLowHangingWalkableObstacles,\n filterWalkableLowHeightSpans,\n freeCompactHeightfield,\n freeHeightfield,\n freeHeightfieldLayerSet,\n getHeightfieldLayerAreas,\n getHeightfieldLayerCons,\n getHeightfieldLayerHeights,\n markWalkableTriangles,\n rasterizeTriangles,\n recastConfigDefaults,\n vec3,\n} from '@recast-navigation/core';\nimport type R from '@recast-navigation/wasm';\nimport { Pretty } from '../types';\nimport { dtIlog2, dtNextPow2, getBoundingBox } from './common';\n\ntype TileCacheRecastConfig = Omit<RecastConfig, 'minRegionArea' | 'maxEdgeLen'>;\n\nexport type TileCacheGeneratorConfig = Pretty<\n TileCacheRecastConfig & {\n /**\n * How many layers (or \"floors\") each navmesh tile is expected to have.\n */\n expectedLayersPerTile: number;\n\n /**\n * The max number of obstacles\n */\n maxObstacles: number;\n\n /**\n * The tile cache mesh process implementation.\n * If not provided, a default one is created via `createDefaultTileCacheMeshProcess()`\n * @default createDefaultTileCacheMeshProcess()\n */\n tileCacheMeshProcess?: TileCacheMeshProcess;\n }\n>;\n\nexport const tileCacheGeneratorConfigDefaults: TileCacheGeneratorConfig = {\n ...recastConfigDefaults,\n tileSize: 32,\n expectedLayersPerTile: 4,\n maxObstacles: 128,\n};\n\nexport type TileCacheGeneratorTileIntermediates = {\n tileX: number;\n tileY: number;\n heightfield?: RecastHeightfield;\n compactHeightfield?: RecastCompactHeightfield;\n heightfieldLayerSet?: RecastHeightfieldLayerSet;\n};\n\nexport type TileCacheGeneratorIntermediates = {\n type: 'tilecache';\n buildContext: RecastBuildContext;\n chunkyTriMesh?: RecastChunkyTriMesh;\n tileIntermediates: TileCacheGeneratorTileIntermediates[];\n};\n\ntype TileCacheGeneratorSuccessResult = {\n tileCache: TileCache;\n navMesh: NavMesh;\n success: true;\n intermediates: TileCacheGeneratorIntermediates;\n};\n\ntype TileCacheGeneratorFailResult = {\n tileCache: undefined;\n navMesh: undefined;\n success: false;\n error: string;\n intermediates: TileCacheGeneratorIntermediates;\n};\n\nexport type TileCacheGeneratorResult =\n | TileCacheGeneratorSuccessResult\n | TileCacheGeneratorFailResult;\n\nexport const createDefaultTileCacheMeshProcess = () =>\n new TileCacheMeshProcess((navMeshCreateParams, polyAreas, polyFlags) => {\n for (let i = 0; i < navMeshCreateParams.polyCount(); ++i) {\n polyAreas.set(i, 0);\n polyFlags.set(i, 1);\n }\n });\n\n/**\n * Builds a TileCache and NavMesh from the given positions and indices.\n * TileCache assumes small tiles (around 32-64 squared) and does some tricks to make the update fast.\n * @param positions a flat array of positions\n * @param indices a flat array of indices\n * @param navMeshConfig optional configuration for the NavMesh\n * @param keepIntermediates if true intermediates will be returned\n */\nexport const generateTileCache = (\n positions: ArrayLike<number>,\n indices: ArrayLike<number>,\n navMeshGeneratorConfig: Partial<TileCacheGeneratorConfig> = {},\n keepIntermediates = false\n): TileCacheGeneratorResult => {\n const buildContext = new RecastBuildContext();\n\n const intermediates: TileCacheGeneratorIntermediates = {\n type: 'tilecache',\n buildContext,\n chunkyTriMesh: undefined,\n tileIntermediates: [],\n };\n\n const tileCache = new TileCache();\n const navMesh = new NavMesh();\n\n const cleanup = () => {\n if (!keepIntermediates) {\n for (let i = 0; i < intermediates.tileIntermediates.length; i++) {\n const tileIntermediate = intermediates.tileIntermediates[i];\n\n if (tileIntermediate.heightfield) {\n freeHeightfield(tileIntermediate.heightfield);\n tileIntermediate.heightfield = undefined;\n }\n\n if (tileIntermediate.compactHeightfield) {\n freeCompactHeightfield(tileIntermediate.compactHeightfield);\n tileIntermediate.compactHeightfield = undefined;\n }\n\n if (tileIntermediate.heightfieldLayerSet) {\n freeHeightfieldLayerSet(tileIntermediate.heightfieldLayerSet);\n tileIntermediate.heightfieldLayerSet = undefined;\n }\n }\n }\n };\n\n const fail = (error: string): TileCacheGeneratorFailResult => {\n cleanup();\n\n tileCache.destroy();\n navMesh.destroy();\n\n return {\n success: false,\n navMesh: undefined,\n tileCache: undefined,\n intermediates,\n error,\n };\n };\n\n const verts = positions as number[];\n const nVerts = indices.length;\n const vertsArray = new Arrays.VertsArray();\n vertsArray.copy(verts, verts.length);\n\n const tris = indices as number[];\n const nTris = indices.length / 3;\n const trisArray = new Arrays.TrisArray();\n trisArray.copy(tris, tris.length);\n\n const { bbMin, bbMax } = getBoundingBox(positions, indices);\n\n const { expectedLayersPerTile, maxObstacles, ...recastConfig } = {\n ...tileCacheGeneratorConfigDefaults,\n ...navMeshGeneratorConfig,\n };\n\n //\n // Step 1. Initialize build config.\n //\n const config = createRcConfig(recastConfig);\n\n const gridSize = calcGridSize(bbMin, bbMax, config.cs);\n config.width = gridSize.width;\n config.height = gridSize.height;\n\n config.minRegionArea = config.minRegionArea * config.minRegionArea; // Note: area = size*size\n config.mergeRegionArea = config.mergeRegionArea * config.mergeRegionArea; // Note: area = size*size\n config.detailSampleDist =\n config.detailSampleDist < 0.9 ? 0 : config.cs * config.detailSampleDist;\n config.detailSampleMaxError = config.ch * config.detailSampleMaxError;\n\n const tileSize = Math.floor(config.tileSize);\n const tileWidth = Math.floor((config.width + tileSize - 1) / tileSize);\n const tileHeight = Math.floor((config.height + tileSize - 1) / tileSize);\n\n // Generation params\n config.borderSize = config.walkableRadius + 3; // Reserve enough padding.\n config.width = config.tileSize + config.borderSize * 2;\n config.height = config.tileSize + config.borderSize * 2;\n\n // Tile cache params\n const tileCacheParams = DetourTileCacheParams.create({\n orig: bbMin,\n cs: config.cs,\n ch: config.ch,\n width: config.tileSize,\n height: config.tileSize,\n walkableHeight: config.walkableHeight,\n walkableRadius: config.walkableRadius,\n walkableClimb: config.walkableClimb,\n maxSimplificationError: config.maxSimplificationError,\n maxTiles: tileWidth * tileHeight * expectedLayersPerTile,\n maxObstacles,\n });\n\n const allocator = new Raw.RecastLinearAllocator(32000);\n const compressor = new Raw.RecastFastLZCompressor();\n\n const tileCacheMeshProcess =\n navMeshGeneratorConfig.tileCacheMeshProcess ??\n createDefaultTileCacheMeshProcess();\n\n if (\n !tileCache.init(\n tileCacheParams,\n allocator,\n compressor,\n tileCacheMeshProcess\n )\n ) {\n return fail('Failed to initialize tile cache');\n }\n\n const orig = vec3.fromArray(bbMin);\n\n // Max tiles and max polys affect how the tile IDs are caculated.\n // There are 22 bits available for identifying a tile and a polygon.\n let tileBits = Math.min(\n Math.floor(\n dtIlog2(dtNextPow2(tileWidth * tileHeight * expectedLayersPerTile))\n ),\n 14\n );\n if (tileBits > 14) {\n tileBits = 14;\n }\n const polyBits = 22 - tileBits;\n\n const maxTiles = 1 << tileBits;\n const maxPolysPerTile = 1 << polyBits;\n\n const navMeshParams = NavMeshParams.create({\n orig,\n tileWidth: config.tileSize * config.cs,\n tileHeight: config.tileSize * config.cs,\n maxTiles,\n maxPolys: maxPolysPerTile,\n });\n\n if (!navMesh.initTiled(navMeshParams)) {\n return fail('Failed to initialize tiled navmesh');\n }\n\n const chunkyTriMesh = new RecastChunkyTriMesh();\n intermediates.chunkyTriMesh = chunkyTriMesh;\n\n if (!chunkyTriMesh.init(vertsArray, trisArray, nTris, 256)) {\n return fail('Failed to build chunky triangle mesh');\n }\n\n const rasterizeTileLayers = (tileX: number, tileY: number) => {\n // Tile intermediates\n const tileIntermediates: TileCacheGeneratorTileIntermediates = {\n tileX,\n tileY,\n };\n\n // Tile bounds\n const tcs = config.tileSize * config.cs;\n\n const tileConfig = cloneRcConfig(config);\n\n const tileBoundsMin: Vector3Tuple = [\n bbMin[0] + tileX * tcs,\n bbMin[1],\n bbMin[2] + tileY * tcs,\n ];\n\n const tileBoundsMax: Vector3Tuple = [\n bbMin[0] + (tileX + 1) * tcs,\n bbMax[1],\n bbMin[2] + (tileY + 1) * tcs,\n ];\n\n tileBoundsMin[0] -= tileConfig.borderSize * tileConfig.cs;\n tileBoundsMin[2] -= tileConfig.borderSize * tileConfig.cs;\n tileBoundsMax[0] += tileConfig.borderSize * tileConfig.cs;\n tileBoundsMax[2] += tileConfig.borderSize * tileConfig.cs;\n\n tileConfig.set_bmin(0, tileBoundsMin[0]);\n tileConfig.set_bmin(1, tileBoundsMin[1]);\n tileConfig.set_bmin(2, tileBoundsMin[2]);\n\n tileConfig.set_bmax(0, tileBoundsMax[0]);\n tileConfig.set_bmax(1, tileBoundsMax[1]);\n tileConfig.set_bmax(2, tileBoundsMax[2]);\n\n // Allocate voxel heightfield where we rasterize our input data to.\n const heightfield = allocHeightfield();\n tileIntermediates.heightfield = heightfield;\n\n if (\n !createHeightfield(\n buildContext,\n heightfield,\n tileConfig.width,\n tileConfig.height,\n tileBoundsMin,\n tileBoundsMax,\n tileConfig.cs,\n tileConfig.ch\n )\n ) {\n return { n: 0 };\n }\n\n const tbmin: Vector2Tuple = [tileBoundsMin[0], tileBoundsMin[2]];\n const tbmax: Vector2Tuple = [tileBoundsMax[0], tileBoundsMax[2]];\n\n // TODO: Make grow when returning too many items.\n const maxChunkIds = 512;\n const chunkIdsArray = new Arrays.ChunkIdsArray();\n chunkIdsArray.resize(maxChunkIds);\n\n const nChunksOverlapping = chunkyTriMesh.getChunksOverlappingRect(\n tbmin,\n tbmax,\n chunkIdsArray,\n maxChunkIds\n );\n\n if (nChunksOverlapping === 0) {\n return { n: 0 };\n }\n\n for (let i = 0; i < nChunksOverlapping; ++i) {\n const nodeId = chunkIdsArray.get_data(i);\n const node = chunkyTriMesh.nodes(nodeId);\n const nNodeTris = node.n;\n\n const nodeTrisArray = chunkyTriMesh.getNodeTris(nodeId);\n\n const triAreasArray = new Arrays.TriAreasArray();\n triAreasArray.resize(nNodeTris);\n\n // Find triangles which are walkable based on their slope and rasterize them.\n // If your input data is multiple meshes, you can transform them here, calculate\n // the are type for each of the meshes and rasterize them.\n markWalkableTriangles(\n buildContext,\n tileConfig.walkableSlopeAngle,\n vertsArray,\n nVerts,\n nodeTrisArray,\n nNodeTris,\n triAreasArray\n );\n\n const success = rasterizeTriangles(\n buildContext,\n vertsArray,\n nVerts,\n nodeTrisArray,\n triAreasArray,\n nNodeTris,\n heightfield,\n tileConfig.walkableClimb\n );\n\n triAreasArray.free();\n\n if (!success) {\n return { n: 0 };\n }\n }\n\n // Once all geometry is rasterized, we do initial pass of filtering to\n // remove unwanted overhangs caused by the conservative rasterization\n // as well as filter spans where the character cannot possibly stand.\n filterLowHangingWalkableObstacles(\n buildContext,\n config.walkableClimb,\n heightfield\n );\n filterLedgeSpans(\n buildContext,\n config.walkableHeight,\n config.walkableClimb,\n heightfield\n );\n filterWalkableLowHeightSpans(\n buildContext,\n config.walkableHeight,\n heightfield\n );\n\n const compactHeightfield = allocCompactHeightfield();\n if (\n !buildCompactHeightfield(\n buildContext,\n config.walkableHeight,\n config.walkableClimb,\n heightfield,\n compactHeightfield\n )\n ) {\n return { n: 0 };\n }\n\n if (!keepIntermediates) {\n freeHeightfield(tileIntermediates.heightfield);\n tileIntermediates.heightfield = undefined;\n }\n\n // Erode the walkable area by agent radius\n if (\n !erodeWalkableArea(\n buildContext,\n config.walkableRadius,\n compactHeightfield\n )\n ) {\n return { n: 0 };\n }\n\n const heightfieldLayerSet = allocHeightfieldLayerSet();\n if (\n !buildHeightfieldLayers(\n buildContext,\n compactHeightfield,\n config.borderSize,\n config.walkableHeight,\n heightfieldLayerSet\n )\n ) {\n return { n: 0 };\n }\n\n if (!keepIntermediates) {\n freeCompactHeightfield(compactHeightfield);\n tileIntermediates.compactHeightfield = undefined;\n }\n\n const tiles: R.UnsignedCharArray[] = [];\n\n for (let i = 0; i < heightfieldLayerSet.nlayers(); i++) {\n const tile = new Arrays.TileCacheData();\n const heightfieldLayer = heightfieldLayerSet.layers(i);\n\n // Store header\n const header = new Raw.dtTileCacheLayerHeader();\n header.magic = Raw.Detour.TILECACHE_MAGIC;\n header.version = Raw.Detour.TILECACHE_VERSION;\n\n // Tile layer location in the navmesh\n header.tx = tileX;\n header.ty = tileY;\n header.tlayer = i;\n\n const heightfieldLayerBin = heightfieldLayer.bmin();\n const heightfieldLayerBmax = heightfieldLayer.bmax();\n header.set_bmin(0, heightfieldLayerBin.x);\n header.set_bmin(1, heightfieldLayerBin.y);\n header.set_bmin(2, heightfieldLayerBin.z);\n\n header.set_bmax(0, heightfieldLayerBmax.x);\n header.set_bmax(1, heightfieldLayerBmax.y);\n header.set_bmax(2, heightfieldLayerBmax.z);\n\n // Tile info\n header.width = heightfieldLayer.width();\n header.height = heightfieldLayer.height();\n header.minx = heightfieldLayer.minx();\n header.maxx = heightfieldLayer.maxx();\n header.miny = heightfieldLayer.miny();\n header.maxy = heightfieldLayer.maxy();\n header.hmin = heightfieldLayer.hmin();\n header.hmax = heightfieldLayer.hmax();\n\n const heights = getHeightfieldLayerHeights(heightfieldLayer);\n const areas = getHeightfieldLayerAreas(heightfieldLayer);\n const cons = getHeightfieldLayerCons(heightfieldLayer);\n\n const status = buildTileCacheLayer(\n compressor,\n header,\n heights,\n areas,\n cons,\n tile\n );\n\n if (Raw.Detour.statusFailed(status)) {\n return { n: 0 };\n }\n\n tiles.push(tile);\n }\n\n if (!keepIntermediates) {\n freeHeightfieldLayerSet(heightfieldLayerSet);\n tileIntermediates.heightfieldLayerSet = undefined;\n }\n\n intermediates.tileIntermediates.push(tileIntermediates);\n\n return { n: tiles.length, tiles };\n };\n\n // Preprocess tiles\n for (let y = 0; y < tileHeight; ++y) {\n for (let x = 0; x < tileWidth; ++x) {\n const { n, tiles: newTiles } = rasterizeTileLayers(x, y);\n\n if (n > 0 && newTiles) {\n for (let i = 0; i < n; i++) {\n const tileCacheData = newTiles[i];\n\n const addResult = tileCache.addTile(tileCacheData);\n\n if (Raw.Detour.statusFailed(addResult.status)) {\n buildContext.log(\n Raw.Module.RC_LOG_WARNING,\n `Failed to add tile to tile cache - tx: ${x}, ty: ${y}`\n );\n continue;\n }\n }\n }\n }\n }\n\n // Build initial meshes\n for (let y = 0; y < tileHeight; y++) {\n for (let x = 0; x < tileWidth; x++) {\n const dtStatus = tileCache.buildNavMeshTilesAt(x, y, navMesh);\n\n if (Raw.Detour.statusFailed(dtStatus)) {\n return fail(`Failed to build nav mesh tiles at ${x}, ${y}`);\n }\n }\n }\n\n cleanup();\n\n return {\n success: true,\n tileCache,\n navMesh,\n intermediates,\n };\n};\n","import {\n Arrays,\n NavMesh,\n NavMeshCreateParams,\n NavMeshParams,\n Raw,\n RecastBuildContext,\n RecastChunkyTriMesh,\n RecastCompactHeightfield,\n RecastConfig,\n RecastContourSet,\n RecastHeightfield,\n Vector2Tuple,\n Vector3Tuple,\n allocCompactHeightfield,\n allocContourSet,\n allocHeightfield,\n allocPolyMesh,\n allocPolyMeshDetail,\n buildCompactHeightfield,\n buildContours,\n buildDistanceField,\n buildPolyMesh,\n buildPolyMeshDetail,\n buildRegions,\n calcGridSize,\n cloneRcConfig,\n createHeightfield,\n createNavMeshData,\n createRcConfig,\n statusToReadableString,\n erodeWalkableArea,\n filterLedgeSpans,\n filterLowHangingWalkableObstacles,\n filterWalkableLowHeightSpans,\n freeCompactHeightfield,\n freeContourSet,\n freeHeightfield,\n markWalkableTriangles,\n rasterizeTriangles,\n recastConfigDefaults,\n vec3,\n} from '@recast-navigation/core';\nimport type R from '@recast-navigation/wasm';\nimport { Pretty } from '../types';\nimport {\n OffMeshConnectionGeneratorParams,\n dtIlog2,\n dtNextPow2,\n getBoundingBox,\n} from './common';\n\nexport type TiledNavMeshGeneratorConfig = Pretty<\n RecastConfig & OffMeshConnectionGeneratorParams\n>;\n\nexport const tiledNavMeshGeneratorConfigDefaults: TiledNavMeshGeneratorConfig =\n {\n ...recastConfigDefaults,\n };\n\nexport type TiledNavMeshGeneratorIntermediates = {\n type: 'tiled';\n buildContext: RecastBuildContext;\n chunkyTriMesh?: RecastChunkyTriMesh;\n tileIntermediates: {\n tileX: number;\n tileY: number;\n heightfield?: RecastHeightfield;\n compactHeightfield?: RecastCompactHeightfield;\n contourSet?: RecastContourSet;\n }[];\n};\n\ntype TiledNavMeshGeneratorSuccessResult = {\n navMesh: NavMesh;\n success: true;\n intermediates: TiledNavMeshGeneratorIntermediates;\n};\n\ntype TiledNavMeshGeneratorFailResult = {\n navMesh: undefined;\n success: false;\n intermediates: TiledNavMeshGeneratorIntermediates;\n error: string;\n};\n\nexport type TiledNavMeshGeneratorResult =\n | TiledNavMeshGeneratorSuccessResult\n | TiledNavMeshGeneratorFailResult;\n\n/**\n * Builds a Tiled NavMesh\n * @param positions a flat array of positions\n * @param indices a flat array of indices\n * @param navMeshGeneratorConfig optional configuration for the NavMesh generator\n * @param keepIntermediates if true intermediates will be returned\n */\nexport const generateTiledNavMesh = (\n positions: ArrayLike<number>,\n indices: ArrayLike<number>,\n navMeshGeneratorConfig: Partial<TiledNavMeshGeneratorConfig> = {},\n keepIntermediates = false\n): TiledNavMeshGeneratorResult => {\n const buildContext = new RecastBuildContext();\n\n const intermediates: TiledNavMeshGeneratorIntermediates = {\n type: 'tiled',\n buildContext,\n chunkyTriMesh: undefined,\n tileIntermediates: [],\n };\n\n const navMesh = new NavMesh();\n\n const cleanup = () => {\n if (keepIntermediates) return;\n\n for (let i = 0; i < intermediates.tileIntermediates.length; i++) {\n const tileIntermediate = intermediates.tileIntermediates[i];\n\n if (tileIntermediate.compactHeightfield) {\n freeCompactHeightfield(tileIntermediate.compactHeightfield);\n }\n\n if (tileIntermediate.heightfield) {\n freeHeightfield(tileIntermediate.heightfield);\n }\n\n if (tileIntermediate.contourSet) {\n freeContourSet(tileIntermediate.contourSet);\n }\n }\n\n if (intermediates.chunkyTriMesh) {\n intermediates.chunkyTriMesh = undefined;\n }\n };\n\n const fail = (error: string): TiledNavMeshGeneratorFailResult => {\n cleanup();\n\n navMesh.destroy();\n\n return {\n success: false,\n navMesh: undefined,\n intermediates,\n error,\n };\n };\n\n //\n // Initialize build config.\n //\n const config = createRcConfig({\n ...tiledNavMeshGeneratorConfigDefaults,\n ...navMeshGeneratorConfig,\n });\n\n /* get input bounding box */\n const { bbMin, bbMax } = getBoundingBox(positions, indices);\n\n /* grid size */\n const gridSize = calcGridSize(bbMin, bbMax, config.cs);\n config.width = gridSize.width;\n config.height = gridSize.height;\n\n config.minRegionArea = config.minRegionArea * config.minRegionArea; // Note: area = size*size\n config.mergeRegionArea = config.mergeRegionArea * config.mergeRegionArea; // Note: area = size*size\n config.tileSize = Math.floor(config.tileSize);\n config.borderSize = config.walkableRadius + 3; // Reserve enough padding.\n config.width = config.tileSize + config.borderSize * 2;\n config.height = config.tileSize + config.borderSize * 2;\n config.detailSampleDist =\n config.detailSampleDist < 0.9 ? 0 : config.cs * config.detailSampleDist;\n config.detailSampleMaxError = config.ch * config.detailSampleMaxError;\n\n // tile size\n const tileSize = Math.floor(config.tileSize);\n const tileWidth = Math.floor((gridSize.width + tileSize - 1) / tileSize);\n const tileHeight = Math.floor((gridSize.height + tileSize - 1) / tileSize);\n const tcs = config.tileSize * config.cs;\n\n /* verts */\n const verts = positions as number[];\n const nVerts = indices.length;\n const vertsArray = new Arrays.VertsArray();\n vertsArray.copy(verts, verts.length);\n\n /* tris */\n const tris = indices as number[];\n const nTris = indices.length / 3;\n const trisArray = new Arrays.TrisArray();\n trisArray.copy(tris, tris.length);\n\n /* Create dtNavMeshParams, initialise nav mesh for tiled use */\n const orig = vec3.fromArray(bbMin);\n\n // Max tiles and max polys affect how the tile IDs are caculated.\n // There are 22 bits available for identifying a tile and a polygon.\n let tileBits = Math.min(\n Math.floor(dtIlog2(dtNextPow2(tileWidth * tileHeight))),\n 14\n );\n if (tileBits > 14) tileBits = 14;\n const polyBits = 22 - tileBits;\n\n const maxTiles = 1 << tileBits;\n const maxPolysPerTile = 1 << polyBits;\n\n const navMeshParams = NavMeshParams.create({\n orig,\n tileWidth: config.tileSize * config.cs,\n tileHeight: config.tileSize * config.cs,\n maxTiles,\n maxPolys: maxPolysPerTile,\n });\n\n if (!navMesh.initTiled(navMeshParams)) {\n return fail('Could not init nav mesh for tiled use');\n }\n\n /* create chunky tri mesh */\n const chunkyTriMesh = new RecastChunkyTriMesh();\n intermediates.chunkyTriMesh = chunkyTriMesh;\n\n if (!chunkyTriMesh.init(vertsArray, trisArray, nTris, 256)) {\n return fail('Failed to build chunky triangle mesh');\n }\n\n /** @internal */\n const buildTileMesh = (\n tileX: number,\n tileY: number,\n tileBoundsMin: Vector3Tuple,\n tileBoundsMax: Vector3Tuple\n ):\n | { success: true; data?: R.UnsignedCharArray }\n | { success: false; error: string } => {\n const failTileMesh = (error: string) => {\n buildContext.log(Raw.Module.RC_LOG_ERROR, error);\n\n return { success: false as const, error };\n };\n\n const tileIntermediate: {\n tileX: number;\n tileY: number;\n heightfield?: RecastHeightfield;\n compactHeightfield?: RecastCompactHeightfield;\n contourSet?: RecastContourSet;\n } = { tileX, tileY };\n\n intermediates.tileIntermediates.push(tileIntermediate);\n\n const tileConfig = cloneRcConfig(config);\n\n // Expand the heightfield bounding box by border size to find the extents of geometry we need to build this tile.\n //\n // This is done in order to make sure that the navmesh tiles connect correctly at the borders,\n // and the obstacles close to the border work correctly with the dilation process.\n // No polygons (or contours) will be created on the border area.\n //\n // IMPORTANT!\n //\n // :''''''''':\n // : +-----+ :\n // : | | :\n // : | |<--- tile to build\n // : | | :\n // : +-----+ :<-- geometry needed\n // :.........:\n //\n // You should use this bounding box to query your input geometry.\n //\n // For example if you build a navmesh for terrain, and want the navmesh tiles to match the terrain tile size\n // you will need to pass in data from neighbour terrain tiles too! In a simple case, just pass in all the 8 neighbours,\n // or use the bounding box below to only pass in a sliver of each of the 8 neighbours.\n\n const expandedTileBoundsMin = [...tileBoundsMin] as Vector3Tuple;\n const expandedTileBoundsMax = [...tileBoundsMax] as Vector3Tuple;\n\n expandedTileBoundsMin[0] -= tileConfig.borderSize * tileConfig.cs;\n expandedTileBoundsMin[2] -= tileConfig.borderSize * tileConfig.cs;\n\n expandedTileBoundsMax[0] += tileConfig.borderSize * tileConfig.cs;\n expandedTileBoundsMax[2] += tileConfig.borderSize * tileConfig.cs;\n\n tileConfig.set_bmin(0, expandedTileBoundsMin[0]);\n tileConfig.set_bmin(1, expandedTileBoundsMin[1]);\n tileConfig.set_bmin(2, expandedTileBoundsMin[2]);\n\n tileConfig.set_bmax(0, expandedTileBoundsMax[0]);\n tileConfig.set_bmax(1, expandedTileBoundsMax[1]);\n tileConfig.set_bmax(2, expandedTileBoundsMax[2]);\n\n // Reset build timer\n buildContext.resetTimers();\n\n // Start the build process\n buildContext.startTimer(Raw.Module.RC_TIMER_TOTAL);\n\n buildContext.log(\n Raw.Module.RC_LOG_PROGRESS,\n `Building tile ${intermediates.tileIntermediates.length} at x: ${tileX}, y: ${tileY}`\n );\n buildContext.log(\n Raw.Module.RC_LOG_PROGRESS,\n ` - ${config.width} x ${config.height} cells`\n );\n buildContext.log(\n Raw.Module.RC_LOG_PROGRESS,\n ` - ${nVerts / 1000}fK verts, ${nTris / 1000}K tris`\n );\n\n // Allocate voxel heightfield where we rasterize our input data to.\n const heightfield = allocHeightfield();\n tileIntermediate.heightfield = heightfield;\n\n if (\n !createHeightfield(\n buildContext,\n heightfield,\n tileConfig.width,\n tileConfig.height,\n expandedTileBoundsMin,\n expandedTileBoundsMax,\n tileConfig.cs,\n tileConfig.ch\n )\n ) {\n return failTileMesh('Could not create heightfield');\n }\n\n // Allocate array that can hold triangle flags.\n // If you have multiple meshes you need to process, allocate\n // and array which can hold the max number of triangles you need to process.\n const triAreas = new Arrays.TriAreasArray();\n triAreas.resize(chunkyTriMesh.maxTrisPerChunk());\n\n const tbmin: Vector2Tuple = [\n expandedTileBoundsMin[0],\n expandedTileBoundsMin[2],\n ];\n const tbmax: Vector2Tuple = [\n expandedTileBoundsMax[0],\n expandedTileBoundsMax[2],\n ];\n\n // TODO: Make grow when returning too many items.\n const maxChunkIds = 512;\n const chunkIdsArray = new Arrays.ChunkIdsArray();\n chunkIdsArray.resize(maxChunkIds);\n\n const nChunksOverlapping = chunkyTriMesh.getChunksOverlappingRect(\n tbmin,\n tbmax,\n chunkIdsArray,\n maxChunkIds\n );\n\n if (nChunksOverlapping === 0) {\n return { success: true };\n }\n\n for (let i = 0; i < nChunksOverlapping; ++i) {\n const nodeId = chunkIdsArray.get_data(i);\n const node = chunkyTriMesh.nodes(nodeId);\n const nNodeTris = node.n;\n\n const nodeTrisArray = chunkyTriMesh.getNodeTris(nodeId);\n\n const triAreasArray = new Arrays.TriAreasArray();\n triAreasArray.resize(nNodeTris);\n\n // Find triangles which are walkable based on their slope and rasterize them.\n // If your input data is multiple meshes, you can transform them here, calculate\n // the are type for each of the meshes and rasterize them.\n markWalkableTriangles(\n buildContext,\n tileConfig.walkableSlopeAngle,\n vertsArray,\n nVerts,\n nodeTrisArray,\n nNodeTris,\n triAreasArray\n );\n\n const success = rasterizeTriangles(\n buildContext,\n vertsArray,\n nVerts,\n nodeTrisArray,\n triAreasArray,\n nNodeTris,\n heightfield,\n tileConfig.walkableClimb\n );\n\n triAreasArray.free();\n\n if (!success) {\n return failTileMesh('Could not rasterize triangles');\n }\n }\n\n // Once all geometry is rasterized, we do initial pass of filtering to\n // remove unwanted overhangs caused by the conservative rasterization\n // as well as filter spans where the character cannot possibly stand.\n filterLowHangingWalkableObstacles(\n buildContext,\n tileConfig.walkableClimb,\n heightfield\n );\n filterLedgeSpans(\n buildContext,\n tileConfig.walkableHeight,\n tileConfig.walkableClimb,\n heightfield\n );\n filterWalkableLowHeightSpans(\n buildContext,\n tileConfig.walkableHeight,\n heightfield\n );\n\n // Compact the heightfield so that it is faster to handle from now on.\n // This will result more cache coherent data as well as the neighbours\n // between walkable cells will be calculated.\n const compactHeightfield = allocCompactHeightfield();\n tileIntermediate.compactHeightfield = compactHeightfield;\n\n if (\n !buildCompactHeightfield(\n buildContext,\n tileConfig.walkableHeight,\n tileConfig.walkableClimb,\n heightfield,\n compactHeightfield\n )\n ) {\n return failTileMesh('Could not build compact heightfield');\n }\n\n if (!keepIntermediates) {\n freeHeightfield(tileIntermediate.heightfield);\n tileIntermediate.heightfield = undefined;\n }\n\n // Erode the walkable area by agent radius\n if (\n !erodeWalkableArea(\n buildContext,\n tileConfig.walkableRadius,\n compactHeightfield\n )\n ) {\n return failTileMesh('Could not erode walkable area');\n }\n\n // (Optional) Mark areas\n // markConvexPolyArea(...)\n\n // Prepare for region partitioning, by calculating Distance field along the walkable surface.\n if (!buildDistanceField(buildContext, compactHeightfield)) {\n return failTileMesh('Failed to build distance field');\n }\n\n // Partition the walkable surface into simple regions without holes.\n if (\n !buildRegions(\n buildContext,\n compactHeightfield,\n tileConfig.borderSize,\n tileConfig.minRegionArea,\n tileConfig.mergeRegionArea\n )\n ) {\n return failTileMesh('Failed to build regions');\n }\n\n //\n // Trace and simplify region contours.\n //\n const contourSet = allocContourSet();\n tileIntermediate.contourSet = contourSet;\n\n if (\n !buildContours(\n buildContext,\n compactHeightfield,\n tileConfig.maxSimplificationError,\n tileConfig.maxEdgeLen,\n contourSet,\n Raw.Module.RC_CONTOUR_TESS_WALL_EDGES\n )\n ) {\n return failTileMesh('Failed to create contours');\n }\n\n //\n // Build polygons mesh from contours.\n //\n const polyMesh = allocPolyMesh();\n if (\n !buildPolyMesh(\n buildContext,\n contourSet,\n tileConfig.maxVertsPerPoly,\n polyMesh\n )\n ) {\n return failTileMesh('Failed to triangulate contours');\n }\n\n //\n // Create detail mesh which allows to access approximate height on each polygon.\n //\n const polyMeshDetail = allocPolyMeshDetail();\n if (\n !buildPolyMeshDetail(\n buildContext,\n polyMesh,\n compactHeightfield,\n tileConfig.detailSampleDist,\n tileConfig.detailSampleMaxError,\n polyMeshDetail\n )\n ) {\n return failTileMesh('Failed to build detail mesh');\n }\n\n if (!keepIntermediates) {\n freeCompactHeightfield(compactHeightfield);\n tileIntermediate.compactHeightfield = undefined;\n\n freeContourSet(contourSet);\n tileIntermediate.contourSet = undefined;\n }\n\n // Update poly flags from areas.\n for (let i = 0; i < polyMesh.npolys(); i++) {\n if (polyMesh.areas(i) == Raw.Recast.WALKABLE_AREA) {\n polyMesh.setAreas(i, 0);\n }\n if (polyMesh.areas(i) == 0) {\n polyMesh.setFlags(i, 1);\n }\n }\n\n const navMeshCreateParams = new NavMeshCreateParams();\n\n navMeshCreateParams.setPolyMeshCreateParams(polyMesh);\n navMeshCreateParams.setPolyMeshDetailCreateParams(polyMeshDetail);\n\n navMeshCreateParams.setWalkableHeight(tileConfig.walkableHeight);\n navMeshCreateParams.setWalkableRadius(tileConfig.walkableRadius);\n navMeshCreateParams.setWalkableClimb(tileConfig.walkableClimb);\n\n navMeshCreateParams.setCellSize(tileConfig.cs);\n navMeshCreateParams.setCellHeight(tileConfig.ch);\n\n navMeshCreateParams.setBuildBvTree(true);\n\n if (navMeshGeneratorConfig.offMeshConnections) {\n navMeshCreateParams.setOffMeshConnections(\n navMeshGeneratorConfig.offMeshConnections\n );\n }\n\n navMeshCreateParams.setTileX(tileX);\n navMeshCreateParams.setTileY(tileY);\n\n const createNavMeshDataResult = createNavMeshData(navMeshCreateParams);\n\n if (!createNavMeshDataResult.success) {\n return failTileMesh('Failed to create Detour navmesh data');\n }\n\n buildContext.log(\n Raw.Module.RC_LOG_PROGRESS,\n `>> Polymesh: ${polyMesh.nverts()} vertices ${polyMesh.npolys()} polygons`\n );\n\n return { success: true, data: createNavMeshDataResult.navMeshData };\n };\n\n buildContext.startTimer(Raw.Module.RC_TIMER_TEMP);\n\n const lastBuiltTileBmin: Vector3Tuple = [0, 0, 0];\n const lastBuiltTileBmax: Vector3Tuple = [0, 0, 0];\n\n for (let y = 0; y < tileHeight; y++) {\n for (let x = 0; x < tileWidth; x++) {\n lastBuiltTileBmin[0] = bbMin[0] + x * tcs;\n lastBuiltTileBmin[1] = bbMin[1];\n lastBuiltTileBmin[2] = bbMin[2] + y * tcs;\n\n lastBuiltTileBmax[0] = bbMin[0] + (x + 1) * tcs;\n lastBuiltTileBmax[1] = bbMax[1];\n lastBuiltTileBmax[2] = bbMin[2] + (y + 1) * tcs;\n\n const result = buildTileMesh(x, y, lastBuiltTileBmin, lastBuiltTileBmax);\n\n if (result.success && result.data) {\n navMesh.removeTile(navMesh.getTileRefAt(x, y, 0));\n\n const addTileResult = navMesh.addTile(\n result.data,\n Raw.Module.DT_TILE_FREE_DATA,\n 0\n );\n\n if (Raw.Detour.statusFailed(addTileResult.status)) {\n buildContext.log(\n Raw.Module.RC_LOG_WARNING,\n `Failed to add tile to nav mesh` +\n '\\n\\t' +\n `tx: ${x}, ty: ${y},` +\n `status: ${statusToReadableString(addTileResult.status)} (${\n addTileResult.status\n })`\n );\n\n result.data.free();\n }\n }\n }\n }\n\n buildContext.stopTimer(Raw.Module.RC_TIMER_TEMP);\n\n if (!keepIntermediates) {\n cleanup();\n }\n\n return {\n success: true,\n navMesh,\n intermediates,\n 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package/package.json CHANGED
@@ -6,7 +6,7 @@
6
6
  "email": "isaac@isaacmason.com",
7
7
  "url": "https://isaacmason.com/"
8
8
  },
9
- "version": "0.21.0",
9
+ "version": "0.23.0",
10
10
  "license": "MIT",
11
11
  "homepage": "https://github.com/isaac-mason/recast-navigation-js",
12
12
  "bugs": {
@@ -26,8 +26,8 @@
26
26
  "lint": "eslint --ext .ts src"
27
27
  },
28
28
  "dependencies": {
29
- "@recast-navigation/core": "0.21.0",
30
- "@recast-navigation/wasm": "0.21.0"
29
+ "@recast-navigation/core": "0.23.0",
30
+ "@recast-navigation/wasm": "0.23.0"
31
31
  },
32
32
  "devDependencies": {
33
33
  "@isaac-mason/eslint-config-typescript": "^0.0.5",