@recast-navigation/three 0.0.2 → 0.0.4

package/README.md

@@ -26,7 +26,9 @@ import * as RecastNavigationThree from '@recast-navigation/three';
 
 ### `threeToNavMesh`
 
-As a convenience, this package exports a function for converting an array of `Mesh` objects to a `NavMesh`:
+As a convenience, this package exports a function for converting an array of `Mesh` objects to a `NavMesh`.
+
+Currently only indexed geometries are supported.
 
 ```ts
 import * as THREE from 'three';
@@ -81,12 +83,12 @@ You can optionally pass custom materials to the NavMeshHelper constructor.
 
 ```ts
 const navMeshMaterial = new THREE.MeshBasicMaterial({ color: 'red' });
-const obstaclesMaterial = new THREE.MeshBasicMaterial({ color: 'blue' });
+const obstacleMaterial = new THREE.MeshBasicMaterial({ color: 'blue' });
 
 const navMeshHelper = new NavMeshHelper({
   navMesh,
   navMeshMaterial,
-  obstaclesMaterial,
+  obstacleMaterial,
 });
 ```
 
@@ -99,23 +101,22 @@ import { CrowdHelper } from 'recast-navigation/three';
 
 const navMesh = new NavMesh();
 /* ... */
+
 const crowd = new Crowd({ navMesh, maxAgents: 1, maxAgentRadius: 1 });
 
 const crowdHelper = new CrowdHelper({ crowd });
 
 const scene = new THREE.Scene();
 
-scene.add(navMeshHelper.navMesh);
-scene.add(navMeshHelper.obstacles);
+scene.add(crowdHelper.agents);
 
-navMeshHelper.updateNavMesh();
-navMeshHelper.updateObstacles();
+crowdHelper.update();
 ```
 
-You can optionally pass a custom crowd material to the CrowdHelper constructor.
+You can optionally provide a custom material for displaying agents.
 
 ```ts
-const material = new THREE.MeshBasicMaterial({ color: 'red' });
+const agentMaterial = new THREE.MeshBasicMaterial({ color: 'red' });
 
-const crowdHelper = new CrowdHelper({ crowd, material });
+const crowdHelper = new CrowdHelper({ crowd, agentMaterial });
 ```

package/dist/helpers/crowd-helper.d.ts

@@ -2,14 +2,19 @@ import { Crowd } from '@recast-navigation/core';
 import { Group, Material, Mesh } from 'three';
 export declare type CrowdHelperParams = {
     crowd: Crowd;
-    crowdMaterial?: Material;
+    agentMaterial?: Material;
 };
 export declare class CrowdHelper {
     agents: Group;
     agentMeshes: Map<number, Mesh>;
     recastCrowd: Crowd;
-    crowdMaterial: Material;
-    constructor({ crowd, crowdMaterial }: CrowdHelperParams);
-    private updateAgents;
+    agentMaterial: Material;
+    constructor({ crowd, agentMaterial }: CrowdHelperParams);
+    /**
+     * Update the three debug view of the crowd agents.
+     *
+     * This should be called after updating the crowd.
+     */
+    update(): void;
     private createAgentMesh;
 }

package/dist/helpers/nav-mesh-helper.d.ts

@@ -3,16 +3,26 @@ import { Group, Material, Mesh } from 'three';
 export declare type NavMeshHelperParams = {
     navMesh: NavMesh;
     navMeshMaterial?: Material;
-    obstaclesMaterial?: Material;
+    obstacleMaterial?: Material;
 };
 export declare class NavMeshHelper {
     navMesh: Mesh;
     obstacles: Group;
     obstacleMeshes: Map<ObstacleRef, Mesh>;
     navMeshMaterial: Material;
-    obstaclesMaterial: Material;
+    obstacleMaterial: Material;
     recastNavMesh: NavMesh;
-    constructor({ navMesh, navMeshMaterial, obstaclesMaterial, }: NavMeshHelperParams);
-    private updateNavMesh;
-    private updateObstacles;
+    constructor({ navMesh, navMeshMaterial, obstacleMaterial, }: NavMeshHelperParams);
+    /**
+     * Update the three debug nav mesh.
+     *
+     * This should be called after updating the nav mesh.
+     */
+    updateNavMesh(): void;
+    /**
+     * Update the obstacle meshes.
+     *
+     * This should be called after adding or removing obstacles.
+     */
+    updateObstacles(): void;
 }

package/dist/index.es.js

@@ -1,2 +1,2 @@
-import{MeshBasicMaterial as e,Group as t,Vector3 as s,CapsuleGeometry as o,Mesh as a,BufferGeometry as n,BufferAttribute as r,BoxGeometry as i,CylinderGeometry as h}from"three";import{NavMesh as c}from"@recast-navigation/core";class l{agents;agentMeshes=new Map;recastCrowd;crowdMaterial;constructor({crowd:s,crowdMaterial:o}){this.recastCrowd=s,this.crowdMaterial=o??new e({color:"blue",wireframe:!0}),this.agents=new t,this.updateAgents(),s.onPostUpdate.add((()=>{this.updateAgents()}))}updateAgents(){const e=this.recastCrowd.getAgents(),t=new Set(this.agentMeshes.keys());for(const o of e){t.delete(o);const e=this.recastCrowd.getAgentPosition(o),a=this.recastCrowd.getAgentVelocity(o),n=this.recastCrowd.getAgentParameters(o);let r=this.agentMeshes.get(o);void 0===r&&(r=this.createAgentMesh(n),this.agents.add(r),this.agentMeshes.set(o,r)),r.position.set(e.x,e.y+n.height/2,e.z),r.lookAt((new s).copy(r.position).add(a))}for(const e of t){const t=this.agentMeshes.get(e);t&&(this.agents.remove(t),this.agentMeshes.delete(e))}}createAgentMesh(e){const t=new o(e.radius,e.height-2*e.radius);return new a(t,this.crowdMaterial)}}class d{navMesh;obstacles;obstacleMeshes=new Map;navMeshMaterial;obstaclesMaterial;recastNavMesh;constructor({navMesh:s,navMeshMaterial:o,obstaclesMaterial:r}){this.recastNavMesh=s,this.navMeshMaterial=o||new e({color:"blue",wireframe:!0}),this.obstaclesMaterial=r||new e({color:"red",wireframe:!0}),this.navMesh=new a(new n,this.navMeshMaterial),this.obstacles=new t,this.updateNavMesh(),this.updateObstacles(),s.onNavMeshChange.add((()=>{this.updateNavMesh()})),s.onObstacleChange.add((()=>{this.updateObstacles()}))}updateNavMesh(){const{positions:e,indices:t}=this.recastNavMesh.getDebugNavMesh();for(let e=0;e<t.length;e+=3){const s=t[e];t[e]=t[e+2],t[e+2]=s}const s=new n;s.setAttribute("position",new r(new Float32Array(e),3)),s.setIndex(new r(new Uint16Array(t),1)),s.computeVertexNormals(),this.navMesh.geometry=s}updateObstacles(){const e=new Set(this.obstacleMeshes.keys());for(const[t,s]of this.recastNavMesh.obstacles){let o=this.obstacleMeshes.get(t);if(e.delete(t),!o){const{position:e}=s,o=new a(void 0,this.obstaclesMaterial);if(o.position.copy(e),"box"===s.type){const{extent:e,angle:t}=s;o.geometry=new i(2*e.x,2*e.y,2*e.z),o.rotation.y=t}else{if("cylinder"!==s.type)throw new Error(`Unknown obstacle type: ${s}`);{const{radius:e,height:t}=s;o.geometry=new h(e,e,t,16),o.position.y+=t/2}}this.obstacles.add(o),this.obstacleMeshes.set(t,o)}}for(const t of e){const e=this.obstacleMeshes.get(t);e&&(this.obstacles.remove(e),this.obstacleMeshes.delete(t))}}}const g=e=>{let t,o,a;const n=[],r=[];let i=0;for(t=0;t<e.length;t++)if(e[t]){const h=e[t],c=h.geometry.getIndex()?.array;if(!c)continue;const l=h.geometry.getAttribute("position").array;if(!l)continue;for(o=0;o<c.length;o++)n.push(c[o]+i);const d=new s;for(a=0;a<l.length;a+=3)d.set(l[a],l[a+1],l[a+2]),h.localToWorld(d),r.push(d.x,d.y,d.z);i+=l.length/3}return[r,n]},M=(e,t={})=>{const[s,o]=g(e),a=new c;return a.build(s,o,t),a};export{l as CrowdHelper,d as NavMeshHelper,M as threeToNavMesh,g as threeToNavMeshArgs};
+import{MeshBasicMaterial as e,Group as t,Vector3 as s,CapsuleGeometry as o,Mesh as a,BufferGeometry as n,BufferAttribute as r,BoxGeometry as i,CylinderGeometry as h}from"three";import{NavMesh as c}from"@recast-navigation/core";class l{agents;agentMeshes=new Map;recastCrowd;agentMaterial;constructor({crowd:s,agentMaterial:o}){this.recastCrowd=s,this.agentMaterial=o??new e({color:"blue",wireframe:!0}),this.agents=new t,this.update()}update(){const e=this.recastCrowd.getAgents(),t=new Set(this.agentMeshes.keys());for(const o of e){t.delete(o);const e=this.recastCrowd.getAgentPosition(o),a=this.recastCrowd.getAgentVelocity(o),n=this.recastCrowd.getAgentParameters(o);let r=this.agentMeshes.get(o);void 0===r&&(r=this.createAgentMesh(n),this.agents.add(r),this.agentMeshes.set(o,r)),r.position.set(e.x,e.y+n.height/2,e.z),r.lookAt((new s).copy(r.position).add(a))}for(const e of t){const t=this.agentMeshes.get(e);t&&(this.agents.remove(t),this.agentMeshes.delete(e))}}createAgentMesh(e){const t=new o(e.radius,e.height-2*e.radius);return new a(t,this.agentMaterial)}}class g{navMesh;obstacles;obstacleMeshes=new Map;navMeshMaterial;obstacleMaterial;recastNavMesh;constructor({navMesh:s,navMeshMaterial:o,obstacleMaterial:r}){this.recastNavMesh=s,this.navMeshMaterial=o||new e({color:"blue",wireframe:!0}),this.obstacleMaterial=r||new e({color:"red",wireframe:!0}),this.navMesh=new a(new n,this.navMeshMaterial),this.obstacles=new t,this.updateNavMesh(),this.updateObstacles()}updateNavMesh(){const{positions:e,indices:t}=this.recastNavMesh.getDebugNavMesh();for(let e=0;e<t.length;e+=3){const s=t[e];t[e]=t[e+2],t[e+2]=s}const s=this.navMesh.geometry;s.setAttribute("position",new r(new Float32Array(e),3)),s.setIndex(new r(new Uint16Array(t),1)),s.computeVertexNormals()}updateObstacles(){const e=new Set(this.obstacleMeshes.keys());for(const[t,s]of this.recastNavMesh.obstacles){let o=this.obstacleMeshes.get(t);if(e.delete(t),!o){const{position:e}=s,o=new a(void 0,this.obstacleMaterial);if(o.position.copy(e),"box"===s.type){const{extent:e,angle:t}=s;o.geometry=new i(2*e.x,2*e.y,2*e.z),o.rotation.y=t}else{if("cylinder"!==s.type)throw new Error(`Unknown obstacle type: ${s}`);{const{radius:e,height:t}=s;o.geometry=new h(e,e,t,16),o.position.y+=t/2}}this.obstacles.add(o),this.obstacleMeshes.set(t,o)}}for(const t of e){const e=this.obstacleMeshes.get(t);e&&(this.obstacles.remove(e),this.obstacleMeshes.delete(t))}}}const M=e=>{let t,o,a;const n=[],r=[];let i=0;for(t=0;t<e.length;t++)if(e[t]){const h=e[t],c=h.geometry.getAttribute("position").array;if(!c)continue;let l=h.geometry.getIndex()?.array;if(!l){const e=[];for(let t=0;t<c.length/3;t++)e.push(t);l=e}for(o=0;o<l.length;o++)n.push(l[o]+i);const g=new s;for(a=0;a<c.length;a+=3)g.set(c[a],c[a+1],c[a+2]),h.localToWorld(g),r.push(g.x,g.y,g.z);i+=c.length/3}return[r,n]},w=(e,t={})=>{const[s,o]=M(e),a=new c;return a.build(s,o,t),a};export{l as CrowdHelper,g as NavMeshHelper,w as threeToNavMesh,M as threeToNavMeshArgs};
 //# sourceMappingURL=index.es.js.map

package/dist/index.es.js.map

@@ -1 +1 @@
-{"version":3,"file":"index.es.js","sources":["../src/helpers/crowd-helper.ts","../src/helpers/nav-mesh-helper.ts","../src/utils/three-to-nav-mesh.ts"],"sourcesContent":["import { Crowd, CrowdAgentParams } from '@recast-navigation/core';\nimport {\n  CapsuleGeometry,\n  Group,\n  Material,\n  Mesh,\n  MeshBasicMaterial,\n  Vector3,\n} from 'three';\n\nexport type CrowdHelperParams = {\n  crowd: Crowd;\n  crowdMaterial?: Material;\n};\n\nexport class CrowdHelper {\n  agents: Group;\n\n  agentMeshes: Map<number, Mesh> = new Map();\n\n  recastCrowd: Crowd;\n\n  crowdMaterial: Material;\n\n  constructor({ crowd, crowdMaterial }: CrowdHelperParams) {\n    this.recastCrowd = crowd;\n    \n    this.crowdMaterial = crowdMaterial ?? new MeshBasicMaterial({ color: 'blue', wireframe: true });\n\n    this.agents = new Group();\n\n    this.updateAgents();\n\n    crowd.onPostUpdate.add(() => {\n      this.updateAgents()\n    })\n  }\n\n  private updateAgents() {\n    const agentsIndices = this.recastCrowd.getAgents();\n\n    const unseen = new Set(this.agentMeshes.keys());\n\n    for (const i of agentsIndices) {\n      unseen.delete(i);\n\n      const position = this.recastCrowd.getAgentPosition(i);\n      const velocity = this.recastCrowd.getAgentVelocity(i);\n      const agentParams = this.recastCrowd.getAgentParameters(i);\n\n      let agentMesh = this.agentMeshes.get(i);\n\n      if (agentMesh === undefined) {\n        agentMesh = this.createAgentMesh(agentParams);\n        \n        this.agents.add(agentMesh);\n        this.agentMeshes.set(i, agentMesh);\n      }\n\n      agentMesh.position.set(\n        position.x,\n        position.y + agentParams.height / 2,\n        position.z\n      );\n      agentMesh.lookAt(\n        new Vector3().copy(agentMesh.position).add(velocity as Vector3)\n      ); \n    }\n\n    for (const agentId of unseen) {\n      const agentMesh = this.agentMeshes.get(agentId);\n\n      if (agentMesh) {\n        this.agents.remove(agentMesh);\n        this.agentMeshes.delete(agentId);\n      }\n    }\n  }\n\n  private createAgentMesh(agentParams: CrowdAgentParams): Mesh {\n    const geometry = new CapsuleGeometry(\n      agentParams.radius,\n      agentParams.height - agentParams.radius * 2\n    );\n\n    return new Mesh(geometry, this.crowdMaterial);\n  }\n}\n","import { NavMesh, ObstacleRef } from '@recast-navigation/core';\nimport {\n  BoxGeometry,\n  BufferAttribute,\n  BufferGeometry,\n  CylinderGeometry,\n  Group,\n  Material,\n  Mesh,\n  MeshBasicMaterial,\n  Vector3,\n} from 'three';\n\nexport type NavMeshHelperParams = {\n  navMesh: NavMesh;\n  navMeshMaterial?: Material;\n  obstaclesMaterial?: Material;\n};\n\nexport class NavMeshHelper {\n  navMesh: Mesh;\n\n  obstacles: Group;\n\n  obstacleMeshes: Map<ObstacleRef, Mesh> = new Map();\n\n  navMeshMaterial: Material;\n\n  obstaclesMaterial: Material;\n\n  recastNavMesh: NavMesh;\n\n  constructor({\n    navMesh,\n    navMeshMaterial,\n    obstaclesMaterial,\n  }: NavMeshHelperParams) {\n    this.recastNavMesh = navMesh;\n\n    this.navMeshMaterial = navMeshMaterial\n      ? navMeshMaterial\n      : new MeshBasicMaterial({ color: 'blue', wireframe: true });\n    this.obstaclesMaterial = obstaclesMaterial\n      ? obstaclesMaterial\n      : new MeshBasicMaterial({ color: 'red', wireframe: true });\n\n    this.navMesh = new Mesh(new BufferGeometry(), this.navMeshMaterial);\n\n    this.obstacles = new Group();\n\n    this.updateNavMesh();\n    this.updateObstacles();\n\n    navMesh.onNavMeshChange.add(() => {\n      this.updateNavMesh();\n    });\n\n    navMesh.onObstacleChange.add(() => {\n      this.updateObstacles();\n    });\n  }\n\n  private updateNavMesh() {\n    const { positions, indices } = this.recastNavMesh.getDebugNavMesh();\n\n    // Set the winding order of the affected faces to clockwise\n    for (let i = 0; i < indices.length; i += 3) {\n      const tmp = indices[i];\n      indices[i] = indices[i + 2];\n      indices[i + 2] = tmp;\n    }\n\n    const geometry = new BufferGeometry();\n\n    geometry.setAttribute(\n      'position',\n      new BufferAttribute(new Float32Array(positions), 3)\n    );\n\n    geometry.setIndex(new BufferAttribute(new Uint16Array(indices), 1));\n\n    geometry.computeVertexNormals();\n\n    this.navMesh.geometry = geometry;\n  }\n\n  private updateObstacles() {    \n    const unseen = new Set(this.obstacleMeshes.keys());\n\n    for (const [ref, obstacle] of this.recastNavMesh.obstacles) {\n      let obstacleMesh = this.obstacleMeshes.get(ref);\n\n      unseen.delete(ref);\n\n      if (!obstacleMesh) {\n        const { position } = obstacle;\n\n        const mesh = new Mesh(undefined, this.obstaclesMaterial);\n\n        mesh.position.copy(position as Vector3);\n\n        if (obstacle.type === 'box') {\n          const { extent, angle } = obstacle;\n\n          mesh.geometry = new BoxGeometry(\n            extent.x * 2,\n            extent.y * 2,\n            extent.z * 2\n          );\n\n          mesh.rotation.y = angle;\n        } else if (obstacle.type === 'cylinder') {\n          const { radius, height } = obstacle;\n\n          mesh.geometry = new CylinderGeometry(radius, radius, height, 16);\n\n          mesh.position.y += height / 2;\n        } else {\n          throw new Error(`Unknown obstacle type: ${obstacle}`);\n        }\n\n        this.obstacles.add(mesh);\n        this.obstacleMeshes.set(ref, mesh);\n      }\n    }\n\n    for (const ref of unseen) {\n      const obstacleMesh = this.obstacleMeshes.get(ref);\n\n      if (obstacleMesh) {\n        this.obstacles.remove(obstacleMesh);\n        this.obstacleMeshes.delete(ref);\n      }\n    }\n  }\n}\n","import { NavMesh, NavMeshConfig } from '@recast-navigation/core';\nimport { BufferAttribute, Mesh, Vector3 } from 'three';\n\nexport const threeToNavMeshArgs = (\n  meshes: Mesh[]\n): [positions: number[], indices: number[]] => {\n  let index: number;\n  let tri: number;\n  let pt: number;\n\n  const indices: number[] = [];\n  const positions: number[] = [];\n\n  let offset = 0;\n  for (index = 0; index < meshes.length; index++) {\n    if (meshes[index]) {\n      const mesh = meshes[index];\n\n      const meshIndices = mesh.geometry.getIndex()?.array;\n      if (!meshIndices) {\n        // todo: to indexed?\n        continue;\n      }\n\n      const meshPositions = (mesh.geometry.getAttribute(\n        'position'\n      ) as BufferAttribute)!.array;\n      if (!meshPositions) {\n        continue;\n      }\n\n      for (tri = 0; tri < meshIndices.length; tri++) {\n        indices.push(meshIndices[tri] + offset);\n      }\n\n      const position = new Vector3();\n      for (pt = 0; pt < meshPositions.length; pt += 3) {\n        position.set(\n          meshPositions[pt],\n          meshPositions[pt + 1],\n          meshPositions[pt + 2]\n        );\n        mesh.localToWorld(position);\n\n        positions.push(position.x, position.y, position.z);\n      }\n\n      offset += meshPositions.length / 3;\n    }\n  }\n\n  return [positions, indices];\n};\n\nexport const threeToNavMesh = (\n  meshes: Mesh[],\n  navMeshConfig: Partial<NavMeshConfig> = {}\n): NavMesh => {\n  const [positions, indices] = threeToNavMeshArgs(meshes);\n\n  const navMesh = new NavMesh();\n  navMesh.build(positions, indices, navMeshConfig);\n\n  return 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{\n    const agentsIndices = this.recastCrowd.getAgents();\n\n    const unseen = new Set(this.agentMeshes.keys());\n\n    for (const i of agentsIndices) {\n      unseen.delete(i);\n\n      const position = this.recastCrowd.getAgentPosition(i);\n      const velocity = this.recastCrowd.getAgentVelocity(i);\n      const agentParams = this.recastCrowd.getAgentParameters(i);\n\n      let agentMesh = this.agentMeshes.get(i);\n\n      if (agentMesh === undefined) {\n        agentMesh = this.createAgentMesh(agentParams);\n        \n        this.agents.add(agentMesh);\n        this.agentMeshes.set(i, agentMesh);\n      }\n\n      agentMesh.position.set(\n        position.x,\n        position.y + agentParams.height / 2,\n        position.z\n      );\n      agentMesh.lookAt(\n        new Vector3().copy(agentMesh.position).add(velocity as Vector3)\n      ); \n    }\n\n    for (const agentId of unseen) {\n      const agentMesh = this.agentMeshes.get(agentId);\n\n      if (agentMesh) {\n        this.agents.remove(agentMesh);\n        this.agentMeshes.delete(agentId);\n      }\n    }\n  }\n\n  private createAgentMesh(agentParams: CrowdAgentParams): Mesh {\n    const geometry = new CapsuleGeometry(\n      agentParams.radius,\n      agentParams.height - agentParams.radius * 2\n    );\n\n    return new Mesh(geometry, this.agentMaterial);\n  }\n}\n","import { NavMesh, ObstacleRef } from '@recast-navigation/core';\nimport {\n  BoxGeometry,\n  BufferAttribute,\n  BufferGeometry,\n  CylinderGeometry,\n  Group,\n  Material,\n  Mesh,\n  MeshBasicMaterial,\n  Vector3,\n} from 'three';\n\nexport type NavMeshHelperParams = {\n  navMesh: NavMesh;\n  navMeshMaterial?: Material;\n  obstacleMaterial?: Material;\n};\n\nexport class NavMeshHelper {\n  navMesh: Mesh;\n\n  obstacles: Group;\n\n  obstacleMeshes: Map<ObstacleRef, Mesh> = new Map();\n\n  navMeshMaterial: Material;\n\n  obstacleMaterial: Material;\n\n  recastNavMesh: NavMesh;\n\n  constructor({\n    navMesh,\n    navMeshMaterial,\n    obstacleMaterial,\n  }: NavMeshHelperParams) {\n    this.recastNavMesh = navMesh;\n\n    this.navMeshMaterial = navMeshMaterial\n      ? navMeshMaterial\n      : new MeshBasicMaterial({ color: 'blue', wireframe: true });\n    this.obstacleMaterial = obstacleMaterial\n      ? obstacleMaterial\n      : new MeshBasicMaterial({ color: 'red', wireframe: true });\n\n    this.navMesh = new Mesh(new BufferGeometry(), this.navMeshMaterial);\n\n    this.obstacles = new Group();\n\n    this.updateNavMesh();\n    this.updateObstacles();\n  }\n\n  /**\n   * Update the three debug nav mesh.\n   * \n   * This should be called after updating the nav mesh.\n   */\n  updateNavMesh() {\n    const { positions, indices } = this.recastNavMesh.getDebugNavMesh();\n\n    // Set the winding order of the affected faces to clockwise\n    for (let i = 0; i < indices.length; i += 3) {\n      const tmp = indices[i];\n      indices[i] = indices[i + 2];\n      indices[i + 2] = tmp;\n    }\n\n    const geometry = this.navMesh.geometry;\n\n    geometry.setAttribute(\n      'position',\n      new BufferAttribute(new Float32Array(positions), 3)\n    );\n\n    geometry.setIndex(new BufferAttribute(new Uint16Array(indices), 1));\n\n    geometry.computeVertexNormals();\n  }\n\n  /**\n   * Update the obstacle meshes.\n   *\n   * This should be called after adding or removing obstacles.\n   */\n  updateObstacles() {    \n    const unseen = new Set(this.obstacleMeshes.keys());\n\n    for (const [ref, obstacle] of this.recastNavMesh.obstacles) {\n      let obstacleMesh = this.obstacleMeshes.get(ref);\n\n      unseen.delete(ref);\n\n      if (!obstacleMesh) {\n        const { position } = obstacle;\n\n        const mesh = new Mesh(undefined, this.obstacleMaterial);\n\n        mesh.position.copy(position as Vector3);\n\n        if (obstacle.type === 'box') {\n          const { extent, angle } = obstacle;\n\n          mesh.geometry = new BoxGeometry(\n            extent.x * 2,\n            extent.y * 2,\n            extent.z * 2\n          );\n\n          mesh.rotation.y = angle;\n        } else if (obstacle.type === 'cylinder') {\n          const { radius, height } = obstacle;\n\n          mesh.geometry = new CylinderGeometry(radius, radius, height, 16);\n\n          mesh.position.y += height / 2;\n        } else {\n          throw new Error(`Unknown obstacle type: ${obstacle}`);\n        }\n\n        this.obstacles.add(mesh);\n        this.obstacleMeshes.set(ref, mesh);\n      }\n    }\n\n    for (const ref of unseen) {\n      const obstacleMesh = this.obstacleMeshes.get(ref);\n\n      if (obstacleMesh) {\n        this.obstacles.remove(obstacleMesh);\n        this.obstacleMeshes.delete(ref);\n      }\n    }\n  }\n}\n","import { NavMesh, NavMeshConfig } from '@recast-navigation/core';\nimport { BufferAttribute, Mesh, Vector3 } from 'three';\n\nexport const threeToNavMeshArgs = (\n  meshes: Mesh[]\n): [positions: number[], indices: number[]] => {\n  let index: number;\n  let tri: number;\n  let pt: number;\n\n  const indices: number[] = [];\n  const positions: number[] = [];\n\n  let offset = 0;\n  for (index = 0; index < meshes.length; index++) {\n    if (meshes[index]) {\n      const mesh = meshes[index];\n\n      const meshPositions = (mesh.geometry.getAttribute(\n        'position'\n      ) as BufferAttribute)!.array;\n\n      if (!meshPositions) {\n        continue;\n      }\n\n      let meshIndices = mesh.geometry.getIndex()?.array;\n\n      if (!meshIndices) {\n        const indices = [];\n        for (let i = 0; i < meshPositions.length / 3; i++) {\n          indices.push(i);\n        }\n        meshIndices = indices;\n      }\n\n      for (tri = 0; tri < meshIndices.length; tri++) {\n        indices.push(meshIndices[tri] + offset);\n      }\n\n      const position = new Vector3();\n      for (pt = 0; pt < meshPositions.length; pt += 3) {\n        position.set(\n          meshPositions[pt],\n          meshPositions[pt + 1],\n          meshPositions[pt + 2]\n        );\n        mesh.localToWorld(position);\n\n        positions.push(position.x, position.y, position.z);\n      }\n\n      offset += meshPositions.length / 3;\n    }\n  }\n\n  return [positions, indices];\n};\n\nexport const threeToNavMesh = (\n  meshes: Mesh[],\n  navMeshConfig: Partial<NavMeshConfig> = {}\n): NavMesh => {\n  const [positions, indices] = threeToNavMeshArgs(meshes);\n\n  const navMesh = new NavMesh();\n  navMesh.build(positions, indices, navMeshConfig);\n\n  return 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package/package.json

@@ -6,7 +6,7 @@
     "email": "isaac@isaacmason.com",
     "url": "https://isaacmason.com/"
   },
-  "version": "0.0.2",
+  "version": "0.0.4",
   "license": "MIT",
   "homepage": "https://github.com/isaac-mason/recast-navigation-js",
   "bugs": {
@@ -24,7 +24,7 @@
     "build": "rollup --config rollup.config.js --bundleConfigAsCjs"
   },
   "dependencies": {
-    "@recast-navigation/core": "0.0.2",
+    "@recast-navigation/core": "0.0.4",
     "three": "^0.150.1"
   },
   "peerDependencies": {