@recast-navigation/three 0.19.0 → 0.20.0
This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.
- package/dist/index.cjs +1 -1
- package/dist/index.cjs.map +1 -1
- package/dist/index.mjs +1 -1
- package/dist/index.mjs.map +1 -1
- package/package.json +3 -3
package/dist/index.cjs
CHANGED
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@@ -1,2 +1,2 @@
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1
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"use strict";var e=require("three"),t=require("@recast-navigation/core");class i extends e.Object3D{agentMeshes=new Map;recastCrowd;agentMaterial;constructor({crowd:t,agentMaterial:i}){super(),this.recastCrowd=t,this.agentMaterial=i??new e.MeshBasicMaterial({color:"red"}),this.update()}update(){const t=this.recastCrowd.getAgents(),i=new Set(this.agentMeshes.keys());for(const a of t){i.delete(a.agentIndex);const t=a.position(),r=a.velocity();let s=this.agentMeshes.get(a.agentIndex);void 0===s?(s=this.createAgentMesh(a),this.add(s),this.agentMeshes.set(a.agentIndex,s)):this.updateAgentGeometry(s,a),s.position.set(t.x,t.y+a.height/2,t.z),s.lookAt((new e.Vector3).copy(s.position).add(r))}for(const e of i){const t=this.agentMeshes.get(e);t&&(this.remove(t),this.agentMeshes.delete(e))}}createAgentMesh(t){const i=new e.Mesh;return i.material=this.agentMaterial,this.updateAgentGeometry(i,t),i.userData={radius:t.radius,height:t.height},i}updateAgentGeometry(t,i){if(t.userData.radius!==i.radius||t.userData.height!==i.height){const a=new e.CylinderGeometry(i.radius,i.radius,i.height);t.geometry.dispose(),t.geometry=a,t.userData.radius=i.radius,t.userData.height=i.height}}}const a=new e.Matrix4;class r extends e.Object3D{heightfields;highlightWalkable;defaultColor;walkableColor;material;constructor({heightfields:t,highlightWalkable:i=!1,material:a=new e.MeshBasicMaterial,defaultColor:r="blue",walkableColor:s="green"}){super(),this.heightfields=t,this.highlightWalkable=i,this.material=a,this.defaultColor=new e.Color(r),this.walkableColor=new e.Color(s),this.update()}update(){this.clear();for(const t of this.heightfields){const i=t.bmin(),r=t.cs(),s=t.ch(),l=t.width(),o=t.height(),n=[];for(let e=0;e<o;++e)for(let a=0;a<l;++a){const o=i.x+a*r,h=i.z+e*r;let c=t.spans(a+e*l);for(;c;){const e=o,t=i.y+c.smin()*s,a=h,l=o+r,d=i.y+c.smax()*s,g=h+r;n.push({position:[(l+e)/2,(d+t)/2,(g+a)/2],walkable:this.highlightWalkable&&0!==c.area()}),c=c.next()}}const h=new e.BoxGeometry(r,s,r),c=new e.InstancedMesh(h,this.material,n.length);c.instanceMatrix.setUsage(e.DynamicDrawUsage);for(let e=0;e<n.length;e++){const{position:t,walkable:i}=n[e];c.setMatrixAt(e,a.setPosition(...t)),c.setColorAt(e,i?this.walkableColor:this.defaultColor)}c.instanceMatrix.needsUpdate=!0,c.instanceColor&&(c.instanceColor.needsUpdate=!0),this.add(c)}}}class s extends e.Object3D{navMesh;navMeshMaterial;mesh;geometry;constructor({navMesh:t,navMeshMaterial:i}){super(),this.navMesh=t,this.geometry=new e.BufferGeometry,this.navMeshMaterial=i||new e.MeshBasicMaterial({color:"orange",transparent:!0,opacity:.7,depthWrite:!1}),this.update(),this.mesh=new e.Mesh(this.geometry,this.navMeshMaterial),this.add(this.mesh)}update(){const[t,i]=this.navMesh.getDebugNavMesh();this.geometry.setAttribute("position",new e.BufferAttribute(Float32Array.from(t),3)),this.geometry.setIndex(new e.BufferAttribute(Uint32Array.from(i),1)),this.geometry.computeVertexNormals()}}class l extends e.Object3D{offMeshConnections;entryCircleMaterial;exitCircleMaterial;lineMaterial;constructor({offMeshConnections:t,entryCircleMaterial:i,exitCircleMaterial:a,lineMaterial:r}){super(),this.offMeshConnections=t??[],this.entryCircleMaterial=i??new e.MeshBasicMaterial({color:"green"}),this.exitCircleMaterial=a??new e.MeshBasicMaterial({color:"blue"}),this.lineMaterial=r??new e.LineBasicMaterial({color:"red"}),this.update()}update(){this.clear();for(const t of this.offMeshConnections){const i=new e.CircleGeometry(t.radius,16),a=new e.Mesh(i,this.entryCircleMaterial);a.position.copy(t.startPosition),a.position.y+=.001,a.rotation.x=-Math.PI/2,this.add(a);const r=new e.Mesh(i,t.bidirectional?this.entryCircleMaterial:this.exitCircleMaterial);r.position.copy(t.endPosition),r.position.y+=.001,r.rotation.x=-Math.PI/2,this.add(r);const s=(new e.Vector3).copy(t.startPosition),l=(new e.Vector3).copy(t.endPosition),o=(new e.Vector3).addVectors(s,l).multiplyScalar(.5);o.y*=1.2;const n=new e.CatmullRomCurve3([s,o,l]).getPoints(50),h=(new e.BufferGeometry).setFromPoints(n),c=new e.Line(h,this.lineMaterial);this.add(c)}}}class o extends e.Object3D{tileCache;obstacleMeshes=new Map;obstacleMaterial;constructor({tileCache:t,obstacleMaterial:i}){super(),this.tileCache=t,this.obstacleMaterial=i||new e.MeshBasicMaterial({color:"red",wireframe:!0,wireframeLinewidth:2}),this.update()}update(){const t=new Set(this.obstacleMeshes.keys());for(const[,i]of this.tileCache.obstacles){const a=this.obstacleMeshes.get(i);if(t.delete(i),!a){const{position:t}=i,a=new e.Mesh(void 0,this.obstacleMaterial);if(a.position.copy(t),"box"===i.type){const{extent:t,angle:r}=i;a.geometry=new e.BoxGeometry(2*t.x,2*t.y,2*t.z),a.rotation.y=r}else{if("cylinder"!==i.type)throw new Error(`Unknown obstacle type: ${i}`);{const{radius:t,height:r}=i;a.geometry=new e.CylinderGeometry(t,t,r,16),a.position.y+=r/2}}this.add(a),this.obstacleMeshes.set(i,a)}}for(const e of t){const t=this.obstacleMeshes.get(e);t&&(this.remove(t),this.obstacleMeshes.delete(e))}}}const n=(e,i)=>{const a={x:1/0,y:1/0,z:1/0},r={x:-1/0,y:-1/0,z:-1/0};for(let t=0;t<i.length;t++){const s=i[t],l=e[3*s],o=e[3*s+1],n=e[3*s+2];a.x=Math.min(a.x,l),a.y=Math.min(a.y,o),a.z=Math.min(a.z,n),r.x=Math.max(r.x,l),r.y=Math.max(r.y,o),r.z=Math.max(r.z,n)}return{bbMin:t.vec3.toArray(a),bbMax:t.vec3.toArray(r)}},h=e=>{let t=0,i=0;return t=Number(e>65535)<<4,e>>=t,i=Number(e>255)<<3,e>>=i,t|=i,i=Number(e>15)<<2,e>>=i,t|=i,i=Number(e>3)<<1,t|=i,t|=(e>>=i)>>1,t},c=e=>(e--,e|=e>>1,e|=e>>2,e|=e>>4,e|=e>>8,e|=e>>16,++e),d={...t.recastConfigDefaults},g={...t.recastConfigDefaults,tileSize:32,expectedLayersPerTile:4,maxObstacles:128},u=(e,i,a={},r=!1)=>{const s=new t.RecastBuildContext,l={type:"tilecache",buildContext:s,chunkyTriMesh:void 0,tileIntermediates:[]},o=new t.TileCache,d=new t.NavMesh,u=()=>{if(!r)for(let e=0;e<l.tileIntermediates.length;e++){const i=l.tileIntermediates[e];i.heightfield&&(t.freeHeightfield(i.heightfield),i.heightfield=void 0),i.compactHeightfield&&(t.freeCompactHeightfield(i.compactHeightfield),i.compactHeightfield=void 0),i.heightfieldLayerSet&&(t.freeHeightfieldLayerSet(i.heightfieldLayerSet),i.heightfieldLayerSet=void 0)}},f=e=>(u(),o.destroy(),d.destroy(),{success:!1,navMesh:void 0,tileCache:void 0,intermediates:l,error:e}),m=e,b=i.length,M=new t.Arrays.VertsArray;M.copy(m,m.length);const y=i,w=i.length/3,p=new t.Arrays.TrisArray;p.copy(y,y.length);const{bbMin:C,bbMax:x}=n(e,i),{expectedLayersPerTile:S,maxObstacles:R,...A}={...g,...a},k=t.createRcConfig(A),v=t.calcGridSize(C,x,k.cs);k.width=v.width,k.height=v.height,k.minRegionArea=k.minRegionArea*k.minRegionArea,k.mergeRegionArea=k.mergeRegionArea*k.mergeRegionArea,k.detailSampleDist=k.detailSampleDist<.9?0:k.cs*k.detailSampleDist,k.detailSampleMaxError=k.ch*k.detailSampleMaxError;const H=Math.floor(k.tileSize),T=Math.floor((k.width+H-1)/H),z=Math.floor((k.height+H-1)/H);k.borderSize=k.walkableRadius+3,k.width=k.tileSize+2*k.borderSize,k.height=k.tileSize+2*k.borderSize;const _=t.DetourTileCacheParams.create({orig:C,cs:k.cs,ch:k.ch,width:k.tileSize,height:k.tileSize,walkableHeight:k.walkableHeight,walkableRadius:k.walkableRadius,walkableClimb:k.walkableClimb,maxSimplificationError:k.maxSimplificationError,maxTiles:T*z*S,maxObstacles:R}),D=new t.Raw.RecastLinearAllocator(32e3),L=new t.Raw.RecastFastLZCompressor,P=a.tileCacheMeshProcess??new t.TileCacheMeshProcess(((e,t,i)=>{for(let a=0;a<e.polyCount();++a)t.set(a,0),i.set(a,1)}));if(!o.init(_,D,L,P))return f("Failed to initialize tile cache");const E=t.vec3.fromArray(C);let F=Math.min(Math.floor(h(c(T*z*S))),14);F>14&&(F=14);const O=1<<F,W=1<<22-F,I=t.NavMeshParams.create({orig:E,tileWidth:k.tileSize*k.cs,tileHeight:k.tileSize*k.cs,maxTiles:O,maxPolys:W});if(!d.initTiled(I))return f("Failed to initialize tiled navmesh");const G=new t.RecastChunkyTriMesh;if(l.chunkyTriMesh=G,!G.init(M,p,w,256))return f("Failed to build chunky triangle mesh");const N=(e,i)=>{const a={tileX:e,tileY:i},o=k.tileSize*k.cs,n=t.cloneRcConfig(k),h=[C[0]+e*o,C[1],C[2]+i*o],c=[C[0]+(e+1)*o,x[1],C[2]+(i+1)*o];h[0]-=n.borderSize*n.cs,h[2]-=n.borderSize*n.cs,c[0]+=n.borderSize*n.cs,c[2]+=n.borderSize*n.cs,n.set_bmin(0,h[0]),n.set_bmin(1,h[1]),n.set_bmin(2,h[2]),n.set_bmax(0,c[0]),n.set_bmax(1,c[1]),n.set_bmax(2,c[2]);const d=t.allocHeightfield();if(a.heightfield=d,!t.createHeightfield(s,d,n.width,n.height,h,c,n.cs,n.ch))return{n:0};const g=[h[0],h[2]],u=[c[0],c[2]],f=new t.Arrays.ChunkIdsArray;f.resize(512);const m=G.getChunksOverlappingRect(g,u,f,512);if(0===m)return{n:0};for(let e=0;e<m;++e){const i=f.get_data(e),a=G.nodes(i).n,r=G.getNodeTris(i),l=new t.Arrays.TriAreasArray;l.resize(a),t.markWalkableTriangles(s,n.walkableSlopeAngle,M,b,r,a,l);const o=t.rasterizeTriangles(s,M,b,r,l,a,d,n.walkableClimb);if(l.free(),!o)return{n:0}}t.filterLowHangingWalkableObstacles(s,k.walkableClimb,d),t.filterLedgeSpans(s,k.walkableHeight,k.walkableClimb,d),t.filterWalkableLowHeightSpans(s,k.walkableHeight,d);const y=t.allocCompactHeightfield();if(!t.buildCompactHeightfield(s,k.walkableHeight,k.walkableClimb,d,y))return{n:0};if(r||(t.freeHeightfield(a.heightfield),a.heightfield=void 0),!t.erodeWalkableArea(s,k.walkableRadius,y))return{n:0};const w=t.allocHeightfieldLayerSet();if(!t.buildHeightfieldLayers(s,y,k.borderSize,k.walkableHeight,w))return{n:0};r||(t.freeCompactHeightfield(y),a.compactHeightfield=void 0);const p=[];for(let a=0;a<w.nlayers();a++){const r=new t.Arrays.TileCacheData,s=w.layers(a),l=new t.Raw.dtTileCacheLayerHeader;l.magic=t.Raw.Detour.TILECACHE_MAGIC,l.version=t.Raw.Detour.TILECACHE_VERSION,l.tx=e,l.ty=i,l.tlayer=a;const o=s.bmin(),n=s.bmax();l.set_bmin(0,o.x),l.set_bmin(1,o.y),l.set_bmin(2,o.z),l.set_bmax(0,n.x),l.set_bmax(1,n.y),l.set_bmax(2,n.z),l.width=s.width(),l.height=s.height(),l.minx=s.minx(),l.maxx=s.maxx(),l.miny=s.miny(),l.maxy=s.maxy(),l.hmin=s.hmin(),l.hmax=s.hmax();const h=t.getHeightfieldLayerHeights(s),c=t.getHeightfieldLayerAreas(s),d=t.getHeightfieldLayerCons(s),g=t.buildTileCacheLayer(L,l,h,c,d,r);if(t.Raw.Detour.statusFailed(g))return{n:0};p.push(r)}return r||(t.freeHeightfieldLayerSet(w),a.heightfieldLayerSet=void 0),l.tileIntermediates.push(a),{n:p.length,tiles:p}};for(let e=0;e<z;++e)for(let i=0;i<T;++i){const{n:a,tiles:r}=N(i,e);if(a>0&&r)for(let l=0;l<a;l++){const a=r[l],n=o.addTile(a);t.Raw.Detour.statusFailed(n.status)&&s.log(t.Raw.Module.RC_LOG_WARNING,`Failed to add tile to tile cache - tx: ${i}, ty: ${e}`)}}for(let e=0;e<z;e++)for(let i=0;i<T;i++){const a=o.buildNavMeshTilesAt(i,e,d);if(t.Raw.Detour.statusFailed(a))return f(`Failed to build nav mesh tiles at ${i}, ${e}`)}return u(),{success:!0,tileCache:o,navMesh:d,intermediates:l}},f={...t.recastConfigDefaults},m=new e.Vector3,b=e=>{const t=[];for(const i of e){const e=i.geometry.attributes.position;if(!e||3!==e.itemSize)continue;let a=i;const r=i.geometry.getIndex()?.array;if(void 0===r){a=a.clone(),a.geometry=i.geometry.clone();const t=[];for(let i=0;i<e.count;i++)t.push(i);a.geometry.setIndex(t)}t.push(a)}const i=[],a=[],r={};let s=0;for(const e of t){e.updateMatrixWorld();const t=e.geometry.attributes.position.array,l=e.geometry.getIndex().array;for(let o=0;o<l.length;o++){const n=3*l[o],h=m.set(t[n],t[n+1],t[n+2]);e.localToWorld(h);const c=`${h.x}_${h.y}_${h.z}`;let d=r[c];d||(r[c]=d=s,i.push(h.x,h.y,h.z),s++),a.push(d)}}return[Float32Array.from(i),Uint32Array.from(a)]};exports.CrowdHelper=i,exports.HeightfieldHelper=r,exports.NavMeshHelper=s,exports.OffMeshConnectionsHelper=l,exports.TileCacheHelper=o,exports.getPositionsAndIndices=b,exports.threeToSoloNavMesh=(e,i={},a=!1)=>{const[r,s]=b(e);return((e,i,a={},r=!1)=>{const s=new t.RecastBuildContext,l={type:"solo",buildContext:s},o=new t.NavMesh,h=e=>(r||(l.heightfield&&(t.freeHeightfield(l.heightfield),l.heightfield=void 0),l.compactHeightfield&&(t.freeCompactHeightfield(l.compactHeightfield),l.compactHeightfield=void 0),l.contourSet&&(t.freeContourSet(l.contourSet),l.contourSet=void 0)),o.destroy(),{navMesh:void 0,success:!1,intermediates:l,error:e}),c=e,g=i.length,u=new t.Arrays.VertsArray;u.copy(c,c.length);const f=i,m=i.length/3,b=new t.Arrays.TrisArray;b.copy(f,f.length);const{bbMin:M,bbMax:y}=n(e,i),w=t.createRcConfig({...d,...a});w.minRegionArea=w.minRegionArea*w.minRegionArea,w.mergeRegionArea=w.mergeRegionArea*w.mergeRegionArea,w.detailSampleDist=w.detailSampleDist<.9?0:w.cs*w.detailSampleDist,w.detailSampleMaxError=w.ch*w.detailSampleMaxError;const p=t.calcGridSize(M,y,w.cs);w.width=p.width,w.height=p.height;const C=t.allocHeightfield();if(l.heightfield=C,!t.createHeightfield(s,C,w.width,w.height,M,y,w.cs,w.ch))return h("Could not create heightfield");const x=new t.Arrays.TriAreasArray;if(x.resize(m),t.markWalkableTriangles(s,w.walkableSlopeAngle,u,g,b,m,x),!t.rasterizeTriangles(s,u,g,b,x,m,C,w.walkableClimb))return h("Could not rasterize triangles");x.free(),t.filterLowHangingWalkableObstacles(s,w.walkableClimb,C),t.filterLedgeSpans(s,w.walkableHeight,w.walkableClimb,C),t.filterWalkableLowHeightSpans(s,w.walkableHeight,C);const S=t.allocCompactHeightfield();if(l.compactHeightfield=S,!t.buildCompactHeightfield(s,w.walkableHeight,w.walkableClimb,C,S))return h("Failed to build compact data");if(r||(t.freeHeightfield(C),l.heightfield=void 0),!t.erodeWalkableArea(s,w.walkableRadius,S))return h("Failed to erode walkable area");if(!t.buildDistanceField(s,S))return h("Failed to build distance field");if(!t.buildRegions(s,S,w.borderSize,w.minRegionArea,w.mergeRegionArea))return h("Failed to build regions");const R=t.allocContourSet();if(l.contourSet=R,!t.buildContours(s,S,w.maxSimplificationError,w.maxEdgeLen,R,t.Raw.Module.RC_CONTOUR_TESS_WALL_EDGES))return h("Failed to create contours");const A=t.allocPolyMesh();if(!t.buildPolyMesh(s,R,w.maxVertsPerPoly,A))return h("Failed to triangulate contours");const k=t.allocPolyMeshDetail();if(!t.buildPolyMeshDetail(s,A,S,w.detailSampleDist,w.detailSampleMaxError,k))return h("Failed to build detail mesh");r||(t.freeCompactHeightfield(S),l.compactHeightfield=void 0,t.freeContourSet(R),l.contourSet=void 0);for(let e=0;e<A.npolys();e++)A.areas(e)==t.Raw.Recast.WALKABLE_AREA&&A.setAreas(e,0),0==A.areas(e)&&A.setFlags(e,1);const v=new t.NavMeshCreateParams;v.setPolyMeshCreateParams(A),v.setPolyMeshDetailCreateParams(k),v.setWalkableHeight(w.walkableHeight),v.setWalkableRadius(w.walkableRadius),v.setWalkableClimb(w.walkableClimb),v.setCellSize(w.cs),v.setCellHeight(w.ch),v.setBuildBvTree(!0),a.offMeshConnections&&v.setOffMeshConnections(a.offMeshConnections);const H=t.createNavMeshData(v);if(!H.success)return h("Failed to create Detour navmesh data");const{navMeshData:T}=H;return o.initSolo(T)?{success:!0,navMesh:o,intermediates:l}:h("Failed to create Detour navmesh")})(r,s,i,a)},exports.threeToTileCache=(e,t={},i=!1)=>{const[a,r]=b(e);return u(a,r,t,i)},exports.threeToTiledNavMesh=(e,i={},a=!1)=>{const[r,s]=b(e);return((e,i,a={},r=!1)=>{const s=new t.RecastBuildContext,l={type:"tiled",buildContext:s,chunkyTriMesh:void 0,tileIntermediates:[]},o=new t.NavMesh,d=()=>{if(!r){for(let e=0;e<l.tileIntermediates.length;e++){const i=l.tileIntermediates[e];i.compactHeightfield&&t.freeCompactHeightfield(i.compactHeightfield),i.heightfield&&t.freeHeightfield(i.heightfield),i.contourSet&&t.freeContourSet(i.contourSet)}l.chunkyTriMesh&&(l.chunkyTriMesh=void 0)}},g=e=>(d(),o.destroy(),{success:!1,navMesh:void 0,intermediates:l,error:e}),u=t.createRcConfig({...f,...a}),{bbMin:m,bbMax:b}=n(e,i),M=t.calcGridSize(m,b,u.cs);u.width=M.width,u.height=M.height,u.minRegionArea=u.minRegionArea*u.minRegionArea,u.mergeRegionArea=u.mergeRegionArea*u.mergeRegionArea,u.tileSize=Math.floor(u.tileSize),u.borderSize=u.walkableRadius+3,u.width=u.tileSize+2*u.borderSize,u.height=u.tileSize+2*u.borderSize,u.detailSampleDist=u.detailSampleDist<.9?0:u.cs*u.detailSampleDist,u.detailSampleMaxError=u.ch*u.detailSampleMaxError;const y=Math.floor(u.tileSize),w=Math.floor((M.width+y-1)/y),p=Math.floor((M.height+y-1)/y),C=u.tileSize*u.cs,x=e,S=i.length,R=new t.Arrays.VertsArray;R.copy(x,x.length);const A=i,k=i.length/3,v=new t.Arrays.TrisArray;v.copy(A,A.length);const H=t.vec3.fromArray(m);let T=Math.min(Math.floor(h(c(w*p))),14);T>14&&(T=14);const z=1<<T,_=1<<22-T,D=t.NavMeshParams.create({orig:H,tileWidth:u.tileSize*u.cs,tileHeight:u.tileSize*u.cs,maxTiles:z,maxPolys:_});if(!o.initTiled(D))return g("Could not init nav mesh for tiled use");const L=new t.RecastChunkyTriMesh;if(l.chunkyTriMesh=L,!L.init(R,v,k,256))return g("Failed to build chunky triangle mesh");const P=(e,i,o,n)=>{const h=e=>(s.log(t.Raw.Module.RC_LOG_ERROR,e),{success:!1,error:e}),c={tileX:e,tileY:i};l.tileIntermediates.push(c);const d=t.cloneRcConfig(u),g=[...o],f=[...n];g[0]-=d.borderSize*d.cs,g[2]-=d.borderSize*d.cs,f[0]+=d.borderSize*d.cs,f[2]+=d.borderSize*d.cs,d.set_bmin(0,g[0]),d.set_bmin(1,g[1]),d.set_bmin(2,g[2]),d.set_bmax(0,f[0]),d.set_bmax(1,f[1]),d.set_bmax(2,f[2]),s.resetTimers(),s.startTimer(t.Raw.Module.RC_TIMER_TOTAL),s.log(t.Raw.Module.RC_LOG_PROGRESS,`Building tile ${l.tileIntermediates.length} at x: ${e}, y: ${i}`),s.log(t.Raw.Module.RC_LOG_PROGRESS,` - ${u.width} x ${u.height} cells`),s.log(t.Raw.Module.RC_LOG_PROGRESS,` - ${S/1e3}fK verts, ${k/1e3}K tris`);const m=t.allocHeightfield();if(c.heightfield=m,!t.createHeightfield(s,m,d.width,d.height,g,f,d.cs,d.ch))return h("Could not create heightfield");(new t.Arrays.TriAreasArray).resize(L.maxTrisPerChunk());const b=[g[0],g[2]],M=[f[0],f[2]],y=new t.Arrays.ChunkIdsArray;y.resize(512);const w=L.getChunksOverlappingRect(b,M,y,512);if(0===w)return{success:!0};for(let e=0;e<w;++e){const i=y.get_data(e),a=L.nodes(i).n,r=L.getNodeTris(i),l=new t.Arrays.TriAreasArray;l.resize(a),t.markWalkableTriangles(s,d.walkableSlopeAngle,R,S,r,a,l);const o=t.rasterizeTriangles(s,R,S,r,l,a,m,d.walkableClimb);if(l.free(),!o)return h("Could not rasterize triangles")}t.filterLowHangingWalkableObstacles(s,d.walkableClimb,m),t.filterLedgeSpans(s,d.walkableHeight,d.walkableClimb,m),t.filterWalkableLowHeightSpans(s,d.walkableHeight,m);const p=t.allocCompactHeightfield();if(c.compactHeightfield=p,!t.buildCompactHeightfield(s,d.walkableHeight,d.walkableClimb,m,p))return h("Could not build compact heightfield");if(r||(t.freeHeightfield(c.heightfield),c.heightfield=void 0),!t.erodeWalkableArea(s,d.walkableRadius,p))return h("Could not erode walkable area");if(!t.buildDistanceField(s,p))return h("Failed to build distance field");if(!t.buildRegions(s,p,d.borderSize,d.minRegionArea,d.mergeRegionArea))return h("Failed to build regions");const C=t.allocContourSet();if(c.contourSet=C,!t.buildContours(s,p,d.maxSimplificationError,d.maxEdgeLen,C,t.Raw.Module.RC_CONTOUR_TESS_WALL_EDGES))return h("Failed to create contours");const x=t.allocPolyMesh();if(!t.buildPolyMesh(s,C,d.maxVertsPerPoly,x))return h("Failed to triangulate contours");const A=t.allocPolyMeshDetail();if(!t.buildPolyMeshDetail(s,x,p,d.detailSampleDist,d.detailSampleMaxError,A))return h("Failed to build detail mesh");r||(t.freeCompactHeightfield(p),c.compactHeightfield=void 0,t.freeContourSet(C),c.contourSet=void 0);for(let e=0;e<x.npolys();e++)x.areas(e)==t.Raw.Recast.WALKABLE_AREA&&x.setAreas(e,0),0==x.areas(e)&&x.setFlags(e,1);const v=new t.NavMeshCreateParams;v.setPolyMeshCreateParams(x),v.setPolyMeshDetailCreateParams(A),v.setWalkableHeight(d.walkableHeight),v.setWalkableRadius(d.walkableRadius),v.setWalkableClimb(d.walkableClimb),v.setCellSize(d.cs),v.setCellHeight(d.ch),v.setBuildBvTree(!0),a.offMeshConnections&&v.setOffMeshConnections(a.offMeshConnections),v.setTileX(e),v.setTileY(i);const H=t.createNavMeshData(v);return H.success?(s.log(t.Raw.Module.RC_LOG_PROGRESS,`>> Polymesh: ${x.nverts()} vertices ${x.npolys()} polygons`),{success:!0,data:H.navMeshData}):h("Failed to create Detour navmesh data")};s.startTimer(t.Raw.Module.RC_TIMER_TEMP);const E=[0,0,0],F=[0,0,0];for(let e=0;e<p;e++)for(let i=0;i<w;i++){E[0]=m[0]+i*C,E[1]=m[1],E[2]=m[2]+e*C,F[0]=m[0]+(i+1)*C,F[1]=b[1],F[2]=m[2]+(e+1)*C;const a=P(i,e,E,F);if(a.success&&a.data){o.removeTile(o.getTileRefAt(i,e,0));const r=o.addTile(a.data,t.Raw.Module.DT_TILE_FREE_DATA,0);t.Raw.Detour.statusFailed(r.status)&&(s.log(t.Raw.Module.RC_LOG_WARNING,`Failed to add tile to nav mesh\n\ttx: ${i}, ty: ${e},status: ${t.dtStatusToReadableString(r.status)} (${r.status})`),a.data.free())}}return s.stopTimer(t.Raw.Module.RC_TIMER_TEMP),r||d(),{success:!0,navMesh:o,intermediates:l}})(r,s,i,a)};
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"use strict";var e=require("three"),t=require("@recast-navigation/core");class i extends e.Object3D{agentMeshes=new Map;recastCrowd;agentMaterial;constructor({crowd:t,agentMaterial:i}){super(),this.recastCrowd=t,this.agentMaterial=i??new e.MeshBasicMaterial({color:"red"}),this.update()}update(){const t=this.recastCrowd.getAgents(),i=new Set(this.agentMeshes.keys());for(const a of t){i.delete(a.agentIndex);const t=a.position(),r=a.velocity();let s=this.agentMeshes.get(a.agentIndex);void 0===s?(s=this.createAgentMesh(a),this.add(s),this.agentMeshes.set(a.agentIndex,s)):this.updateAgentGeometry(s,a),s.position.set(t.x,t.y+a.height/2,t.z),s.lookAt((new e.Vector3).copy(s.position).add(r))}for(const e of i){const t=this.agentMeshes.get(e);t&&(this.remove(t),this.agentMeshes.delete(e))}}createAgentMesh(t){const i=new e.Mesh;return i.material=this.agentMaterial,this.updateAgentGeometry(i,t),i.userData={radius:t.radius,height:t.height},i}updateAgentGeometry(t,i){if(t.userData.radius!==i.radius||t.userData.height!==i.height){const a=new e.CylinderGeometry(i.radius,i.radius,i.height);t.geometry.dispose(),t.geometry=a,t.userData.radius=i.radius,t.userData.height=i.height}}}const a=new e.Matrix4;class r extends e.Object3D{heightfields;highlightWalkable;defaultColor;walkableColor;material;constructor({heightfields:t,highlightWalkable:i=!1,material:a=new e.MeshBasicMaterial,defaultColor:r="blue",walkableColor:s="green"}){super(),this.heightfields=t,this.highlightWalkable=i,this.material=a,this.defaultColor=new e.Color(r),this.walkableColor=new e.Color(s),this.update()}update(){this.clear();for(const t of this.heightfields){const i=t.bmin(),r=t.cs(),s=t.ch(),l=t.width(),o=t.height(),n=[];for(let e=0;e<o;++e)for(let a=0;a<l;++a){const o=i.x+a*r,h=i.z+e*r;let c=t.spans(a+e*l);for(;c;){const e=o,t=i.y+c.smin()*s,a=h,l=o+r,d=i.y+c.smax()*s,g=h+r;n.push({position:[(l+e)/2,(d+t)/2,(g+a)/2],walkable:this.highlightWalkable&&0!==c.area()}),c=c.next()}}const h=new e.BoxGeometry(r,s,r),c=new e.InstancedMesh(h,this.material,n.length);c.instanceMatrix.setUsage(e.DynamicDrawUsage);for(let e=0;e<n.length;e++){const{position:t,walkable:i}=n[e];c.setMatrixAt(e,a.setPosition(...t)),c.setColorAt(e,i?this.walkableColor:this.defaultColor)}c.instanceMatrix.needsUpdate=!0,c.instanceColor&&(c.instanceColor.needsUpdate=!0),this.add(c)}}}class s extends e.Object3D{navMesh;navMeshMaterial;mesh;geometry;constructor({navMesh:t,navMeshMaterial:i}){super(),this.navMesh=t,this.geometry=new e.BufferGeometry,this.navMeshMaterial=i||new e.MeshBasicMaterial({color:"orange",transparent:!0,opacity:.7,depthWrite:!1}),this.update(),this.mesh=new e.Mesh(this.geometry,this.navMeshMaterial),this.add(this.mesh)}update(){const[t,i]=this.navMesh.getDebugNavMesh();this.geometry.setAttribute("position",new e.BufferAttribute(Float32Array.from(t),3)),this.geometry.setIndex(new e.BufferAttribute(Uint32Array.from(i),1)),this.geometry.computeVertexNormals()}}class l extends e.Object3D{offMeshConnections;entryCircleMaterial;exitCircleMaterial;lineMaterial;constructor({offMeshConnections:t,entryCircleMaterial:i,exitCircleMaterial:a,lineMaterial:r}){super(),this.offMeshConnections=t??[],this.entryCircleMaterial=i??new e.MeshBasicMaterial({color:"green"}),this.exitCircleMaterial=a??new e.MeshBasicMaterial({color:"blue"}),this.lineMaterial=r??new e.LineBasicMaterial({color:"red"}),this.update()}update(){this.clear();for(const t of this.offMeshConnections){const i=new e.CircleGeometry(t.radius,16),a=new e.Mesh(i,this.entryCircleMaterial);a.position.copy(t.startPosition),a.position.y+=.001,a.rotation.x=-Math.PI/2,this.add(a);const r=new e.Mesh(i,t.bidirectional?this.entryCircleMaterial:this.exitCircleMaterial);r.position.copy(t.endPosition),r.position.y+=.001,r.rotation.x=-Math.PI/2,this.add(r);const s=(new e.Vector3).copy(t.startPosition),l=(new e.Vector3).copy(t.endPosition),o=(new e.Vector3).addVectors(s,l).multiplyScalar(.5);o.y*=1.2;const n=new e.CatmullRomCurve3([s,o,l]).getPoints(50),h=(new e.BufferGeometry).setFromPoints(n),c=new e.Line(h,this.lineMaterial);this.add(c)}}}class o extends e.Object3D{tileCache;obstacleMeshes=new Map;obstacleMaterial;constructor({tileCache:t,obstacleMaterial:i}){super(),this.tileCache=t,this.obstacleMaterial=i||new e.MeshBasicMaterial({color:"red",wireframe:!0,wireframeLinewidth:2}),this.update()}update(){const t=new Set(this.obstacleMeshes.keys());for(const[,i]of this.tileCache.obstacles){const a=this.obstacleMeshes.get(i);if(t.delete(i),!a){const{position:t}=i,a=new e.Mesh(void 0,this.obstacleMaterial);if(a.position.copy(t),"box"===i.type){const{extent:t,angle:r}=i;a.geometry=new e.BoxGeometry(2*t.x,2*t.y,2*t.z),a.rotation.y=r}else{if("cylinder"!==i.type)throw new Error(`Unknown obstacle type: ${i}`);{const{radius:t,height:r}=i;a.geometry=new e.CylinderGeometry(t,t,r,16),a.position.y+=r/2}}this.add(a),this.obstacleMeshes.set(i,a)}}for(const e of t){const t=this.obstacleMeshes.get(e);t&&(this.remove(t),this.obstacleMeshes.delete(e))}}}const n=(e,i)=>{const a={x:1/0,y:1/0,z:1/0},r={x:-1/0,y:-1/0,z:-1/0};for(let t=0;t<i.length;t++){const s=i[t],l=e[3*s],o=e[3*s+1],n=e[3*s+2];a.x=Math.min(a.x,l),a.y=Math.min(a.y,o),a.z=Math.min(a.z,n),r.x=Math.max(r.x,l),r.y=Math.max(r.y,o),r.z=Math.max(r.z,n)}return{bbMin:t.vec3.toArray(a),bbMax:t.vec3.toArray(r)}},h=e=>{let t=0,i=0;return t=Number(e>65535)<<4,e>>=t,i=Number(e>255)<<3,e>>=i,t|=i,i=Number(e>15)<<2,e>>=i,t|=i,i=Number(e>3)<<1,t|=i,t|=(e>>=i)>>1,t},c=e=>(e--,e|=e>>1,e|=e>>2,e|=e>>4,e|=e>>8,e|=e>>16,++e),d={...t.recastConfigDefaults},g={...t.recastConfigDefaults,tileSize:32,expectedLayersPerTile:4,maxObstacles:128},u=(e,i,a={},r=!1)=>{const s=new t.RecastBuildContext,l={type:"tilecache",buildContext:s,chunkyTriMesh:void 0,tileIntermediates:[]},o=new t.TileCache,d=new t.NavMesh,u=()=>{if(!r)for(let e=0;e<l.tileIntermediates.length;e++){const i=l.tileIntermediates[e];i.heightfield&&(t.freeHeightfield(i.heightfield),i.heightfield=void 0),i.compactHeightfield&&(t.freeCompactHeightfield(i.compactHeightfield),i.compactHeightfield=void 0),i.heightfieldLayerSet&&(t.freeHeightfieldLayerSet(i.heightfieldLayerSet),i.heightfieldLayerSet=void 0)}},f=e=>(u(),o.destroy(),d.destroy(),{success:!1,navMesh:void 0,tileCache:void 0,intermediates:l,error:e}),m=e,b=i.length,M=new t.Arrays.VertsArray;M.copy(m,m.length);const y=i,w=i.length/3,p=new t.Arrays.TrisArray;p.copy(y,y.length);const{bbMin:C,bbMax:x}=n(e,i),{expectedLayersPerTile:S,maxObstacles:R,...A}={...g,...a},k=t.createRcConfig(A),v=t.calcGridSize(C,x,k.cs);k.width=v.width,k.height=v.height,k.minRegionArea=k.minRegionArea*k.minRegionArea,k.mergeRegionArea=k.mergeRegionArea*k.mergeRegionArea,k.detailSampleDist=k.detailSampleDist<.9?0:k.cs*k.detailSampleDist,k.detailSampleMaxError=k.ch*k.detailSampleMaxError;const H=Math.floor(k.tileSize),T=Math.floor((k.width+H-1)/H),z=Math.floor((k.height+H-1)/H);k.borderSize=k.walkableRadius+3,k.width=k.tileSize+2*k.borderSize,k.height=k.tileSize+2*k.borderSize;const _=t.DetourTileCacheParams.create({orig:C,cs:k.cs,ch:k.ch,width:k.tileSize,height:k.tileSize,walkableHeight:k.walkableHeight,walkableRadius:k.walkableRadius,walkableClimb:k.walkableClimb,maxSimplificationError:k.maxSimplificationError,maxTiles:T*z*S,maxObstacles:R}),D=new t.Raw.RecastLinearAllocator(32e3),L=new t.Raw.RecastFastLZCompressor,P=a.tileCacheMeshProcess??new t.TileCacheMeshProcess(((e,t,i)=>{for(let a=0;a<e.polyCount();++a)t.set(a,0),i.set(a,1)}));if(!o.init(_,D,L,P))return f("Failed to initialize tile cache");const E=t.vec3.fromArray(C);let F=Math.min(Math.floor(h(c(T*z*S))),14);F>14&&(F=14);const O=1<<F,W=1<<22-F,I=t.NavMeshParams.create({orig:E,tileWidth:k.tileSize*k.cs,tileHeight:k.tileSize*k.cs,maxTiles:O,maxPolys:W});if(!d.initTiled(I))return f("Failed to initialize tiled navmesh");const G=new t.RecastChunkyTriMesh;if(l.chunkyTriMesh=G,!G.init(M,p,w,256))return f("Failed to build chunky triangle mesh");const N=(e,i)=>{const a={tileX:e,tileY:i},o=k.tileSize*k.cs,n=t.cloneRcConfig(k),h=[C[0]+e*o,C[1],C[2]+i*o],c=[C[0]+(e+1)*o,x[1],C[2]+(i+1)*o];h[0]-=n.borderSize*n.cs,h[2]-=n.borderSize*n.cs,c[0]+=n.borderSize*n.cs,c[2]+=n.borderSize*n.cs,n.set_bmin(0,h[0]),n.set_bmin(1,h[1]),n.set_bmin(2,h[2]),n.set_bmax(0,c[0]),n.set_bmax(1,c[1]),n.set_bmax(2,c[2]);const d=t.allocHeightfield();if(a.heightfield=d,!t.createHeightfield(s,d,n.width,n.height,h,c,n.cs,n.ch))return{n:0};const g=[h[0],h[2]],u=[c[0],c[2]],f=new t.Arrays.ChunkIdsArray;f.resize(512);const m=G.getChunksOverlappingRect(g,u,f,512);if(0===m)return{n:0};for(let e=0;e<m;++e){const i=f.get_data(e),a=G.nodes(i).n,r=G.getNodeTris(i),l=new t.Arrays.TriAreasArray;l.resize(a),t.markWalkableTriangles(s,n.walkableSlopeAngle,M,b,r,a,l);const o=t.rasterizeTriangles(s,M,b,r,l,a,d,n.walkableClimb);if(l.free(),!o)return{n:0}}t.filterLowHangingWalkableObstacles(s,k.walkableClimb,d),t.filterLedgeSpans(s,k.walkableHeight,k.walkableClimb,d),t.filterWalkableLowHeightSpans(s,k.walkableHeight,d);const y=t.allocCompactHeightfield();if(!t.buildCompactHeightfield(s,k.walkableHeight,k.walkableClimb,d,y))return{n:0};if(r||(t.freeHeightfield(a.heightfield),a.heightfield=void 0),!t.erodeWalkableArea(s,k.walkableRadius,y))return{n:0};const w=t.allocHeightfieldLayerSet();if(!t.buildHeightfieldLayers(s,y,k.borderSize,k.walkableHeight,w))return{n:0};r||(t.freeCompactHeightfield(y),a.compactHeightfield=void 0);const p=[];for(let a=0;a<w.nlayers();a++){const r=new t.Arrays.TileCacheData,s=w.layers(a),l=new t.Raw.dtTileCacheLayerHeader;l.magic=t.Raw.Detour.TILECACHE_MAGIC,l.version=t.Raw.Detour.TILECACHE_VERSION,l.tx=e,l.ty=i,l.tlayer=a;const o=s.bmin(),n=s.bmax();l.set_bmin(0,o.x),l.set_bmin(1,o.y),l.set_bmin(2,o.z),l.set_bmax(0,n.x),l.set_bmax(1,n.y),l.set_bmax(2,n.z),l.width=s.width(),l.height=s.height(),l.minx=s.minx(),l.maxx=s.maxx(),l.miny=s.miny(),l.maxy=s.maxy(),l.hmin=s.hmin(),l.hmax=s.hmax();const h=t.getHeightfieldLayerHeights(s),c=t.getHeightfieldLayerAreas(s),d=t.getHeightfieldLayerCons(s),g=t.buildTileCacheLayer(L,l,h,c,d,r);if(t.Raw.Detour.statusFailed(g))return{n:0};p.push(r)}return r||(t.freeHeightfieldLayerSet(w),a.heightfieldLayerSet=void 0),l.tileIntermediates.push(a),{n:p.length,tiles:p}};for(let e=0;e<z;++e)for(let i=0;i<T;++i){const{n:a,tiles:r}=N(i,e);if(a>0&&r)for(let l=0;l<a;l++){const a=r[l],n=o.addTile(a);t.Raw.Detour.statusFailed(n.status)&&s.log(t.Raw.Module.RC_LOG_WARNING,`Failed to add tile to tile cache - tx: ${i}, ty: ${e}`)}}for(let e=0;e<z;e++)for(let i=0;i<T;i++){const a=o.buildNavMeshTilesAt(i,e,d);if(t.Raw.Detour.statusFailed(a))return f(`Failed to build nav mesh tiles at ${i}, ${e}`)}return u(),{success:!0,tileCache:o,navMesh:d,intermediates:l}},f={...t.recastConfigDefaults},m=new e.Vector3,b=e=>{const t=[];for(const i of e){const e=i.geometry.attributes.position;if(!e||3!==e.itemSize)continue;let a=i;const r=i.geometry.getIndex()?.array;if(void 0===r){a=a.clone(),a.geometry=i.geometry.clone();const t=[];for(let i=0;i<e.count;i++)t.push(i);a.geometry.setIndex(t)}t.push(a)}const i=[],a=[],r={};let s=0;for(const e of t){e.updateMatrixWorld();const t=e.geometry.attributes.position.array,l=e.geometry.getIndex().array;for(let o=0;o<l.length;o++){const n=3*l[o],h=m.set(t[n],t[n+1],t[n+2]);e.localToWorld(h);const c=`${h.x}_${h.y}_${h.z}`;let d=r[c];d||(r[c]=d=s,i.push(h.x,h.y,h.z),s++),a.push(d)}}return[Float32Array.from(i),Uint32Array.from(a)]};exports.CrowdHelper=i,exports.HeightfieldHelper=r,exports.NavMeshHelper=s,exports.OffMeshConnectionsHelper=l,exports.TileCacheHelper=o,exports.getPositionsAndIndices=b,exports.threeToSoloNavMesh=(e,i={},a=!1)=>{const[r,s]=b(e);return((e,i,a={},r=!1)=>{const s=new t.RecastBuildContext,l={type:"solo",buildContext:s},o=new t.NavMesh,h=e=>(r||(l.heightfield&&(t.freeHeightfield(l.heightfield),l.heightfield=void 0),l.compactHeightfield&&(t.freeCompactHeightfield(l.compactHeightfield),l.compactHeightfield=void 0),l.contourSet&&(t.freeContourSet(l.contourSet),l.contourSet=void 0)),o.destroy(),{navMesh:void 0,success:!1,intermediates:l,error:e}),c=e,g=i.length,u=new t.Arrays.VertsArray;u.copy(c,c.length);const f=i,m=i.length/3,b=new t.Arrays.TrisArray;b.copy(f,f.length);const{bbMin:M,bbMax:y}=n(e,i),w=t.createRcConfig({...d,...a});w.minRegionArea=w.minRegionArea*w.minRegionArea,w.mergeRegionArea=w.mergeRegionArea*w.mergeRegionArea,w.detailSampleDist=w.detailSampleDist<.9?0:w.cs*w.detailSampleDist,w.detailSampleMaxError=w.ch*w.detailSampleMaxError;const p=t.calcGridSize(M,y,w.cs);w.width=p.width,w.height=p.height;const C=t.allocHeightfield();if(l.heightfield=C,!t.createHeightfield(s,C,w.width,w.height,M,y,w.cs,w.ch))return h("Could not create heightfield");const x=new t.Arrays.TriAreasArray;if(x.resize(m),t.markWalkableTriangles(s,w.walkableSlopeAngle,u,g,b,m,x),!t.rasterizeTriangles(s,u,g,b,x,m,C,w.walkableClimb))return h("Could not rasterize triangles");x.free(),t.filterLowHangingWalkableObstacles(s,w.walkableClimb,C),t.filterLedgeSpans(s,w.walkableHeight,w.walkableClimb,C),t.filterWalkableLowHeightSpans(s,w.walkableHeight,C);const S=t.allocCompactHeightfield();if(l.compactHeightfield=S,!t.buildCompactHeightfield(s,w.walkableHeight,w.walkableClimb,C,S))return h("Failed to build compact data");if(r||(t.freeHeightfield(C),l.heightfield=void 0),!t.erodeWalkableArea(s,w.walkableRadius,S))return h("Failed to erode walkable area");if(!t.buildDistanceField(s,S))return h("Failed to build distance field");if(!t.buildRegions(s,S,w.borderSize,w.minRegionArea,w.mergeRegionArea))return h("Failed to build regions");const R=t.allocContourSet();if(l.contourSet=R,!t.buildContours(s,S,w.maxSimplificationError,w.maxEdgeLen,R,t.Raw.Module.RC_CONTOUR_TESS_WALL_EDGES))return h("Failed to create contours");const A=t.allocPolyMesh();if(!t.buildPolyMesh(s,R,w.maxVertsPerPoly,A))return h("Failed to triangulate contours");const k=t.allocPolyMeshDetail();if(!t.buildPolyMeshDetail(s,A,S,w.detailSampleDist,w.detailSampleMaxError,k))return h("Failed to build detail mesh");r||(t.freeCompactHeightfield(S),l.compactHeightfield=void 0,t.freeContourSet(R),l.contourSet=void 0);for(let e=0;e<A.npolys();e++)A.areas(e)==t.Raw.Recast.WALKABLE_AREA&&A.setAreas(e,0),0==A.areas(e)&&A.setFlags(e,1);const v=new t.NavMeshCreateParams;v.setPolyMeshCreateParams(A),v.setPolyMeshDetailCreateParams(k),v.setWalkableHeight(w.walkableHeight),v.setWalkableRadius(w.walkableRadius),v.setWalkableClimb(w.walkableClimb),v.setCellSize(w.cs),v.setCellHeight(w.ch),v.setBuildBvTree(!0),a.offMeshConnections&&v.setOffMeshConnections(a.offMeshConnections);const H=t.createNavMeshData(v);if(!H.success)return h("Failed to create Detour navmesh data");const{navMeshData:T}=H;return o.initSolo(T)?{success:!0,navMesh:o,intermediates:l}:h("Failed to create Detour navmesh")})(r,s,i,a)},exports.threeToTileCache=(e,t={},i=!1)=>{const[a,r]=b(e);return u(a,r,t,i)},exports.threeToTiledNavMesh=(e,i={},a=!1)=>{const[r,s]=b(e);return((e,i,a={},r=!1)=>{const s=new t.RecastBuildContext,l={type:"tiled",buildContext:s,chunkyTriMesh:void 0,tileIntermediates:[]},o=new t.NavMesh,d=()=>{if(!r){for(let e=0;e<l.tileIntermediates.length;e++){const i=l.tileIntermediates[e];i.compactHeightfield&&t.freeCompactHeightfield(i.compactHeightfield),i.heightfield&&t.freeHeightfield(i.heightfield),i.contourSet&&t.freeContourSet(i.contourSet)}l.chunkyTriMesh&&(l.chunkyTriMesh=void 0)}},g=e=>(d(),o.destroy(),{success:!1,navMesh:void 0,intermediates:l,error:e}),u=t.createRcConfig({...f,...a}),{bbMin:m,bbMax:b}=n(e,i),M=t.calcGridSize(m,b,u.cs);u.width=M.width,u.height=M.height,u.minRegionArea=u.minRegionArea*u.minRegionArea,u.mergeRegionArea=u.mergeRegionArea*u.mergeRegionArea,u.tileSize=Math.floor(u.tileSize),u.borderSize=u.walkableRadius+3,u.width=u.tileSize+2*u.borderSize,u.height=u.tileSize+2*u.borderSize,u.detailSampleDist=u.detailSampleDist<.9?0:u.cs*u.detailSampleDist,u.detailSampleMaxError=u.ch*u.detailSampleMaxError;const y=Math.floor(u.tileSize),w=Math.floor((M.width+y-1)/y),p=Math.floor((M.height+y-1)/y),C=u.tileSize*u.cs,x=e,S=i.length,R=new t.Arrays.VertsArray;R.copy(x,x.length);const A=i,k=i.length/3,v=new t.Arrays.TrisArray;v.copy(A,A.length);const H=t.vec3.fromArray(m);let T=Math.min(Math.floor(h(c(w*p))),14);T>14&&(T=14);const z=1<<T,_=1<<22-T,D=t.NavMeshParams.create({orig:H,tileWidth:u.tileSize*u.cs,tileHeight:u.tileSize*u.cs,maxTiles:z,maxPolys:_});if(!o.initTiled(D))return g("Could not init nav mesh for tiled use");const L=new t.RecastChunkyTriMesh;if(l.chunkyTriMesh=L,!L.init(R,v,k,256))return g("Failed to build chunky triangle mesh");const P=(e,i,o,n)=>{const h=e=>(s.log(t.Raw.Module.RC_LOG_ERROR,e),{success:!1,error:e}),c={tileX:e,tileY:i};l.tileIntermediates.push(c);const d=t.cloneRcConfig(u),g=[...o],f=[...n];g[0]-=d.borderSize*d.cs,g[2]-=d.borderSize*d.cs,f[0]+=d.borderSize*d.cs,f[2]+=d.borderSize*d.cs,d.set_bmin(0,g[0]),d.set_bmin(1,g[1]),d.set_bmin(2,g[2]),d.set_bmax(0,f[0]),d.set_bmax(1,f[1]),d.set_bmax(2,f[2]),s.resetTimers(),s.startTimer(t.Raw.Module.RC_TIMER_TOTAL),s.log(t.Raw.Module.RC_LOG_PROGRESS,`Building tile ${l.tileIntermediates.length} at x: ${e}, y: ${i}`),s.log(t.Raw.Module.RC_LOG_PROGRESS,` - ${u.width} x ${u.height} cells`),s.log(t.Raw.Module.RC_LOG_PROGRESS,` - ${S/1e3}fK verts, ${k/1e3}K tris`);const m=t.allocHeightfield();if(c.heightfield=m,!t.createHeightfield(s,m,d.width,d.height,g,f,d.cs,d.ch))return h("Could not create heightfield");(new t.Arrays.TriAreasArray).resize(L.maxTrisPerChunk());const b=[g[0],g[2]],M=[f[0],f[2]],y=new t.Arrays.ChunkIdsArray;y.resize(512);const w=L.getChunksOverlappingRect(b,M,y,512);if(0===w)return{success:!0};for(let e=0;e<w;++e){const i=y.get_data(e),a=L.nodes(i).n,r=L.getNodeTris(i),l=new t.Arrays.TriAreasArray;l.resize(a),t.markWalkableTriangles(s,d.walkableSlopeAngle,R,S,r,a,l);const o=t.rasterizeTriangles(s,R,S,r,l,a,m,d.walkableClimb);if(l.free(),!o)return h("Could not rasterize triangles")}t.filterLowHangingWalkableObstacles(s,d.walkableClimb,m),t.filterLedgeSpans(s,d.walkableHeight,d.walkableClimb,m),t.filterWalkableLowHeightSpans(s,d.walkableHeight,m);const p=t.allocCompactHeightfield();if(c.compactHeightfield=p,!t.buildCompactHeightfield(s,d.walkableHeight,d.walkableClimb,m,p))return h("Could not build compact heightfield");if(r||(t.freeHeightfield(c.heightfield),c.heightfield=void 0),!t.erodeWalkableArea(s,d.walkableRadius,p))return h("Could not erode walkable area");if(!t.buildDistanceField(s,p))return h("Failed to build distance field");if(!t.buildRegions(s,p,d.borderSize,d.minRegionArea,d.mergeRegionArea))return h("Failed to build regions");const C=t.allocContourSet();if(c.contourSet=C,!t.buildContours(s,p,d.maxSimplificationError,d.maxEdgeLen,C,t.Raw.Module.RC_CONTOUR_TESS_WALL_EDGES))return h("Failed to create contours");const x=t.allocPolyMesh();if(!t.buildPolyMesh(s,C,d.maxVertsPerPoly,x))return h("Failed to triangulate contours");const A=t.allocPolyMeshDetail();if(!t.buildPolyMeshDetail(s,x,p,d.detailSampleDist,d.detailSampleMaxError,A))return h("Failed to build detail mesh");r||(t.freeCompactHeightfield(p),c.compactHeightfield=void 0,t.freeContourSet(C),c.contourSet=void 0);for(let e=0;e<x.npolys();e++)x.areas(e)==t.Raw.Recast.WALKABLE_AREA&&x.setAreas(e,0),0==x.areas(e)&&x.setFlags(e,1);const v=new t.NavMeshCreateParams;v.setPolyMeshCreateParams(x),v.setPolyMeshDetailCreateParams(A),v.setWalkableHeight(d.walkableHeight),v.setWalkableRadius(d.walkableRadius),v.setWalkableClimb(d.walkableClimb),v.setCellSize(d.cs),v.setCellHeight(d.ch),v.setBuildBvTree(!0),a.offMeshConnections&&v.setOffMeshConnections(a.offMeshConnections),v.setTileX(e),v.setTileY(i);const H=t.createNavMeshData(v);return H.success?(s.log(t.Raw.Module.RC_LOG_PROGRESS,`>> Polymesh: ${x.nverts()} vertices ${x.npolys()} polygons`),{success:!0,data:H.navMeshData}):h("Failed to create Detour navmesh data")};s.startTimer(t.Raw.Module.RC_TIMER_TEMP);const E=[0,0,0],F=[0,0,0];for(let e=0;e<p;e++)for(let i=0;i<w;i++){E[0]=m[0]+i*C,E[1]=m[1],E[2]=m[2]+e*C,F[0]=m[0]+(i+1)*C,F[1]=b[1],F[2]=m[2]+(e+1)*C;const a=P(i,e,E,F);if(a.success&&a.data){o.removeTile(o.getTileRefAt(i,e,0));const r=o.addTile(a.data,t.Raw.Module.DT_TILE_FREE_DATA,0);t.Raw.Detour.statusFailed(r.status)&&(s.log(t.Raw.Module.RC_LOG_WARNING,`Failed to add tile to nav mesh\n\ttx: ${i}, ty: ${e},status: ${t.statusToReadableString(r.status)} (${r.status})`),a.data.free())}}return s.stopTimer(t.Raw.Module.RC_TIMER_TEMP),r||d(),{success:!0,navMesh:o,intermediates:l}})(r,s,i,a)};
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{"version":3,"file":"index.cjs","sources":["../src/helpers/crowd-helper.ts","../src/helpers/heightfield-helper.ts","../src/helpers/nav-mesh-helper.ts","../src/helpers/off-mesh-connections-helper.ts","../src/helpers/tile-cache-helper.ts","../../recast-navigation-generators/dist/index.mjs","../src/utils/get-positions-and-indices.ts","../src/utils/generators.ts"],"sourcesContent":["import { Crowd, CrowdAgent } from '@recast-navigation/core';\nimport {\n CylinderGeometry,\n Material,\n Mesh,\n MeshBasicMaterial,\n Object3D,\n Vector3,\n} from 'three';\n\nexport type CrowdHelperParams = {\n crowd: Crowd;\n agentMaterial?: Material;\n};\n\nexport class CrowdHelper extends Object3D {\n agentMeshes: Map<number, Mesh> = new Map();\n\n recastCrowd: Crowd;\n\n agentMaterial: Material;\n\n constructor({ crowd, agentMaterial }: CrowdHelperParams) {\n super();\n\n this.recastCrowd = crowd;\n\n this.agentMaterial =\n agentMaterial ?? new MeshBasicMaterial({ color: 'red' });\n\n this.update();\n }\n\n /**\n * Update the three debug view of the crowd agents.\n *\n * This should be called after updating the crowd.\n */\n update() {\n const agents = this.recastCrowd.getAgents();\n\n const unseen = new Set(this.agentMeshes.keys());\n\n for (const agent of agents) {\n unseen.delete(agent.agentIndex);\n\n const position = agent.position();\n const velocity = agent.velocity();\n\n let agentMesh: Mesh | undefined = this.agentMeshes.get(agent.agentIndex);\n\n if (agentMesh === undefined) {\n agentMesh = this.createAgentMesh(agent);\n\n this.add(agentMesh);\n this.agentMeshes.set(agent.agentIndex, agentMesh);\n } else {\n this.updateAgentGeometry(agentMesh, agent);\n }\n\n agentMesh.position.set(\n position.x,\n position.y + agent.height / 2,\n position.z\n );\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.remove(agentMesh);\n this.agentMeshes.delete(agentId);\n }\n }\n }\n\n private createAgentMesh(agent: CrowdAgent): Mesh {\n const mesh = new Mesh();\n\n mesh.material = this.agentMaterial;\n\n this.updateAgentGeometry(mesh, agent);\n\n mesh.userData = {\n radius: agent.radius,\n height: agent.height,\n };\n\n return mesh;\n }\n\n private updateAgentGeometry(agentMesh: Mesh, agentParams: CrowdAgent) {\n if (\n agentMesh.userData.radius !== agentParams.radius ||\n agentMesh.userData.height !== agentParams.height\n ) {\n const geometry = new CylinderGeometry(\n agentParams.radius,\n agentParams.radius,\n agentParams.height\n );\n\n agentMesh.geometry.dispose();\n agentMesh.geometry = geometry;\n\n agentMesh.userData.radius = agentParams.radius;\n agentMesh.userData.height = agentParams.height;\n }\n }\n}\n","import { RecastHeightfield, RecastSpan } from '@recast-navigation/core';\nimport {\n BoxGeometry,\n Color,\n ColorRepresentation,\n DynamicDrawUsage,\n InstancedMesh,\n Material,\n Matrix4,\n MeshBasicMaterial,\n Object3D,\n Vector3Tuple,\n} from 'three';\n\nconst tmpMatrix4 = new Matrix4();\n\nexport type HeightfieldHelperParams = {\n heightfields: RecastHeightfield[];\n\n /**\n * @default false\n */\n highlightWalkable?: boolean;\n\n /**\n * @default 'blue'\n */\n defaultColor?: ColorRepresentation;\n\n /**\n * @default 'green'\n */\n walkableColor?: ColorRepresentation;\n\n /**\n * @default MeshBasicMaterial\n */\n material?: Material;\n};\n\nexport class HeightfieldHelper extends Object3D {\n heightfields: RecastHeightfield[];\n\n highlightWalkable: boolean;\n\n defaultColor: Color;\n\n walkableColor: Color;\n\n material: Material;\n\n constructor({\n heightfields,\n highlightWalkable = false,\n material = new MeshBasicMaterial(),\n defaultColor = 'blue',\n walkableColor = 'green',\n }: HeightfieldHelperParams) {\n super();\n\n this.heightfields = heightfields;\n this.highlightWalkable = highlightWalkable;\n this.material = material;\n this.defaultColor = new Color(defaultColor);\n this.walkableColor = new Color(walkableColor);\n\n this.update();\n }\n\n update(): void {\n this.clear();\n\n for (const hf of this.heightfields) {\n const orig = hf.bmin();\n const cs = hf.cs();\n const ch = hf.ch();\n\n const width = hf.width();\n const height = hf.height();\n\n const boxes: {\n position: Vector3Tuple;\n walkable: boolean;\n }[] = [];\n\n for (let y = 0; y < height; ++y) {\n for (let x = 0; x < width; ++x) {\n const fx = orig.x + x * cs;\n const fz = orig.z + y * cs;\n\n let span: RecastSpan | null = hf.spans(x + y * width);\n\n while (span) {\n const minX = fx;\n const minY = orig.y + span.smin() * ch;\n const minZ = fz;\n\n const maxX = fx + cs;\n const maxY = orig.y + span.smax() * ch;\n const maxZ = fz + cs;\n\n boxes.push({\n position: [\n (maxX + minX) / 2,\n (maxY + minY) / 2,\n (maxZ + minZ) / 2,\n ],\n walkable: this.highlightWalkable && span.area() !== 0,\n });\n\n span = span.next();\n }\n }\n }\n\n const geometry = new BoxGeometry(cs, ch, cs);\n\n const instancedMesh = new InstancedMesh(\n geometry,\n this.material,\n boxes.length\n );\n instancedMesh.instanceMatrix.setUsage(DynamicDrawUsage);\n\n for (let i = 0; i < boxes.length; i++) {\n const { position, walkable } = boxes[i];\n\n instancedMesh.setMatrixAt(i, tmpMatrix4.setPosition(...position));\n instancedMesh.setColorAt(\n i,\n walkable ? this.walkableColor : this.defaultColor\n );\n }\n\n instancedMesh.instanceMatrix.needsUpdate = true;\n\n if (instancedMesh.instanceColor) {\n instancedMesh.instanceColor.needsUpdate = true;\n }\n\n this.add(instancedMesh);\n }\n }\n}\n","import { NavMesh } from '@recast-navigation/core';\nimport {\n BufferAttribute,\n BufferGeometry,\n Material,\n Mesh,\n MeshBasicMaterial,\n Object3D,\n} from 'three';\n\nexport type NavMeshHelperParams = {\n navMesh: NavMesh;\n navMeshMaterial?: Material;\n};\n\nexport class NavMeshHelper extends Object3D {\n navMesh: NavMesh;\n\n navMeshMaterial: Material;\n\n mesh: Mesh;\n\n geometry: BufferGeometry;\n\n constructor({ navMesh, navMeshMaterial }: NavMeshHelperParams) {\n super();\n\n this.navMesh = navMesh;\n\n this.geometry = new BufferGeometry();\n\n this.navMeshMaterial = navMeshMaterial\n ? navMeshMaterial\n : new MeshBasicMaterial({\n color: 'orange',\n transparent: true,\n opacity: 0.7,\n depthWrite: false,\n });\n\n this.update();\n\n this.mesh = new Mesh(this.geometry, this.navMeshMaterial);\n\n this.add(this.mesh);\n }\n\n /**\n * Update the three debug nav mesh.\n *\n * This should be called after updating the nav mesh.\n */\n update() {\n const [positions, indices] = this.navMesh.getDebugNavMesh();\n\n this.geometry.setAttribute(\n 'position',\n new BufferAttribute(Float32Array.from(positions), 3)\n );\n this.geometry.setIndex(new BufferAttribute(Uint32Array.from(indices), 1));\n this.geometry.computeVertexNormals();\n }\n}\n","import { OffMeshConnectionParams } from '@recast-navigation/core';\nimport {\n BufferGeometry,\n CatmullRomCurve3,\n CircleGeometry,\n Line,\n LineBasicMaterial,\n Material,\n Mesh,\n MeshBasicMaterial,\n Object3D,\n Vector3,\n} from 'three';\n\nexport type OffMeshConnectionsHelperParams = {\n offMeshConnections?: OffMeshConnectionParams[];\n entryCircleMaterial?: Material;\n exitCircleMaterial?: Material;\n lineMaterial?: LineBasicMaterial;\n};\n\nexport class OffMeshConnectionsHelper extends Object3D {\n offMeshConnections: OffMeshConnectionParams[];\n\n entryCircleMaterial: Material;\n\n exitCircleMaterial: Material;\n\n lineMaterial: LineBasicMaterial;\n\n constructor({\n offMeshConnections,\n entryCircleMaterial,\n exitCircleMaterial,\n lineMaterial,\n }: OffMeshConnectionsHelperParams) {\n super();\n\n this.offMeshConnections = offMeshConnections ?? [];\n\n this.entryCircleMaterial =\n entryCircleMaterial ?? new MeshBasicMaterial({ color: 'green' });\n\n this.exitCircleMaterial =\n exitCircleMaterial ?? new MeshBasicMaterial({ color: 'blue' });\n\n this.lineMaterial = lineMaterial ?? new LineBasicMaterial({ color: 'red' });\n\n this.update();\n }\n\n /**\n * Update the three debug view of the off mesh connections.\n */\n update() {\n this.clear();\n\n for (const offMeshConnection of this.offMeshConnections) {\n // start and end circles\n const circleGeometry = new CircleGeometry(offMeshConnection.radius, 16);\n\n const startMesh = new Mesh(circleGeometry, this.entryCircleMaterial);\n startMesh.position.copy(offMeshConnection.startPosition as Vector3);\n startMesh.position.y += 0.001;\n startMesh.rotation.x = -Math.PI / 2;\n this.add(startMesh);\n\n const endMesh = new Mesh(\n circleGeometry,\n offMeshConnection.bidirectional\n ? this.entryCircleMaterial\n : this.exitCircleMaterial\n );\n endMesh.position.copy(offMeshConnection.endPosition as Vector3);\n endMesh.position.y += 0.001;\n endMesh.rotation.x = -Math.PI / 2;\n this.add(endMesh);\n\n // line between points\n const start = new Vector3().copy(\n offMeshConnection.startPosition as Vector3\n );\n const end = new Vector3().copy(offMeshConnection.endPosition as Vector3);\n\n const middle = new Vector3().addVectors(start, end).multiplyScalar(0.5);\n middle.y *= 1.2;\n\n const curve = new CatmullRomCurve3([start, middle, end]);\n const curvePoints = curve.getPoints(50);\n\n const lineGeometry = new BufferGeometry().setFromPoints(curvePoints);\n const line = new Line(lineGeometry, this.lineMaterial);\n\n this.add(line);\n }\n }\n}\n","import { Obstacle, TileCache } from '@recast-navigation/core';\nimport {\n BoxGeometry,\n CylinderGeometry,\n Material,\n Mesh,\n MeshBasicMaterial,\n Object3D,\n Vector3,\n} from 'three';\n\nexport type TileCacheHelperParams = {\n tileCache: TileCache;\n obstacleMaterial?: Material;\n};\n\nexport class TileCacheHelper extends Object3D {\n tileCache: TileCache;\n\n obstacleMeshes: Map<Obstacle, Mesh> = new Map();\n\n obstacleMaterial: Material;\n\n constructor({ tileCache, obstacleMaterial }: TileCacheHelperParams) {\n super();\n\n this.tileCache = tileCache;\n\n this.obstacleMaterial = obstacleMaterial\n ? obstacleMaterial\n : new MeshBasicMaterial({\n color: 'red',\n wireframe: true,\n wireframeLinewidth: 2,\n });\n\n this.update();\n }\n\n /**\n * Update the obstacle meshes.\n *\n * This should be called after adding or removing obstacles.\n */\n update() {\n const unseen = new Set(this.obstacleMeshes.keys());\n\n for (const [, obstacle] of this.tileCache.obstacles) {\n const obstacleMesh = this.obstacleMeshes.get(obstacle);\n\n unseen.delete(obstacle);\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.add(mesh);\n this.obstacleMeshes.set(obstacle, mesh);\n }\n }\n\n for (const obstacle of unseen) {\n const obstacleMesh = this.obstacleMeshes.get(obstacle);\n\n if (obstacleMesh) {\n this.remove(obstacleMesh);\n this.obstacleMeshes.delete(obstacle);\n }\n }\n }\n}\n","import{vec3 as e,recastConfigDefaults as t,RecastBuildContext as i,NavMesh as a,Arrays as l,createRcConfig as r,calcGridSize as s,allocHeightfield as o,createHeightfield as n,markWalkableTriangles as d,rasterizeTriangles as h,filterLowHangingWalkableObstacles as c,filterLedgeSpans as m,filterWalkableLowHeightSpans as g,allocCompactHeightfield as u,buildCompactHeightfield as b,freeHeightfield as f,erodeWalkableArea as S,buildDistanceField as w,buildRegions as M,allocContourSet as y,buildContours as R,Raw as C,allocPolyMesh as x,buildPolyMesh as p,allocPolyMeshDetail as A,buildPolyMeshDetail as k,freeCompactHeightfield as _,freeContourSet as z,NavMeshCreateParams as T,createNavMeshData as v,TileCacheMeshProcess as E,TileCache as H,DetourTileCacheParams as F,NavMeshParams as L,RecastChunkyTriMesh as D,freeHeightfieldLayerSet as O,cloneRcConfig as P,allocHeightfieldLayerSet as I,buildHeightfieldLayers as $,getHeightfieldLayerHeights as G,getHeightfieldLayerAreas as N,getHeightfieldLayerCons as W,buildTileCacheLayer as B,dtStatusToReadableString as V}from\"@recast-navigation/core\";const K=(t,i)=>{const a={x:1/0,y:1/0,z:1/0},l={x:-1/0,y:-1/0,z:-1/0};for(let e=0;e<i.length;e++){const r=i[e],s=t[3*r],o=t[3*r+1],n=t[3*r+2];a.x=Math.min(a.x,s),a.y=Math.min(a.y,o),a.z=Math.min(a.z,n),l.x=Math.max(l.x,s),l.y=Math.max(l.y,o),l.z=Math.max(l.z,n)}return{bbMin:e.toArray(a),bbMax:e.toArray(l)}},X=e=>{let t=0,i=0;return t=Number(e>65535)<<4,e>>=t,i=Number(e>255)<<3,e>>=i,t|=i,i=Number(e>15)<<2,e>>=i,t|=i,i=Number(e>3)<<1,t|=i,t|=(e>>=i)>>1,t},Y=e=>(e--,e|=e>>1,e|=e>>2,e|=e>>4,e|=e>>8,e|=e>>16,++e),U={...t},Z=(e,t,E={},H=!1)=>{const F=new i,L={type:\"solo\",buildContext:F},D=new a,O=e=>(H||(L.heightfield&&(f(L.heightfield),L.heightfield=void 0),L.compactHeightfield&&(_(L.compactHeightfield),L.compactHeightfield=void 0),L.contourSet&&(z(L.contourSet),L.contourSet=void 0)),D.destroy(),{navMesh:void 0,success:!1,intermediates:L,error:e}),P=e,I=t.length,$=new l.VertsArray;$.copy(P,P.length);const G=t,N=t.length/3,W=new l.TrisArray;W.copy(G,G.length);const{bbMin:B,bbMax:V}=K(e,t),X=r({...U,...E});X.minRegionArea=X.minRegionArea*X.minRegionArea,X.mergeRegionArea=X.mergeRegionArea*X.mergeRegionArea,X.detailSampleDist=X.detailSampleDist<.9?0:X.cs*X.detailSampleDist,X.detailSampleMaxError=X.ch*X.detailSampleMaxError;const Y=s(B,V,X.cs);X.width=Y.width,X.height=Y.height;const Z=o();if(L.heightfield=Z,!n(F,Z,X.width,X.height,B,V,X.cs,X.ch))return O(\"Could not create heightfield\");const j=new l.TriAreasArray;if(j.resize(N),d(F,X.walkableSlopeAngle,$,I,W,N,j),!h(F,$,I,W,j,N,Z,X.walkableClimb))return O(\"Could not rasterize triangles\");j.free(),c(F,X.walkableClimb,Z),m(F,X.walkableHeight,X.walkableClimb,Z),g(F,X.walkableHeight,Z);const q=u();if(L.compactHeightfield=q,!b(F,X.walkableHeight,X.walkableClimb,Z,q))return O(\"Failed to build compact data\");if(H||(f(Z),L.heightfield=void 0),!S(F,X.walkableRadius,q))return O(\"Failed to erode walkable area\");if(!w(F,q))return O(\"Failed to build distance field\");if(!M(F,q,X.borderSize,X.minRegionArea,X.mergeRegionArea))return O(\"Failed to build regions\");const J=y();if(L.contourSet=J,!R(F,q,X.maxSimplificationError,X.maxEdgeLen,J,C.Module.RC_CONTOUR_TESS_WALL_EDGES))return O(\"Failed to create contours\");const Q=x();if(!p(F,J,X.maxVertsPerPoly,Q))return O(\"Failed to triangulate contours\");const ee=A();if(!k(F,Q,q,X.detailSampleDist,X.detailSampleMaxError,ee))return O(\"Failed to build detail mesh\");H||(_(q),L.compactHeightfield=void 0,z(J),L.contourSet=void 0);for(let e=0;e<Q.npolys();e++)Q.areas(e)==C.Recast.WALKABLE_AREA&&Q.setAreas(e,0),0==Q.areas(e)&&Q.setFlags(e,1);const te=new T;te.setPolyMeshCreateParams(Q),te.setPolyMeshDetailCreateParams(ee),te.setWalkableHeight(X.walkableHeight),te.setWalkableRadius(X.walkableRadius),te.setWalkableClimb(X.walkableClimb),te.setCellSize(X.cs),te.setCellHeight(X.ch),te.setBuildBvTree(!0),E.offMeshConnections&&te.setOffMeshConnections(E.offMeshConnections);const ie=v(te);if(!ie.success)return O(\"Failed to create Detour navmesh data\");const{navMeshData:ae}=ie;return D.initSolo(ae)?{success:!0,navMesh:D,intermediates:L}:O(\"Failed to create Detour navmesh\")},j={...t,tileSize:32,expectedLayersPerTile:4,maxObstacles:128},q=()=>new E(((e,t,i)=>{for(let a=0;a<e.polyCount();++a)t.set(a,0),i.set(a,1)})),J=(t,w,M={},y=!1)=>{const R=new i,x={type:\"tilecache\",buildContext:R,chunkyTriMesh:void 0,tileIntermediates:[]},p=new H,A=new a,k=()=>{if(!y)for(let e=0;e<x.tileIntermediates.length;e++){const t=x.tileIntermediates[e];t.heightfield&&(f(t.heightfield),t.heightfield=void 0),t.compactHeightfield&&(_(t.compactHeightfield),t.compactHeightfield=void 0),t.heightfieldLayerSet&&(O(t.heightfieldLayerSet),t.heightfieldLayerSet=void 0)}},z=e=>(k(),p.destroy(),A.destroy(),{success:!1,navMesh:void 0,tileCache:void 0,intermediates:x,error:e}),T=t,v=w.length,E=new l.VertsArray;E.copy(T,T.length);const V=w,U=w.length/3,Z=new l.TrisArray;Z.copy(V,V.length);const{bbMin:J,bbMax:Q}=K(t,w),{expectedLayersPerTile:ee,maxObstacles:te,...ie}={...j,...M},ae=r(ie),le=s(J,Q,ae.cs);ae.width=le.width,ae.height=le.height,ae.minRegionArea=ae.minRegionArea*ae.minRegionArea,ae.mergeRegionArea=ae.mergeRegionArea*ae.mergeRegionArea,ae.detailSampleDist=ae.detailSampleDist<.9?0:ae.cs*ae.detailSampleDist,ae.detailSampleMaxError=ae.ch*ae.detailSampleMaxError;const re=Math.floor(ae.tileSize),se=Math.floor((ae.width+re-1)/re),oe=Math.floor((ae.height+re-1)/re);ae.borderSize=ae.walkableRadius+3,ae.width=ae.tileSize+2*ae.borderSize,ae.height=ae.tileSize+2*ae.borderSize;const ne=F.create({orig:J,cs:ae.cs,ch:ae.ch,width:ae.tileSize,height:ae.tileSize,walkableHeight:ae.walkableHeight,walkableRadius:ae.walkableRadius,walkableClimb:ae.walkableClimb,maxSimplificationError:ae.maxSimplificationError,maxTiles:se*oe*ee,maxObstacles:te}),de=new C.RecastLinearAllocator(32e3),he=new C.RecastFastLZCompressor,ce=M.tileCacheMeshProcess??q();if(!p.init(ne,de,he,ce))return z(\"Failed to initialize tile cache\");const me=e.fromArray(J);let ge=Math.min(Math.floor(X(Y(se*oe*ee))),14);ge>14&&(ge=14);const ue=1<<ge,be=1<<22-ge,fe=L.create({orig:me,tileWidth:ae.tileSize*ae.cs,tileHeight:ae.tileSize*ae.cs,maxTiles:ue,maxPolys:be});if(!A.initTiled(fe))return z(\"Failed to initialize tiled navmesh\");const Se=new D;if(x.chunkyTriMesh=Se,!Se.init(E,Z,U,256))return z(\"Failed to build chunky triangle mesh\");const we=(e,t)=>{const i={tileX:e,tileY:t},a=ae.tileSize*ae.cs,r=P(ae),s=[J[0]+e*a,J[1],J[2]+t*a],w=[J[0]+(e+1)*a,Q[1],J[2]+(t+1)*a];s[0]-=r.borderSize*r.cs,s[2]-=r.borderSize*r.cs,w[0]+=r.borderSize*r.cs,w[2]+=r.borderSize*r.cs,r.set_bmin(0,s[0]),r.set_bmin(1,s[1]),r.set_bmin(2,s[2]),r.set_bmax(0,w[0]),r.set_bmax(1,w[1]),r.set_bmax(2,w[2]);const M=o();if(i.heightfield=M,!n(R,M,r.width,r.height,s,w,r.cs,r.ch))return{n:0};const p=[s[0],s[2]],A=[w[0],w[2]],k=new l.ChunkIdsArray;k.resize(512);const z=Se.getChunksOverlappingRect(p,A,k,512);if(0===z)return{n:0};for(let e=0;e<z;++e){const t=k.get_data(e),i=Se.nodes(t).n,a=Se.getNodeTris(t),s=new l.TriAreasArray;s.resize(i),d(R,r.walkableSlopeAngle,E,v,a,i,s);const o=h(R,E,v,a,s,i,M,r.walkableClimb);if(s.free(),!o)return{n:0}}c(R,ae.walkableClimb,M),m(R,ae.walkableHeight,ae.walkableClimb,M),g(R,ae.walkableHeight,M);const T=u();if(!b(R,ae.walkableHeight,ae.walkableClimb,M,T))return{n:0};if(y||(f(i.heightfield),i.heightfield=void 0),!S(R,ae.walkableRadius,T))return{n:0};const H=I();if(!$(R,T,ae.borderSize,ae.walkableHeight,H))return{n:0};y||(_(T),i.compactHeightfield=void 0);const F=[];for(let i=0;i<H.nlayers();i++){const a=new l.TileCacheData,r=H.layers(i),s=new C.dtTileCacheLayerHeader;s.magic=C.Detour.TILECACHE_MAGIC,s.version=C.Detour.TILECACHE_VERSION,s.tx=e,s.ty=t,s.tlayer=i;const o=r.bmin(),n=r.bmax();s.set_bmin(0,o.x),s.set_bmin(1,o.y),s.set_bmin(2,o.z),s.set_bmax(0,n.x),s.set_bmax(1,n.y),s.set_bmax(2,n.z),s.width=r.width(),s.height=r.height(),s.minx=r.minx(),s.maxx=r.maxx(),s.miny=r.miny(),s.maxy=r.maxy(),s.hmin=r.hmin(),s.hmax=r.hmax();const d=G(r),h=N(r),c=W(r),m=B(he,s,d,h,c,a);if(C.Detour.statusFailed(m))return{n:0};F.push(a)}return y||(O(H),i.heightfieldLayerSet=void 0),x.tileIntermediates.push(i),{n:F.length,tiles:F}};for(let e=0;e<oe;++e)for(let t=0;t<se;++t){const{n:i,tiles:a}=we(t,e);if(i>0&&a)for(let l=0;l<i;l++){const i=a[l],r=p.addTile(i);C.Detour.statusFailed(r.status)&&R.log(C.Module.RC_LOG_WARNING,`Failed to add tile to tile cache - tx: ${t}, ty: ${e}`)}}for(let e=0;e<oe;e++)for(let t=0;t<se;t++){const i=p.buildNavMeshTilesAt(t,e,A);if(C.Detour.statusFailed(i))return z(`Failed to build nav mesh tiles at ${t}, ${e}`)}return k(),{success:!0,tileCache:p,navMesh:A,intermediates:x}},Q={...t},ee=(t,E,H={},F=!1)=>{const O=new i,I={type:\"tiled\",buildContext:O,chunkyTriMesh:void 0,tileIntermediates:[]},$=new a,G=()=>{if(!F){for(let e=0;e<I.tileIntermediates.length;e++){const t=I.tileIntermediates[e];t.compactHeightfield&&_(t.compactHeightfield),t.heightfield&&f(t.heightfield),t.contourSet&&z(t.contourSet)}I.chunkyTriMesh&&(I.chunkyTriMesh=void 0)}},N=e=>(G(),$.destroy(),{success:!1,navMesh:void 0,intermediates:I,error:e}),W=r({...Q,...H}),{bbMin:B,bbMax:U}=K(t,E),Z=s(B,U,W.cs);W.width=Z.width,W.height=Z.height,W.minRegionArea=W.minRegionArea*W.minRegionArea,W.mergeRegionArea=W.mergeRegionArea*W.mergeRegionArea,W.tileSize=Math.floor(W.tileSize),W.borderSize=W.walkableRadius+3,W.width=W.tileSize+2*W.borderSize,W.height=W.tileSize+2*W.borderSize,W.detailSampleDist=W.detailSampleDist<.9?0:W.cs*W.detailSampleDist,W.detailSampleMaxError=W.ch*W.detailSampleMaxError;const j=Math.floor(W.tileSize),q=Math.floor((Z.width+j-1)/j),J=Math.floor((Z.height+j-1)/j),ee=W.tileSize*W.cs,te=t,ie=E.length,ae=new l.VertsArray;ae.copy(te,te.length);const le=E,re=E.length/3,se=new l.TrisArray;se.copy(le,le.length);const oe=e.fromArray(B);let ne=Math.min(Math.floor(X(Y(q*J))),14);ne>14&&(ne=14);const de=1<<ne,he=1<<22-ne,ce=L.create({orig:oe,tileWidth:W.tileSize*W.cs,tileHeight:W.tileSize*W.cs,maxTiles:de,maxPolys:he});if(!$.initTiled(ce))return N(\"Could not init nav mesh for tiled use\");const me=new D;if(I.chunkyTriMesh=me,!me.init(ae,se,re,256))return N(\"Failed to build chunky triangle mesh\");const ge=(e,t,i,a)=>{const r=e=>(O.log(C.Module.RC_LOG_ERROR,e),{success:!1,error:e}),s={tileX:e,tileY:t};I.tileIntermediates.push(s);const E=P(W),L=[...i],D=[...a];L[0]-=E.borderSize*E.cs,L[2]-=E.borderSize*E.cs,D[0]+=E.borderSize*E.cs,D[2]+=E.borderSize*E.cs,E.set_bmin(0,L[0]),E.set_bmin(1,L[1]),E.set_bmin(2,L[2]),E.set_bmax(0,D[0]),E.set_bmax(1,D[1]),E.set_bmax(2,D[2]),O.resetTimers(),O.startTimer(C.Module.RC_TIMER_TOTAL),O.log(C.Module.RC_LOG_PROGRESS,`Building tile ${I.tileIntermediates.length} at x: ${e}, y: ${t}`),O.log(C.Module.RC_LOG_PROGRESS,` - ${W.width} x ${W.height} cells`),O.log(C.Module.RC_LOG_PROGRESS,` - ${ie/1e3}fK verts, ${re/1e3}K tris`);const $=o();if(s.heightfield=$,!n(O,$,E.width,E.height,L,D,E.cs,E.ch))return r(\"Could not create heightfield\");(new l.TriAreasArray).resize(me.maxTrisPerChunk());const G=[L[0],L[2]],N=[D[0],D[2]],B=new l.ChunkIdsArray;B.resize(512);const V=me.getChunksOverlappingRect(G,N,B,512);if(0===V)return{success:!0};for(let e=0;e<V;++e){const t=B.get_data(e),i=me.nodes(t).n,a=me.getNodeTris(t),s=new l.TriAreasArray;s.resize(i),d(O,E.walkableSlopeAngle,ae,ie,a,i,s);const o=h(O,ae,ie,a,s,i,$,E.walkableClimb);if(s.free(),!o)return r(\"Could not rasterize triangles\")}c(O,E.walkableClimb,$),m(O,E.walkableHeight,E.walkableClimb,$),g(O,E.walkableHeight,$);const K=u();if(s.compactHeightfield=K,!b(O,E.walkableHeight,E.walkableClimb,$,K))return r(\"Could not build compact heightfield\");if(F||(f(s.heightfield),s.heightfield=void 0),!S(O,E.walkableRadius,K))return r(\"Could not erode walkable area\");if(!w(O,K))return r(\"Failed to build distance field\");if(!M(O,K,E.borderSize,E.minRegionArea,E.mergeRegionArea))return r(\"Failed to build regions\");const X=y();if(s.contourSet=X,!R(O,K,E.maxSimplificationError,E.maxEdgeLen,X,C.Module.RC_CONTOUR_TESS_WALL_EDGES))return r(\"Failed to create contours\");const Y=x();if(!p(O,X,E.maxVertsPerPoly,Y))return r(\"Failed to triangulate contours\");const U=A();if(!k(O,Y,K,E.detailSampleDist,E.detailSampleMaxError,U))return r(\"Failed to build detail mesh\");F||(_(K),s.compactHeightfield=void 0,z(X),s.contourSet=void 0);for(let e=0;e<Y.npolys();e++)Y.areas(e)==C.Recast.WALKABLE_AREA&&Y.setAreas(e,0),0==Y.areas(e)&&Y.setFlags(e,1);const Z=new T;Z.setPolyMeshCreateParams(Y),Z.setPolyMeshDetailCreateParams(U),Z.setWalkableHeight(E.walkableHeight),Z.setWalkableRadius(E.walkableRadius),Z.setWalkableClimb(E.walkableClimb),Z.setCellSize(E.cs),Z.setCellHeight(E.ch),Z.setBuildBvTree(!0),H.offMeshConnections&&Z.setOffMeshConnections(H.offMeshConnections),Z.setTileX(e),Z.setTileY(t);const j=v(Z);return j.success?(O.log(C.Module.RC_LOG_PROGRESS,`>> Polymesh: ${Y.nverts()} vertices ${Y.npolys()} polygons`),{success:!0,data:j.navMeshData}):r(\"Failed to create Detour navmesh data\")};O.startTimer(C.Module.RC_TIMER_TEMP);const ue=[0,0,0],be=[0,0,0];for(let e=0;e<J;e++)for(let t=0;t<q;t++){ue[0]=B[0]+t*ee,ue[1]=B[1],ue[2]=B[2]+e*ee,be[0]=B[0]+(t+1)*ee,be[1]=U[1],be[2]=B[2]+(e+1)*ee;const i=ge(t,e,ue,be);if(i.success&&i.data){$.removeTile($.getTileRefAt(t,e,0));const a=$.addTile(i.data,C.Module.DT_TILE_FREE_DATA,0);C.Detour.statusFailed(a.status)&&(O.log(C.Module.RC_LOG_WARNING,`Failed to add tile to nav mesh\\n\\ttx: ${t}, ty: ${e},status: ${V(a.status)} (${a.status})`),i.data.free())}}return O.stopTimer(C.Module.RC_TIMER_TEMP),F||G(),{success:!0,navMesh:$,intermediates:I}};export{q as createDefaultTileCacheMeshProcess,X as dtIlog2,Y as dtNextPow2,Z as generateSoloNavMesh,J as generateTileCache,ee as generateTiledNavMesh,K as getBoundingBox,U as soloNavMeshGeneratorConfigDefaults,j as tileCacheGeneratorConfigDefaults,Q as tiledNavMeshGeneratorConfigDefaults};\n//# sourceMappingURL=index.mjs.map\n","import { BufferAttribute, Mesh, Vector3 } from 'three';\n\nconst tmpVec3 = new Vector3();\n\nexport const getPositionsAndIndices = (\n meshes: Mesh[]\n): [positions: Float32Array, indices: Uint32Array] => {\n const meshesToMerge: Mesh[] = [];\n\n for (const mesh of meshes) {\n const positionAttribute = mesh.geometry.attributes\n .position as BufferAttribute;\n\n if (!positionAttribute || positionAttribute.itemSize !== 3) {\n continue;\n }\n\n let meshToMerge = mesh;\n const index: ArrayLike<number> | undefined = mesh.geometry.getIndex()?.array;\n\n if (index === undefined) {\n meshToMerge = meshToMerge.clone();\n meshToMerge.geometry = mesh.geometry.clone();\n\n // this will become indexed when merging with other meshes\n const ascendingIndex: number[] = [];\n for (let i = 0; i < positionAttribute.count; i++) {\n ascendingIndex.push(i);\n }\n\n meshToMerge.geometry.setIndex(ascendingIndex);\n }\n\n meshesToMerge.push(meshToMerge);\n }\n\n const mergedPositions: number[] = [];\n const mergedIndices: number[] = [];\n\n const positionToIndex: { [hash: string]: number } = {};\n let indexCounter = 0;\n\n for (const mesh of meshesToMerge) {\n mesh.updateMatrixWorld();\n\n const positions = mesh.geometry.attributes.position.array;\n const index = mesh.geometry.getIndex()!.array;\n\n for (let i = 0; i < index.length; i++) {\n const pt = index[i] * 3;\n\n const pos = tmpVec3.set(\n positions[pt],\n positions[pt + 1],\n positions[pt + 2]\n );\n mesh.localToWorld(pos);\n\n const key = `${pos.x}_${pos.y}_${pos.z}`;\n let idx = positionToIndex[key];\n\n if (!idx) {\n positionToIndex[key] = idx = indexCounter;\n mergedPositions.push(pos.x, pos.y, pos.z);\n indexCounter++;\n }\n\n mergedIndices.push(idx);\n }\n }\n\n return [Float32Array.from(mergedPositions), Uint32Array.from(mergedIndices)];\n};\n","import {\n SoloNavMeshGeneratorConfig,\n TileCacheGeneratorConfig,\n TiledNavMeshGeneratorConfig,\n generateSoloNavMesh,\n generateTileCache,\n generateTiledNavMesh\n} from '@recast-navigation/generators';\nimport { Mesh } from 'three';\nimport { getPositionsAndIndices } from './get-positions-and-indices';\n\nexport const threeToSoloNavMesh = (\n meshes: Mesh[],\n navMeshGeneratorConfig: Partial<SoloNavMeshGeneratorConfig> = {},\n keepIntermediates = false\n) => {\n const [positions, indices] = getPositionsAndIndices(meshes);\n\n return generateSoloNavMesh(\n positions,\n indices,\n navMeshGeneratorConfig,\n keepIntermediates\n );\n};\n\nexport const threeToTiledNavMesh = (\n meshes: Mesh[],\n navMeshGeneratorConfig: Partial<TiledNavMeshGeneratorConfig> = {},\n keepIntermediates = false\n) => {\n const [positions, indices] = getPositionsAndIndices(meshes);\n\n return generateTiledNavMesh(\n positions,\n indices,\n navMeshGeneratorConfig,\n keepIntermediates\n );\n};\n\nexport const threeToTileCache = (\n meshes: Mesh[],\n navMeshGeneratorConfig: Partial<TileCacheGeneratorConfig> = {},\n keepIntermediates = false\n) => {\n const [positions, indices] = getPositionsAndIndices(meshes);\n\n return generateTileCache(\n positions,\n indices,\n navMeshGeneratorConfig,\n keepIntermediates\n 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+
{"version":3,"file":"index.cjs","sources":["../src/helpers/crowd-helper.ts","../src/helpers/heightfield-helper.ts","../src/helpers/nav-mesh-helper.ts","../src/helpers/off-mesh-connections-helper.ts","../src/helpers/tile-cache-helper.ts","../../recast-navigation-generators/dist/index.mjs","../src/utils/get-positions-and-indices.ts","../src/utils/generators.ts"],"sourcesContent":["import { Crowd, CrowdAgent } from '@recast-navigation/core';\nimport {\n CylinderGeometry,\n Material,\n Mesh,\n MeshBasicMaterial,\n Object3D,\n Vector3,\n} from 'three';\n\nexport type CrowdHelperParams = {\n crowd: Crowd;\n agentMaterial?: Material;\n};\n\nexport class CrowdHelper extends Object3D {\n agentMeshes: Map<number, Mesh> = new Map();\n\n recastCrowd: Crowd;\n\n agentMaterial: Material;\n\n constructor({ crowd, agentMaterial }: CrowdHelperParams) {\n super();\n\n this.recastCrowd = crowd;\n\n this.agentMaterial =\n agentMaterial ?? new MeshBasicMaterial({ color: 'red' });\n\n this.update();\n }\n\n /**\n * Update the three debug view of the crowd agents.\n *\n * This should be called after updating the crowd.\n */\n update() {\n const agents = this.recastCrowd.getAgents();\n\n const unseen = new Set(this.agentMeshes.keys());\n\n for (const agent of agents) {\n unseen.delete(agent.agentIndex);\n\n const position = agent.position();\n const velocity = agent.velocity();\n\n let agentMesh: Mesh | undefined = this.agentMeshes.get(agent.agentIndex);\n\n if (agentMesh === undefined) {\n agentMesh = this.createAgentMesh(agent);\n\n this.add(agentMesh);\n this.agentMeshes.set(agent.agentIndex, agentMesh);\n } else {\n this.updateAgentGeometry(agentMesh, agent);\n }\n\n agentMesh.position.set(\n position.x,\n position.y + agent.height / 2,\n position.z\n );\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.remove(agentMesh);\n this.agentMeshes.delete(agentId);\n }\n }\n }\n\n private createAgentMesh(agent: CrowdAgent): Mesh {\n const mesh = new Mesh();\n\n mesh.material = this.agentMaterial;\n\n this.updateAgentGeometry(mesh, agent);\n\n mesh.userData = {\n radius: agent.radius,\n height: agent.height,\n };\n\n return mesh;\n }\n\n private updateAgentGeometry(agentMesh: Mesh, agentParams: CrowdAgent) {\n if (\n agentMesh.userData.radius !== agentParams.radius ||\n agentMesh.userData.height !== agentParams.height\n ) {\n const geometry = new CylinderGeometry(\n agentParams.radius,\n agentParams.radius,\n agentParams.height\n );\n\n agentMesh.geometry.dispose();\n agentMesh.geometry = geometry;\n\n agentMesh.userData.radius = agentParams.radius;\n agentMesh.userData.height = agentParams.height;\n }\n }\n}\n","import { RecastHeightfield, RecastSpan } from '@recast-navigation/core';\nimport {\n BoxGeometry,\n Color,\n ColorRepresentation,\n DynamicDrawUsage,\n InstancedMesh,\n Material,\n Matrix4,\n MeshBasicMaterial,\n Object3D,\n Vector3Tuple,\n} from 'three';\n\nconst tmpMatrix4 = new Matrix4();\n\nexport type HeightfieldHelperParams = {\n heightfields: RecastHeightfield[];\n\n /**\n * @default false\n */\n highlightWalkable?: boolean;\n\n /**\n * @default 'blue'\n */\n defaultColor?: ColorRepresentation;\n\n /**\n * @default 'green'\n */\n walkableColor?: ColorRepresentation;\n\n /**\n * @default MeshBasicMaterial\n */\n material?: Material;\n};\n\nexport class HeightfieldHelper extends Object3D {\n heightfields: RecastHeightfield[];\n\n highlightWalkable: boolean;\n\n defaultColor: Color;\n\n walkableColor: Color;\n\n material: Material;\n\n constructor({\n heightfields,\n highlightWalkable = false,\n material = new MeshBasicMaterial(),\n defaultColor = 'blue',\n walkableColor = 'green',\n }: HeightfieldHelperParams) {\n super();\n\n this.heightfields = heightfields;\n this.highlightWalkable = highlightWalkable;\n this.material = material;\n this.defaultColor = new Color(defaultColor);\n this.walkableColor = new Color(walkableColor);\n\n this.update();\n }\n\n update(): void {\n this.clear();\n\n for (const hf of this.heightfields) {\n const orig = hf.bmin();\n const cs = hf.cs();\n const ch = hf.ch();\n\n const width = hf.width();\n const height = hf.height();\n\n const boxes: {\n position: Vector3Tuple;\n walkable: boolean;\n }[] = [];\n\n for (let y = 0; y < height; ++y) {\n for (let x = 0; x < width; ++x) {\n const fx = orig.x + x * cs;\n const fz = orig.z + y * cs;\n\n let span: RecastSpan | null = hf.spans(x + y * width);\n\n while (span) {\n const minX = fx;\n const minY = orig.y + span.smin() * ch;\n const minZ = fz;\n\n const maxX = fx + cs;\n const maxY = orig.y + span.smax() * ch;\n const maxZ = fz + cs;\n\n boxes.push({\n position: [\n (maxX + minX) / 2,\n (maxY + minY) / 2,\n (maxZ + minZ) / 2,\n ],\n walkable: this.highlightWalkable && span.area() !== 0,\n });\n\n span = span.next();\n }\n }\n }\n\n const geometry = new BoxGeometry(cs, ch, cs);\n\n const instancedMesh = new InstancedMesh(\n geometry,\n this.material,\n boxes.length\n );\n instancedMesh.instanceMatrix.setUsage(DynamicDrawUsage);\n\n for (let i = 0; i < boxes.length; i++) {\n const { position, walkable } = boxes[i];\n\n instancedMesh.setMatrixAt(i, tmpMatrix4.setPosition(...position));\n instancedMesh.setColorAt(\n i,\n walkable ? this.walkableColor : this.defaultColor\n );\n }\n\n instancedMesh.instanceMatrix.needsUpdate = true;\n\n if (instancedMesh.instanceColor) {\n instancedMesh.instanceColor.needsUpdate = true;\n }\n\n this.add(instancedMesh);\n }\n }\n}\n","import { NavMesh } from '@recast-navigation/core';\nimport {\n BufferAttribute,\n BufferGeometry,\n Material,\n Mesh,\n MeshBasicMaterial,\n Object3D,\n} from 'three';\n\nexport type NavMeshHelperParams = {\n navMesh: NavMesh;\n navMeshMaterial?: Material;\n};\n\nexport class NavMeshHelper extends Object3D {\n navMesh: NavMesh;\n\n navMeshMaterial: Material;\n\n mesh: Mesh;\n\n geometry: BufferGeometry;\n\n constructor({ navMesh, navMeshMaterial }: NavMeshHelperParams) {\n super();\n\n this.navMesh = navMesh;\n\n this.geometry = new BufferGeometry();\n\n this.navMeshMaterial = navMeshMaterial\n ? navMeshMaterial\n : new MeshBasicMaterial({\n color: 'orange',\n transparent: true,\n opacity: 0.7,\n depthWrite: false,\n });\n\n this.update();\n\n this.mesh = new Mesh(this.geometry, this.navMeshMaterial);\n\n this.add(this.mesh);\n }\n\n /**\n * Update the three debug nav mesh.\n *\n * This should be called after updating the nav mesh.\n */\n update() {\n const [positions, indices] = this.navMesh.getDebugNavMesh();\n\n this.geometry.setAttribute(\n 'position',\n new BufferAttribute(Float32Array.from(positions), 3)\n );\n this.geometry.setIndex(new BufferAttribute(Uint32Array.from(indices), 1));\n this.geometry.computeVertexNormals();\n }\n}\n","import { OffMeshConnectionParams } from '@recast-navigation/core';\nimport {\n BufferGeometry,\n CatmullRomCurve3,\n CircleGeometry,\n Line,\n LineBasicMaterial,\n Material,\n Mesh,\n MeshBasicMaterial,\n Object3D,\n Vector3,\n} from 'three';\n\nexport type OffMeshConnectionsHelperParams = {\n offMeshConnections?: OffMeshConnectionParams[];\n entryCircleMaterial?: Material;\n exitCircleMaterial?: Material;\n lineMaterial?: LineBasicMaterial;\n};\n\nexport class OffMeshConnectionsHelper extends Object3D {\n offMeshConnections: OffMeshConnectionParams[];\n\n entryCircleMaterial: Material;\n\n exitCircleMaterial: Material;\n\n lineMaterial: LineBasicMaterial;\n\n constructor({\n offMeshConnections,\n entryCircleMaterial,\n exitCircleMaterial,\n lineMaterial,\n }: OffMeshConnectionsHelperParams) {\n super();\n\n this.offMeshConnections = offMeshConnections ?? [];\n\n this.entryCircleMaterial =\n entryCircleMaterial ?? new MeshBasicMaterial({ color: 'green' });\n\n this.exitCircleMaterial =\n exitCircleMaterial ?? new MeshBasicMaterial({ color: 'blue' });\n\n this.lineMaterial = lineMaterial ?? new LineBasicMaterial({ color: 'red' });\n\n this.update();\n }\n\n /**\n * Update the three debug view of the off mesh connections.\n */\n update() {\n this.clear();\n\n for (const offMeshConnection of this.offMeshConnections) {\n // start and end circles\n const circleGeometry = new CircleGeometry(offMeshConnection.radius, 16);\n\n const startMesh = new Mesh(circleGeometry, this.entryCircleMaterial);\n startMesh.position.copy(offMeshConnection.startPosition as Vector3);\n startMesh.position.y += 0.001;\n startMesh.rotation.x = -Math.PI / 2;\n this.add(startMesh);\n\n const endMesh = new Mesh(\n circleGeometry,\n offMeshConnection.bidirectional\n ? this.entryCircleMaterial\n : this.exitCircleMaterial\n );\n endMesh.position.copy(offMeshConnection.endPosition as Vector3);\n endMesh.position.y += 0.001;\n endMesh.rotation.x = -Math.PI / 2;\n this.add(endMesh);\n\n // line between points\n const start = new Vector3().copy(\n offMeshConnection.startPosition as Vector3\n );\n const end = new Vector3().copy(offMeshConnection.endPosition as Vector3);\n\n const middle = new Vector3().addVectors(start, end).multiplyScalar(0.5);\n middle.y *= 1.2;\n\n const curve = new CatmullRomCurve3([start, middle, end]);\n const curvePoints = curve.getPoints(50);\n\n const lineGeometry = new BufferGeometry().setFromPoints(curvePoints);\n const line = new Line(lineGeometry, this.lineMaterial);\n\n this.add(line);\n }\n }\n}\n","import { Obstacle, TileCache } from '@recast-navigation/core';\nimport {\n BoxGeometry,\n CylinderGeometry,\n Material,\n Mesh,\n MeshBasicMaterial,\n Object3D,\n Vector3,\n} from 'three';\n\nexport type TileCacheHelperParams = {\n tileCache: TileCache;\n obstacleMaterial?: Material;\n};\n\nexport class TileCacheHelper extends Object3D {\n tileCache: TileCache;\n\n obstacleMeshes: Map<Obstacle, Mesh> = new Map();\n\n obstacleMaterial: Material;\n\n constructor({ tileCache, obstacleMaterial }: TileCacheHelperParams) {\n super();\n\n this.tileCache = tileCache;\n\n this.obstacleMaterial = obstacleMaterial\n ? obstacleMaterial\n : new MeshBasicMaterial({\n color: 'red',\n wireframe: true,\n wireframeLinewidth: 2,\n });\n\n this.update();\n }\n\n /**\n * Update the obstacle meshes.\n *\n * This should be called after adding or removing obstacles.\n */\n update() {\n const unseen = new Set(this.obstacleMeshes.keys());\n\n for (const [, obstacle] of this.tileCache.obstacles) {\n const obstacleMesh = this.obstacleMeshes.get(obstacle);\n\n unseen.delete(obstacle);\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.add(mesh);\n this.obstacleMeshes.set(obstacle, mesh);\n }\n }\n\n for (const obstacle of unseen) {\n const obstacleMesh = this.obstacleMeshes.get(obstacle);\n\n if (obstacleMesh) {\n this.remove(obstacleMesh);\n this.obstacleMeshes.delete(obstacle);\n }\n }\n }\n}\n","import{vec3 as e,recastConfigDefaults as t,RecastBuildContext as i,NavMesh as a,Arrays as l,createRcConfig as r,calcGridSize as s,allocHeightfield as o,createHeightfield as n,markWalkableTriangles as d,rasterizeTriangles as h,filterLowHangingWalkableObstacles as c,filterLedgeSpans as m,filterWalkableLowHeightSpans as g,allocCompactHeightfield as u,buildCompactHeightfield as b,freeHeightfield as f,erodeWalkableArea as S,buildDistanceField as w,buildRegions as M,allocContourSet as y,buildContours as R,Raw as C,allocPolyMesh as x,buildPolyMesh as p,allocPolyMeshDetail as A,buildPolyMeshDetail as k,freeCompactHeightfield as _,freeContourSet as z,NavMeshCreateParams as T,createNavMeshData as v,TileCacheMeshProcess as E,TileCache as H,DetourTileCacheParams as F,NavMeshParams as L,RecastChunkyTriMesh as D,freeHeightfieldLayerSet as O,cloneRcConfig as P,allocHeightfieldLayerSet as I,buildHeightfieldLayers as $,getHeightfieldLayerHeights as G,getHeightfieldLayerAreas as N,getHeightfieldLayerCons as W,buildTileCacheLayer as B,statusToReadableString as V}from\"@recast-navigation/core\";const K=(t,i)=>{const a={x:1/0,y:1/0,z:1/0},l={x:-1/0,y:-1/0,z:-1/0};for(let e=0;e<i.length;e++){const r=i[e],s=t[3*r],o=t[3*r+1],n=t[3*r+2];a.x=Math.min(a.x,s),a.y=Math.min(a.y,o),a.z=Math.min(a.z,n),l.x=Math.max(l.x,s),l.y=Math.max(l.y,o),l.z=Math.max(l.z,n)}return{bbMin:e.toArray(a),bbMax:e.toArray(l)}},X=e=>{let t=0,i=0;return t=Number(e>65535)<<4,e>>=t,i=Number(e>255)<<3,e>>=i,t|=i,i=Number(e>15)<<2,e>>=i,t|=i,i=Number(e>3)<<1,t|=i,t|=(e>>=i)>>1,t},Y=e=>(e--,e|=e>>1,e|=e>>2,e|=e>>4,e|=e>>8,e|=e>>16,++e),U={...t},Z=(e,t,E={},H=!1)=>{const F=new i,L={type:\"solo\",buildContext:F},D=new a,O=e=>(H||(L.heightfield&&(f(L.heightfield),L.heightfield=void 0),L.compactHeightfield&&(_(L.compactHeightfield),L.compactHeightfield=void 0),L.contourSet&&(z(L.contourSet),L.contourSet=void 0)),D.destroy(),{navMesh:void 0,success:!1,intermediates:L,error:e}),P=e,I=t.length,$=new l.VertsArray;$.copy(P,P.length);const G=t,N=t.length/3,W=new l.TrisArray;W.copy(G,G.length);const{bbMin:B,bbMax:V}=K(e,t),X=r({...U,...E});X.minRegionArea=X.minRegionArea*X.minRegionArea,X.mergeRegionArea=X.mergeRegionArea*X.mergeRegionArea,X.detailSampleDist=X.detailSampleDist<.9?0:X.cs*X.detailSampleDist,X.detailSampleMaxError=X.ch*X.detailSampleMaxError;const Y=s(B,V,X.cs);X.width=Y.width,X.height=Y.height;const Z=o();if(L.heightfield=Z,!n(F,Z,X.width,X.height,B,V,X.cs,X.ch))return O(\"Could not create heightfield\");const j=new l.TriAreasArray;if(j.resize(N),d(F,X.walkableSlopeAngle,$,I,W,N,j),!h(F,$,I,W,j,N,Z,X.walkableClimb))return O(\"Could not rasterize triangles\");j.free(),c(F,X.walkableClimb,Z),m(F,X.walkableHeight,X.walkableClimb,Z),g(F,X.walkableHeight,Z);const q=u();if(L.compactHeightfield=q,!b(F,X.walkableHeight,X.walkableClimb,Z,q))return O(\"Failed to build compact data\");if(H||(f(Z),L.heightfield=void 0),!S(F,X.walkableRadius,q))return O(\"Failed to erode walkable area\");if(!w(F,q))return O(\"Failed to build distance field\");if(!M(F,q,X.borderSize,X.minRegionArea,X.mergeRegionArea))return O(\"Failed to build regions\");const J=y();if(L.contourSet=J,!R(F,q,X.maxSimplificationError,X.maxEdgeLen,J,C.Module.RC_CONTOUR_TESS_WALL_EDGES))return O(\"Failed to create contours\");const Q=x();if(!p(F,J,X.maxVertsPerPoly,Q))return O(\"Failed to triangulate contours\");const ee=A();if(!k(F,Q,q,X.detailSampleDist,X.detailSampleMaxError,ee))return O(\"Failed to build detail mesh\");H||(_(q),L.compactHeightfield=void 0,z(J),L.contourSet=void 0);for(let e=0;e<Q.npolys();e++)Q.areas(e)==C.Recast.WALKABLE_AREA&&Q.setAreas(e,0),0==Q.areas(e)&&Q.setFlags(e,1);const te=new T;te.setPolyMeshCreateParams(Q),te.setPolyMeshDetailCreateParams(ee),te.setWalkableHeight(X.walkableHeight),te.setWalkableRadius(X.walkableRadius),te.setWalkableClimb(X.walkableClimb),te.setCellSize(X.cs),te.setCellHeight(X.ch),te.setBuildBvTree(!0),E.offMeshConnections&&te.setOffMeshConnections(E.offMeshConnections);const ie=v(te);if(!ie.success)return O(\"Failed to create Detour navmesh data\");const{navMeshData:ae}=ie;return D.initSolo(ae)?{success:!0,navMesh:D,intermediates:L}:O(\"Failed to create Detour navmesh\")},j={...t,tileSize:32,expectedLayersPerTile:4,maxObstacles:128},q=()=>new E(((e,t,i)=>{for(let a=0;a<e.polyCount();++a)t.set(a,0),i.set(a,1)})),J=(t,w,M={},y=!1)=>{const R=new i,x={type:\"tilecache\",buildContext:R,chunkyTriMesh:void 0,tileIntermediates:[]},p=new H,A=new a,k=()=>{if(!y)for(let e=0;e<x.tileIntermediates.length;e++){const t=x.tileIntermediates[e];t.heightfield&&(f(t.heightfield),t.heightfield=void 0),t.compactHeightfield&&(_(t.compactHeightfield),t.compactHeightfield=void 0),t.heightfieldLayerSet&&(O(t.heightfieldLayerSet),t.heightfieldLayerSet=void 0)}},z=e=>(k(),p.destroy(),A.destroy(),{success:!1,navMesh:void 0,tileCache:void 0,intermediates:x,error:e}),T=t,v=w.length,E=new l.VertsArray;E.copy(T,T.length);const V=w,U=w.length/3,Z=new l.TrisArray;Z.copy(V,V.length);const{bbMin:J,bbMax:Q}=K(t,w),{expectedLayersPerTile:ee,maxObstacles:te,...ie}={...j,...M},ae=r(ie),le=s(J,Q,ae.cs);ae.width=le.width,ae.height=le.height,ae.minRegionArea=ae.minRegionArea*ae.minRegionArea,ae.mergeRegionArea=ae.mergeRegionArea*ae.mergeRegionArea,ae.detailSampleDist=ae.detailSampleDist<.9?0:ae.cs*ae.detailSampleDist,ae.detailSampleMaxError=ae.ch*ae.detailSampleMaxError;const re=Math.floor(ae.tileSize),se=Math.floor((ae.width+re-1)/re),oe=Math.floor((ae.height+re-1)/re);ae.borderSize=ae.walkableRadius+3,ae.width=ae.tileSize+2*ae.borderSize,ae.height=ae.tileSize+2*ae.borderSize;const ne=F.create({orig:J,cs:ae.cs,ch:ae.ch,width:ae.tileSize,height:ae.tileSize,walkableHeight:ae.walkableHeight,walkableRadius:ae.walkableRadius,walkableClimb:ae.walkableClimb,maxSimplificationError:ae.maxSimplificationError,maxTiles:se*oe*ee,maxObstacles:te}),de=new C.RecastLinearAllocator(32e3),he=new C.RecastFastLZCompressor,ce=M.tileCacheMeshProcess??q();if(!p.init(ne,de,he,ce))return z(\"Failed to initialize tile cache\");const me=e.fromArray(J);let ge=Math.min(Math.floor(X(Y(se*oe*ee))),14);ge>14&&(ge=14);const ue=1<<ge,be=1<<22-ge,fe=L.create({orig:me,tileWidth:ae.tileSize*ae.cs,tileHeight:ae.tileSize*ae.cs,maxTiles:ue,maxPolys:be});if(!A.initTiled(fe))return z(\"Failed to initialize tiled navmesh\");const Se=new D;if(x.chunkyTriMesh=Se,!Se.init(E,Z,U,256))return z(\"Failed to build chunky triangle mesh\");const we=(e,t)=>{const i={tileX:e,tileY:t},a=ae.tileSize*ae.cs,r=P(ae),s=[J[0]+e*a,J[1],J[2]+t*a],w=[J[0]+(e+1)*a,Q[1],J[2]+(t+1)*a];s[0]-=r.borderSize*r.cs,s[2]-=r.borderSize*r.cs,w[0]+=r.borderSize*r.cs,w[2]+=r.borderSize*r.cs,r.set_bmin(0,s[0]),r.set_bmin(1,s[1]),r.set_bmin(2,s[2]),r.set_bmax(0,w[0]),r.set_bmax(1,w[1]),r.set_bmax(2,w[2]);const M=o();if(i.heightfield=M,!n(R,M,r.width,r.height,s,w,r.cs,r.ch))return{n:0};const p=[s[0],s[2]],A=[w[0],w[2]],k=new l.ChunkIdsArray;k.resize(512);const z=Se.getChunksOverlappingRect(p,A,k,512);if(0===z)return{n:0};for(let e=0;e<z;++e){const t=k.get_data(e),i=Se.nodes(t).n,a=Se.getNodeTris(t),s=new l.TriAreasArray;s.resize(i),d(R,r.walkableSlopeAngle,E,v,a,i,s);const o=h(R,E,v,a,s,i,M,r.walkableClimb);if(s.free(),!o)return{n:0}}c(R,ae.walkableClimb,M),m(R,ae.walkableHeight,ae.walkableClimb,M),g(R,ae.walkableHeight,M);const T=u();if(!b(R,ae.walkableHeight,ae.walkableClimb,M,T))return{n:0};if(y||(f(i.heightfield),i.heightfield=void 0),!S(R,ae.walkableRadius,T))return{n:0};const H=I();if(!$(R,T,ae.borderSize,ae.walkableHeight,H))return{n:0};y||(_(T),i.compactHeightfield=void 0);const F=[];for(let i=0;i<H.nlayers();i++){const a=new l.TileCacheData,r=H.layers(i),s=new C.dtTileCacheLayerHeader;s.magic=C.Detour.TILECACHE_MAGIC,s.version=C.Detour.TILECACHE_VERSION,s.tx=e,s.ty=t,s.tlayer=i;const o=r.bmin(),n=r.bmax();s.set_bmin(0,o.x),s.set_bmin(1,o.y),s.set_bmin(2,o.z),s.set_bmax(0,n.x),s.set_bmax(1,n.y),s.set_bmax(2,n.z),s.width=r.width(),s.height=r.height(),s.minx=r.minx(),s.maxx=r.maxx(),s.miny=r.miny(),s.maxy=r.maxy(),s.hmin=r.hmin(),s.hmax=r.hmax();const d=G(r),h=N(r),c=W(r),m=B(he,s,d,h,c,a);if(C.Detour.statusFailed(m))return{n:0};F.push(a)}return y||(O(H),i.heightfieldLayerSet=void 0),x.tileIntermediates.push(i),{n:F.length,tiles:F}};for(let e=0;e<oe;++e)for(let t=0;t<se;++t){const{n:i,tiles:a}=we(t,e);if(i>0&&a)for(let l=0;l<i;l++){const i=a[l],r=p.addTile(i);C.Detour.statusFailed(r.status)&&R.log(C.Module.RC_LOG_WARNING,`Failed to add tile to tile cache - tx: ${t}, ty: ${e}`)}}for(let e=0;e<oe;e++)for(let t=0;t<se;t++){const i=p.buildNavMeshTilesAt(t,e,A);if(C.Detour.statusFailed(i))return z(`Failed to build nav mesh tiles at ${t}, ${e}`)}return k(),{success:!0,tileCache:p,navMesh:A,intermediates:x}},Q={...t},ee=(t,E,H={},F=!1)=>{const O=new i,I={type:\"tiled\",buildContext:O,chunkyTriMesh:void 0,tileIntermediates:[]},$=new a,G=()=>{if(!F){for(let e=0;e<I.tileIntermediates.length;e++){const t=I.tileIntermediates[e];t.compactHeightfield&&_(t.compactHeightfield),t.heightfield&&f(t.heightfield),t.contourSet&&z(t.contourSet)}I.chunkyTriMesh&&(I.chunkyTriMesh=void 0)}},N=e=>(G(),$.destroy(),{success:!1,navMesh:void 0,intermediates:I,error:e}),W=r({...Q,...H}),{bbMin:B,bbMax:U}=K(t,E),Z=s(B,U,W.cs);W.width=Z.width,W.height=Z.height,W.minRegionArea=W.minRegionArea*W.minRegionArea,W.mergeRegionArea=W.mergeRegionArea*W.mergeRegionArea,W.tileSize=Math.floor(W.tileSize),W.borderSize=W.walkableRadius+3,W.width=W.tileSize+2*W.borderSize,W.height=W.tileSize+2*W.borderSize,W.detailSampleDist=W.detailSampleDist<.9?0:W.cs*W.detailSampleDist,W.detailSampleMaxError=W.ch*W.detailSampleMaxError;const j=Math.floor(W.tileSize),q=Math.floor((Z.width+j-1)/j),J=Math.floor((Z.height+j-1)/j),ee=W.tileSize*W.cs,te=t,ie=E.length,ae=new l.VertsArray;ae.copy(te,te.length);const le=E,re=E.length/3,se=new l.TrisArray;se.copy(le,le.length);const oe=e.fromArray(B);let ne=Math.min(Math.floor(X(Y(q*J))),14);ne>14&&(ne=14);const de=1<<ne,he=1<<22-ne,ce=L.create({orig:oe,tileWidth:W.tileSize*W.cs,tileHeight:W.tileSize*W.cs,maxTiles:de,maxPolys:he});if(!$.initTiled(ce))return N(\"Could not init nav mesh for tiled use\");const me=new D;if(I.chunkyTriMesh=me,!me.init(ae,se,re,256))return N(\"Failed to build chunky triangle mesh\");const ge=(e,t,i,a)=>{const r=e=>(O.log(C.Module.RC_LOG_ERROR,e),{success:!1,error:e}),s={tileX:e,tileY:t};I.tileIntermediates.push(s);const E=P(W),L=[...i],D=[...a];L[0]-=E.borderSize*E.cs,L[2]-=E.borderSize*E.cs,D[0]+=E.borderSize*E.cs,D[2]+=E.borderSize*E.cs,E.set_bmin(0,L[0]),E.set_bmin(1,L[1]),E.set_bmin(2,L[2]),E.set_bmax(0,D[0]),E.set_bmax(1,D[1]),E.set_bmax(2,D[2]),O.resetTimers(),O.startTimer(C.Module.RC_TIMER_TOTAL),O.log(C.Module.RC_LOG_PROGRESS,`Building tile ${I.tileIntermediates.length} at x: ${e}, y: ${t}`),O.log(C.Module.RC_LOG_PROGRESS,` - ${W.width} x ${W.height} cells`),O.log(C.Module.RC_LOG_PROGRESS,` - ${ie/1e3}fK verts, ${re/1e3}K tris`);const $=o();if(s.heightfield=$,!n(O,$,E.width,E.height,L,D,E.cs,E.ch))return r(\"Could not create heightfield\");(new l.TriAreasArray).resize(me.maxTrisPerChunk());const G=[L[0],L[2]],N=[D[0],D[2]],B=new l.ChunkIdsArray;B.resize(512);const V=me.getChunksOverlappingRect(G,N,B,512);if(0===V)return{success:!0};for(let e=0;e<V;++e){const t=B.get_data(e),i=me.nodes(t).n,a=me.getNodeTris(t),s=new l.TriAreasArray;s.resize(i),d(O,E.walkableSlopeAngle,ae,ie,a,i,s);const o=h(O,ae,ie,a,s,i,$,E.walkableClimb);if(s.free(),!o)return r(\"Could not rasterize triangles\")}c(O,E.walkableClimb,$),m(O,E.walkableHeight,E.walkableClimb,$),g(O,E.walkableHeight,$);const K=u();if(s.compactHeightfield=K,!b(O,E.walkableHeight,E.walkableClimb,$,K))return r(\"Could not build compact heightfield\");if(F||(f(s.heightfield),s.heightfield=void 0),!S(O,E.walkableRadius,K))return r(\"Could not erode walkable area\");if(!w(O,K))return r(\"Failed to build distance field\");if(!M(O,K,E.borderSize,E.minRegionArea,E.mergeRegionArea))return r(\"Failed to build regions\");const X=y();if(s.contourSet=X,!R(O,K,E.maxSimplificationError,E.maxEdgeLen,X,C.Module.RC_CONTOUR_TESS_WALL_EDGES))return r(\"Failed to create contours\");const Y=x();if(!p(O,X,E.maxVertsPerPoly,Y))return r(\"Failed to triangulate contours\");const U=A();if(!k(O,Y,K,E.detailSampleDist,E.detailSampleMaxError,U))return r(\"Failed to build detail mesh\");F||(_(K),s.compactHeightfield=void 0,z(X),s.contourSet=void 0);for(let e=0;e<Y.npolys();e++)Y.areas(e)==C.Recast.WALKABLE_AREA&&Y.setAreas(e,0),0==Y.areas(e)&&Y.setFlags(e,1);const Z=new T;Z.setPolyMeshCreateParams(Y),Z.setPolyMeshDetailCreateParams(U),Z.setWalkableHeight(E.walkableHeight),Z.setWalkableRadius(E.walkableRadius),Z.setWalkableClimb(E.walkableClimb),Z.setCellSize(E.cs),Z.setCellHeight(E.ch),Z.setBuildBvTree(!0),H.offMeshConnections&&Z.setOffMeshConnections(H.offMeshConnections),Z.setTileX(e),Z.setTileY(t);const j=v(Z);return j.success?(O.log(C.Module.RC_LOG_PROGRESS,`>> Polymesh: ${Y.nverts()} vertices ${Y.npolys()} polygons`),{success:!0,data:j.navMeshData}):r(\"Failed to create Detour navmesh data\")};O.startTimer(C.Module.RC_TIMER_TEMP);const ue=[0,0,0],be=[0,0,0];for(let e=0;e<J;e++)for(let t=0;t<q;t++){ue[0]=B[0]+t*ee,ue[1]=B[1],ue[2]=B[2]+e*ee,be[0]=B[0]+(t+1)*ee,be[1]=U[1],be[2]=B[2]+(e+1)*ee;const i=ge(t,e,ue,be);if(i.success&&i.data){$.removeTile($.getTileRefAt(t,e,0));const a=$.addTile(i.data,C.Module.DT_TILE_FREE_DATA,0);C.Detour.statusFailed(a.status)&&(O.log(C.Module.RC_LOG_WARNING,`Failed to add tile to nav mesh\\n\\ttx: ${t}, ty: ${e},status: ${V(a.status)} (${a.status})`),i.data.free())}}return O.stopTimer(C.Module.RC_TIMER_TEMP),F||G(),{success:!0,navMesh:$,intermediates:I}};export{q as createDefaultTileCacheMeshProcess,X as dtIlog2,Y as dtNextPow2,Z as generateSoloNavMesh,J as generateTileCache,ee as generateTiledNavMesh,K as getBoundingBox,U as soloNavMeshGeneratorConfigDefaults,j as tileCacheGeneratorConfigDefaults,Q as tiledNavMeshGeneratorConfigDefaults};\n//# sourceMappingURL=index.mjs.map\n","import { BufferAttribute, Mesh, Vector3 } from 'three';\n\nconst tmpVec3 = new Vector3();\n\nexport const getPositionsAndIndices = (\n meshes: Mesh[]\n): [positions: Float32Array, indices: Uint32Array] => {\n const meshesToMerge: Mesh[] = [];\n\n for (const mesh of meshes) {\n const positionAttribute = mesh.geometry.attributes\n .position as BufferAttribute;\n\n if (!positionAttribute || positionAttribute.itemSize !== 3) {\n continue;\n }\n\n let meshToMerge = mesh;\n const index: ArrayLike<number> | undefined = mesh.geometry.getIndex()?.array;\n\n if (index === undefined) {\n meshToMerge = meshToMerge.clone();\n meshToMerge.geometry = mesh.geometry.clone();\n\n // this will become indexed when merging with other meshes\n const ascendingIndex: number[] = [];\n for (let i = 0; i < positionAttribute.count; i++) {\n ascendingIndex.push(i);\n }\n\n meshToMerge.geometry.setIndex(ascendingIndex);\n }\n\n meshesToMerge.push(meshToMerge);\n }\n\n const mergedPositions: number[] = [];\n const mergedIndices: number[] = [];\n\n const positionToIndex: { [hash: string]: number } = {};\n let indexCounter = 0;\n\n for (const mesh of meshesToMerge) {\n mesh.updateMatrixWorld();\n\n const positions = mesh.geometry.attributes.position.array;\n const index = mesh.geometry.getIndex()!.array;\n\n for (let i = 0; i < index.length; i++) {\n const pt = index[i] * 3;\n\n const pos = tmpVec3.set(\n positions[pt],\n positions[pt + 1],\n positions[pt + 2]\n );\n mesh.localToWorld(pos);\n\n const key = `${pos.x}_${pos.y}_${pos.z}`;\n let idx = positionToIndex[key];\n\n if (!idx) {\n positionToIndex[key] = idx = indexCounter;\n mergedPositions.push(pos.x, pos.y, pos.z);\n indexCounter++;\n }\n\n mergedIndices.push(idx);\n }\n }\n\n return [Float32Array.from(mergedPositions), Uint32Array.from(mergedIndices)];\n};\n","import {\n SoloNavMeshGeneratorConfig,\n TileCacheGeneratorConfig,\n TiledNavMeshGeneratorConfig,\n generateSoloNavMesh,\n generateTileCache,\n generateTiledNavMesh\n} from '@recast-navigation/generators';\nimport { Mesh } from 'three';\nimport { getPositionsAndIndices } from './get-positions-and-indices';\n\nexport const threeToSoloNavMesh = (\n meshes: Mesh[],\n navMeshGeneratorConfig: Partial<SoloNavMeshGeneratorConfig> = {},\n keepIntermediates = false\n) => {\n const [positions, indices] = getPositionsAndIndices(meshes);\n\n return generateSoloNavMesh(\n positions,\n indices,\n navMeshGeneratorConfig,\n keepIntermediates\n );\n};\n\nexport const threeToTiledNavMesh = 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package/dist/index.mjs
CHANGED
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@@ -1,2 +1,2 @@
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1
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-
import{Object3D as e,MeshBasicMaterial as t,Vector3 as i,Mesh as a,CylinderGeometry as s,Matrix4 as r,Color as o,BoxGeometry as l,InstancedMesh as n,DynamicDrawUsage as h,BufferGeometry as c,BufferAttribute as d,LineBasicMaterial as g,CircleGeometry as m,CatmullRomCurve3 as u,Line as f}from"three";import{recastConfigDefaults as b,RecastBuildContext as w,NavMesh as M,Arrays as y,createRcConfig as p,calcGridSize as C,allocHeightfield as x,createHeightfield as S,markWalkableTriangles as A,rasterizeTriangles as k,filterLowHangingWalkableObstacles as R,filterLedgeSpans as v,filterWalkableLowHeightSpans as z,allocCompactHeightfield as _,buildCompactHeightfield as T,freeHeightfield as E,erodeWalkableArea as H,buildDistanceField as D,buildRegions as P,allocContourSet as F,buildContours as L,Raw as I,allocPolyMesh as O,buildPolyMesh as W,allocPolyMeshDetail as $,buildPolyMeshDetail as G,freeCompactHeightfield as N,freeContourSet as U,NavMeshCreateParams as V,createNavMeshData as B,TileCache as K,DetourTileCacheParams as X,vec3 as Y,NavMeshParams as Z,RecastChunkyTriMesh as j,dtStatusToReadableString as q,TileCacheMeshProcess as J,freeHeightfieldLayerSet as Q,cloneRcConfig as ee,allocHeightfieldLayerSet as te,buildHeightfieldLayers as ie,getHeightfieldLayerHeights as ae,getHeightfieldLayerAreas as se,getHeightfieldLayerCons as re,buildTileCacheLayer as oe}from"@recast-navigation/core";class le extends e{agentMeshes=new Map;recastCrowd;agentMaterial;constructor({crowd:e,agentMaterial:i}){super(),this.recastCrowd=e,this.agentMaterial=i??new t({color:"red"}),this.update()}update(){const e=this.recastCrowd.getAgents(),t=new Set(this.agentMeshes.keys());for(const a of e){t.delete(a.agentIndex);const e=a.position(),s=a.velocity();let r=this.agentMeshes.get(a.agentIndex);void 0===r?(r=this.createAgentMesh(a),this.add(r),this.agentMeshes.set(a.agentIndex,r)):this.updateAgentGeometry(r,a),r.position.set(e.x,e.y+a.height/2,e.z),r.lookAt((new i).copy(r.position).add(s))}for(const e of t){const t=this.agentMeshes.get(e);t&&(this.remove(t),this.agentMeshes.delete(e))}}createAgentMesh(e){const t=new a;return t.material=this.agentMaterial,this.updateAgentGeometry(t,e),t.userData={radius:e.radius,height:e.height},t}updateAgentGeometry(e,t){if(e.userData.radius!==t.radius||e.userData.height!==t.height){const i=new s(t.radius,t.radius,t.height);e.geometry.dispose(),e.geometry=i,e.userData.radius=t.radius,e.userData.height=t.height}}}const ne=new r;class he extends e{heightfields;highlightWalkable;defaultColor;walkableColor;material;constructor({heightfields:e,highlightWalkable:i=!1,material:a=new t,defaultColor:s="blue",walkableColor:r="green"}){super(),this.heightfields=e,this.highlightWalkable=i,this.material=a,this.defaultColor=new o(s),this.walkableColor=new o(r),this.update()}update(){this.clear();for(const e of this.heightfields){const t=e.bmin(),i=e.cs(),a=e.ch(),s=e.width(),r=e.height(),o=[];for(let l=0;l<r;++l)for(let r=0;r<s;++r){const n=t.x+r*i,h=t.z+l*i;let c=e.spans(r+l*s);for(;c;){const e=n,s=t.y+c.smin()*a,r=h,l=n+i,d=t.y+c.smax()*a,g=h+i;o.push({position:[(l+e)/2,(d+s)/2,(g+r)/2],walkable:this.highlightWalkable&&0!==c.area()}),c=c.next()}}const c=new l(i,a,i),d=new n(c,this.material,o.length);d.instanceMatrix.setUsage(h);for(let e=0;e<o.length;e++){const{position:t,walkable:i}=o[e];d.setMatrixAt(e,ne.setPosition(...t)),d.setColorAt(e,i?this.walkableColor:this.defaultColor)}d.instanceMatrix.needsUpdate=!0,d.instanceColor&&(d.instanceColor.needsUpdate=!0),this.add(d)}}}class ce extends e{navMesh;navMeshMaterial;mesh;geometry;constructor({navMesh:e,navMeshMaterial:i}){super(),this.navMesh=e,this.geometry=new c,this.navMeshMaterial=i||new t({color:"orange",transparent:!0,opacity:.7,depthWrite:!1}),this.update(),this.mesh=new a(this.geometry,this.navMeshMaterial),this.add(this.mesh)}update(){const[e,t]=this.navMesh.getDebugNavMesh();this.geometry.setAttribute("position",new d(Float32Array.from(e),3)),this.geometry.setIndex(new d(Uint32Array.from(t),1)),this.geometry.computeVertexNormals()}}class de extends e{offMeshConnections;entryCircleMaterial;exitCircleMaterial;lineMaterial;constructor({offMeshConnections:e,entryCircleMaterial:i,exitCircleMaterial:a,lineMaterial:s}){super(),this.offMeshConnections=e??[],this.entryCircleMaterial=i??new t({color:"green"}),this.exitCircleMaterial=a??new t({color:"blue"}),this.lineMaterial=s??new g({color:"red"}),this.update()}update(){this.clear();for(const e of this.offMeshConnections){const t=new m(e.radius,16),s=new a(t,this.entryCircleMaterial);s.position.copy(e.startPosition),s.position.y+=.001,s.rotation.x=-Math.PI/2,this.add(s);const r=new a(t,e.bidirectional?this.entryCircleMaterial:this.exitCircleMaterial);r.position.copy(e.endPosition),r.position.y+=.001,r.rotation.x=-Math.PI/2,this.add(r);const o=(new i).copy(e.startPosition),l=(new i).copy(e.endPosition),n=(new i).addVectors(o,l).multiplyScalar(.5);n.y*=1.2;const h=new u([o,n,l]).getPoints(50),d=(new c).setFromPoints(h),g=new f(d,this.lineMaterial);this.add(g)}}}class ge extends e{tileCache;obstacleMeshes=new Map;obstacleMaterial;constructor({tileCache:e,obstacleMaterial:i}){super(),this.tileCache=e,this.obstacleMaterial=i||new t({color:"red",wireframe:!0,wireframeLinewidth:2}),this.update()}update(){const e=new Set(this.obstacleMeshes.keys());for(const[,t]of this.tileCache.obstacles){const i=this.obstacleMeshes.get(t);if(e.delete(t),!i){const{position:e}=t,i=new a(void 0,this.obstacleMaterial);if(i.position.copy(e),"box"===t.type){const{extent:e,angle:a}=t;i.geometry=new l(2*e.x,2*e.y,2*e.z),i.rotation.y=a}else{if("cylinder"!==t.type)throw new Error(`Unknown obstacle type: ${t}`);{const{radius:e,height:a}=t;i.geometry=new s(e,e,a,16),i.position.y+=a/2}}this.add(i),this.obstacleMeshes.set(t,i)}}for(const t of e){const e=this.obstacleMeshes.get(t);e&&(this.remove(e),this.obstacleMeshes.delete(t))}}}const me=(e,t)=>{const i={x:1/0,y:1/0,z:1/0},a={x:-1/0,y:-1/0,z:-1/0};for(let s=0;s<t.length;s++){const r=t[s],o=e[3*r],l=e[3*r+1],n=e[3*r+2];i.x=Math.min(i.x,o),i.y=Math.min(i.y,l),i.z=Math.min(i.z,n),a.x=Math.max(a.x,o),a.y=Math.max(a.y,l),a.z=Math.max(a.z,n)}return{bbMin:Y.toArray(i),bbMax:Y.toArray(a)}},ue=e=>{let t=0,i=0;return t=Number(e>65535)<<4,e>>=t,i=Number(e>255)<<3,e>>=i,t|=i,i=Number(e>15)<<2,e>>=i,t|=i,i=Number(e>3)<<1,t|=i,t|=(e>>=i)>>1,t},fe=e=>(e--,e|=e>>1,e|=e>>2,e|=e>>4,e|=e>>8,e|=e>>16,++e),be={...b},we={...b,tileSize:32,expectedLayersPerTile:4,maxObstacles:128},Me=(e,t,i={},a=!1)=>{const s=new w,r={type:"tilecache",buildContext:s,chunkyTriMesh:void 0,tileIntermediates:[]},o=new K,l=new M,n=()=>{if(!a)for(let e=0;e<r.tileIntermediates.length;e++){const t=r.tileIntermediates[e];t.heightfield&&(E(t.heightfield),t.heightfield=void 0),t.compactHeightfield&&(N(t.compactHeightfield),t.compactHeightfield=void 0),t.heightfieldLayerSet&&(Q(t.heightfieldLayerSet),t.heightfieldLayerSet=void 0)}},h=e=>(n(),o.destroy(),l.destroy(),{success:!1,navMesh:void 0,tileCache:void 0,intermediates:r,error:e}),c=e,d=t.length,g=new y.VertsArray;g.copy(c,c.length);const m=t,u=t.length/3,f=new y.TrisArray;f.copy(m,m.length);const{bbMin:b,bbMax:D}=me(e,t),{expectedLayersPerTile:P,maxObstacles:F,...L}={...we,...i},O=p(L),W=C(b,D,O.cs);O.width=W.width,O.height=W.height,O.minRegionArea=O.minRegionArea*O.minRegionArea,O.mergeRegionArea=O.mergeRegionArea*O.mergeRegionArea,O.detailSampleDist=O.detailSampleDist<.9?0:O.cs*O.detailSampleDist,O.detailSampleMaxError=O.ch*O.detailSampleMaxError;const $=Math.floor(O.tileSize),G=Math.floor((O.width+$-1)/$),U=Math.floor((O.height+$-1)/$);O.borderSize=O.walkableRadius+3,O.width=O.tileSize+2*O.borderSize,O.height=O.tileSize+2*O.borderSize;const V=X.create({orig:b,cs:O.cs,ch:O.ch,width:O.tileSize,height:O.tileSize,walkableHeight:O.walkableHeight,walkableRadius:O.walkableRadius,walkableClimb:O.walkableClimb,maxSimplificationError:O.maxSimplificationError,maxTiles:G*U*P,maxObstacles:F}),B=new I.RecastLinearAllocator(32e3),q=new I.RecastFastLZCompressor,le=i.tileCacheMeshProcess??new J(((e,t,i)=>{for(let a=0;a<e.polyCount();++a)t.set(a,0),i.set(a,1)}));if(!o.init(V,B,q,le))return h("Failed to initialize tile cache");const ne=Y.fromArray(b);let he=Math.min(Math.floor(ue(fe(G*U*P))),14);he>14&&(he=14);const ce=1<<he,de=1<<22-he,ge=Z.create({orig:ne,tileWidth:O.tileSize*O.cs,tileHeight:O.tileSize*O.cs,maxTiles:ce,maxPolys:de});if(!l.initTiled(ge))return h("Failed to initialize tiled navmesh");const be=new j;if(r.chunkyTriMesh=be,!be.init(g,f,u,256))return h("Failed to build chunky triangle mesh");const Me=(e,t)=>{const i={tileX:e,tileY:t},o=O.tileSize*O.cs,l=ee(O),n=[b[0]+e*o,b[1],b[2]+t*o],h=[b[0]+(e+1)*o,D[1],b[2]+(t+1)*o];n[0]-=l.borderSize*l.cs,n[2]-=l.borderSize*l.cs,h[0]+=l.borderSize*l.cs,h[2]+=l.borderSize*l.cs,l.set_bmin(0,n[0]),l.set_bmin(1,n[1]),l.set_bmin(2,n[2]),l.set_bmax(0,h[0]),l.set_bmax(1,h[1]),l.set_bmax(2,h[2]);const c=x();if(i.heightfield=c,!S(s,c,l.width,l.height,n,h,l.cs,l.ch))return{n:0};const m=[n[0],n[2]],u=[h[0],h[2]],f=new y.ChunkIdsArray;f.resize(512);const w=be.getChunksOverlappingRect(m,u,f,512);if(0===w)return{n:0};for(let e=0;e<w;++e){const t=f.get_data(e),i=be.nodes(t).n,a=be.getNodeTris(t),r=new y.TriAreasArray;r.resize(i),A(s,l.walkableSlopeAngle,g,d,a,i,r);const o=k(s,g,d,a,r,i,c,l.walkableClimb);if(r.free(),!o)return{n:0}}R(s,O.walkableClimb,c),v(s,O.walkableHeight,O.walkableClimb,c),z(s,O.walkableHeight,c);const M=_();if(!T(s,O.walkableHeight,O.walkableClimb,c,M))return{n:0};if(a||(E(i.heightfield),i.heightfield=void 0),!H(s,O.walkableRadius,M))return{n:0};const p=te();if(!ie(s,M,O.borderSize,O.walkableHeight,p))return{n:0};a||(N(M),i.compactHeightfield=void 0);const C=[];for(let i=0;i<p.nlayers();i++){const a=new y.TileCacheData,s=p.layers(i),r=new I.dtTileCacheLayerHeader;r.magic=I.Detour.TILECACHE_MAGIC,r.version=I.Detour.TILECACHE_VERSION,r.tx=e,r.ty=t,r.tlayer=i;const o=s.bmin(),l=s.bmax();r.set_bmin(0,o.x),r.set_bmin(1,o.y),r.set_bmin(2,o.z),r.set_bmax(0,l.x),r.set_bmax(1,l.y),r.set_bmax(2,l.z),r.width=s.width(),r.height=s.height(),r.minx=s.minx(),r.maxx=s.maxx(),r.miny=s.miny(),r.maxy=s.maxy(),r.hmin=s.hmin(),r.hmax=s.hmax();const n=ae(s),h=se(s),c=re(s),d=oe(q,r,n,h,c,a);if(I.Detour.statusFailed(d))return{n:0};C.push(a)}return a||(Q(p),i.heightfieldLayerSet=void 0),r.tileIntermediates.push(i),{n:C.length,tiles:C}};for(let e=0;e<U;++e)for(let t=0;t<G;++t){const{n:i,tiles:a}=Me(t,e);if(i>0&&a)for(let r=0;r<i;r++){const i=a[r],l=o.addTile(i);I.Detour.statusFailed(l.status)&&s.log(I.Module.RC_LOG_WARNING,`Failed to add tile to tile cache - tx: ${t}, ty: ${e}`)}}for(let e=0;e<U;e++)for(let t=0;t<G;t++){const i=o.buildNavMeshTilesAt(t,e,l);if(I.Detour.statusFailed(i))return h(`Failed to build nav mesh tiles at ${t}, ${e}`)}return n(),{success:!0,tileCache:o,navMesh:l,intermediates:r}},ye={...b},pe=new i,Ce=e=>{const t=[];for(const i of e){const e=i.geometry.attributes.position;if(!e||3!==e.itemSize)continue;let a=i;const s=i.geometry.getIndex()?.array;if(void 0===s){a=a.clone(),a.geometry=i.geometry.clone();const t=[];for(let i=0;i<e.count;i++)t.push(i);a.geometry.setIndex(t)}t.push(a)}const i=[],a=[],s={};let r=0;for(const e of t){e.updateMatrixWorld();const t=e.geometry.attributes.position.array,o=e.geometry.getIndex().array;for(let l=0;l<o.length;l++){const n=3*o[l],h=pe.set(t[n],t[n+1],t[n+2]);e.localToWorld(h);const c=`${h.x}_${h.y}_${h.z}`;let d=s[c];d||(s[c]=d=r,i.push(h.x,h.y,h.z),r++),a.push(d)}}return[Float32Array.from(i),Uint32Array.from(a)]},xe=(e,t={},i=!1)=>{const[a,s]=Ce(e);return((e,t,i={},a=!1)=>{const s=new w,r={type:"solo",buildContext:s},o=new M,l=e=>(a||(r.heightfield&&(E(r.heightfield),r.heightfield=void 0),r.compactHeightfield&&(N(r.compactHeightfield),r.compactHeightfield=void 0),r.contourSet&&(U(r.contourSet),r.contourSet=void 0)),o.destroy(),{navMesh:void 0,success:!1,intermediates:r,error:e}),n=e,h=t.length,c=new y.VertsArray;c.copy(n,n.length);const d=t,g=t.length/3,m=new y.TrisArray;m.copy(d,d.length);const{bbMin:u,bbMax:f}=me(e,t),b=p({...be,...i});b.minRegionArea=b.minRegionArea*b.minRegionArea,b.mergeRegionArea=b.mergeRegionArea*b.mergeRegionArea,b.detailSampleDist=b.detailSampleDist<.9?0:b.cs*b.detailSampleDist,b.detailSampleMaxError=b.ch*b.detailSampleMaxError;const K=C(u,f,b.cs);b.width=K.width,b.height=K.height;const X=x();if(r.heightfield=X,!S(s,X,b.width,b.height,u,f,b.cs,b.ch))return l("Could not create heightfield");const Y=new y.TriAreasArray;if(Y.resize(g),A(s,b.walkableSlopeAngle,c,h,m,g,Y),!k(s,c,h,m,Y,g,X,b.walkableClimb))return l("Could not rasterize triangles");Y.free(),R(s,b.walkableClimb,X),v(s,b.walkableHeight,b.walkableClimb,X),z(s,b.walkableHeight,X);const Z=_();if(r.compactHeightfield=Z,!T(s,b.walkableHeight,b.walkableClimb,X,Z))return l("Failed to build compact data");if(a||(E(X),r.heightfield=void 0),!H(s,b.walkableRadius,Z))return l("Failed to erode walkable area");if(!D(s,Z))return l("Failed to build distance field");if(!P(s,Z,b.borderSize,b.minRegionArea,b.mergeRegionArea))return l("Failed to build regions");const j=F();if(r.contourSet=j,!L(s,Z,b.maxSimplificationError,b.maxEdgeLen,j,I.Module.RC_CONTOUR_TESS_WALL_EDGES))return l("Failed to create contours");const q=O();if(!W(s,j,b.maxVertsPerPoly,q))return l("Failed to triangulate contours");const J=$();if(!G(s,q,Z,b.detailSampleDist,b.detailSampleMaxError,J))return l("Failed to build detail mesh");a||(N(Z),r.compactHeightfield=void 0,U(j),r.contourSet=void 0);for(let e=0;e<q.npolys();e++)q.areas(e)==I.Recast.WALKABLE_AREA&&q.setAreas(e,0),0==q.areas(e)&&q.setFlags(e,1);const Q=new V;Q.setPolyMeshCreateParams(q),Q.setPolyMeshDetailCreateParams(J),Q.setWalkableHeight(b.walkableHeight),Q.setWalkableRadius(b.walkableRadius),Q.setWalkableClimb(b.walkableClimb),Q.setCellSize(b.cs),Q.setCellHeight(b.ch),Q.setBuildBvTree(!0),i.offMeshConnections&&Q.setOffMeshConnections(i.offMeshConnections);const ee=B(Q);if(!ee.success)return l("Failed to create Detour navmesh data");const{navMeshData:te}=ee;return o.initSolo(te)?{success:!0,navMesh:o,intermediates:r}:l("Failed to create Detour navmesh")})(a,s,t,i)},Se=(e,t={},i=!1)=>{const[a,s]=Ce(e);return((e,t,i={},a=!1)=>{const s=new w,r={type:"tiled",buildContext:s,chunkyTriMesh:void 0,tileIntermediates:[]},o=new M,l=()=>{if(!a){for(let e=0;e<r.tileIntermediates.length;e++){const t=r.tileIntermediates[e];t.compactHeightfield&&N(t.compactHeightfield),t.heightfield&&E(t.heightfield),t.contourSet&&U(t.contourSet)}r.chunkyTriMesh&&(r.chunkyTriMesh=void 0)}},n=e=>(l(),o.destroy(),{success:!1,navMesh:void 0,intermediates:r,error:e}),h=p({...ye,...i}),{bbMin:c,bbMax:d}=me(e,t),g=C(c,d,h.cs);h.width=g.width,h.height=g.height,h.minRegionArea=h.minRegionArea*h.minRegionArea,h.mergeRegionArea=h.mergeRegionArea*h.mergeRegionArea,h.tileSize=Math.floor(h.tileSize),h.borderSize=h.walkableRadius+3,h.width=h.tileSize+2*h.borderSize,h.height=h.tileSize+2*h.borderSize,h.detailSampleDist=h.detailSampleDist<.9?0:h.cs*h.detailSampleDist,h.detailSampleMaxError=h.ch*h.detailSampleMaxError;const m=Math.floor(h.tileSize),u=Math.floor((g.width+m-1)/m),f=Math.floor((g.height+m-1)/m),b=h.tileSize*h.cs,K=e,X=t.length,J=new y.VertsArray;J.copy(K,K.length);const Q=t,te=t.length/3,ie=new y.TrisArray;ie.copy(Q,Q.length);const ae=Y.fromArray(c);let se=Math.min(Math.floor(ue(fe(u*f))),14);se>14&&(se=14);const re=1<<se,oe=1<<22-se,le=Z.create({orig:ae,tileWidth:h.tileSize*h.cs,tileHeight:h.tileSize*h.cs,maxTiles:re,maxPolys:oe});if(!o.initTiled(le))return n("Could not init nav mesh for tiled use");const ne=new j;if(r.chunkyTriMesh=ne,!ne.init(J,ie,te,256))return n("Failed to build chunky triangle mesh");const he=(e,t,o,l)=>{const n=e=>(s.log(I.Module.RC_LOG_ERROR,e),{success:!1,error:e}),c={tileX:e,tileY:t};r.tileIntermediates.push(c);const d=ee(h),g=[...o],m=[...l];g[0]-=d.borderSize*d.cs,g[2]-=d.borderSize*d.cs,m[0]+=d.borderSize*d.cs,m[2]+=d.borderSize*d.cs,d.set_bmin(0,g[0]),d.set_bmin(1,g[1]),d.set_bmin(2,g[2]),d.set_bmax(0,m[0]),d.set_bmax(1,m[1]),d.set_bmax(2,m[2]),s.resetTimers(),s.startTimer(I.Module.RC_TIMER_TOTAL),s.log(I.Module.RC_LOG_PROGRESS,`Building tile ${r.tileIntermediates.length} at x: ${e}, y: ${t}`),s.log(I.Module.RC_LOG_PROGRESS,` - ${h.width} x ${h.height} cells`),s.log(I.Module.RC_LOG_PROGRESS,` - ${X/1e3}fK verts, ${te/1e3}K tris`);const u=x();if(c.heightfield=u,!S(s,u,d.width,d.height,g,m,d.cs,d.ch))return n("Could not create heightfield");(new y.TriAreasArray).resize(ne.maxTrisPerChunk());const f=[g[0],g[2]],b=[m[0],m[2]],w=new y.ChunkIdsArray;w.resize(512);const M=ne.getChunksOverlappingRect(f,b,w,512);if(0===M)return{success:!0};for(let e=0;e<M;++e){const t=w.get_data(e),i=ne.nodes(t).n,a=ne.getNodeTris(t),r=new y.TriAreasArray;r.resize(i),A(s,d.walkableSlopeAngle,J,X,a,i,r);const o=k(s,J,X,a,r,i,u,d.walkableClimb);if(r.free(),!o)return n("Could not rasterize triangles")}R(s,d.walkableClimb,u),v(s,d.walkableHeight,d.walkableClimb,u),z(s,d.walkableHeight,u);const p=_();if(c.compactHeightfield=p,!T(s,d.walkableHeight,d.walkableClimb,u,p))return n("Could not build compact heightfield");if(a||(E(c.heightfield),c.heightfield=void 0),!H(s,d.walkableRadius,p))return n("Could not erode walkable area");if(!D(s,p))return n("Failed to build distance field");if(!P(s,p,d.borderSize,d.minRegionArea,d.mergeRegionArea))return n("Failed to build regions");const C=F();if(c.contourSet=C,!L(s,p,d.maxSimplificationError,d.maxEdgeLen,C,I.Module.RC_CONTOUR_TESS_WALL_EDGES))return n("Failed to create contours");const K=O();if(!W(s,C,d.maxVertsPerPoly,K))return n("Failed to triangulate contours");const Y=$();if(!G(s,K,p,d.detailSampleDist,d.detailSampleMaxError,Y))return n("Failed to build detail mesh");a||(N(p),c.compactHeightfield=void 0,U(C),c.contourSet=void 0);for(let e=0;e<K.npolys();e++)K.areas(e)==I.Recast.WALKABLE_AREA&&K.setAreas(e,0),0==K.areas(e)&&K.setFlags(e,1);const Z=new V;Z.setPolyMeshCreateParams(K),Z.setPolyMeshDetailCreateParams(Y),Z.setWalkableHeight(d.walkableHeight),Z.setWalkableRadius(d.walkableRadius),Z.setWalkableClimb(d.walkableClimb),Z.setCellSize(d.cs),Z.setCellHeight(d.ch),Z.setBuildBvTree(!0),i.offMeshConnections&&Z.setOffMeshConnections(i.offMeshConnections),Z.setTileX(e),Z.setTileY(t);const j=B(Z);return j.success?(s.log(I.Module.RC_LOG_PROGRESS,`>> Polymesh: ${K.nverts()} vertices ${K.npolys()} polygons`),{success:!0,data:j.navMeshData}):n("Failed to create Detour navmesh data")};s.startTimer(I.Module.RC_TIMER_TEMP);const ce=[0,0,0],de=[0,0,0];for(let e=0;e<f;e++)for(let t=0;t<u;t++){ce[0]=c[0]+t*b,ce[1]=c[1],ce[2]=c[2]+e*b,de[0]=c[0]+(t+1)*b,de[1]=d[1],de[2]=c[2]+(e+1)*b;const i=he(t,e,ce,de);if(i.success&&i.data){o.removeTile(o.getTileRefAt(t,e,0));const a=o.addTile(i.data,I.Module.DT_TILE_FREE_DATA,0);I.Detour.statusFailed(a.status)&&(s.log(I.Module.RC_LOG_WARNING,`Failed to add tile to nav mesh\n\ttx: ${t}, ty: ${e},status: ${q(a.status)} (${a.status})`),i.data.free())}}return s.stopTimer(I.Module.RC_TIMER_TEMP),a||l(),{success:!0,navMesh:o,intermediates:r}})(a,s,t,i)},Ae=(e,t={},i=!1)=>{const[a,s]=Ce(e);return Me(a,s,t,i)};export{le as CrowdHelper,he as HeightfieldHelper,ce as NavMeshHelper,de as OffMeshConnectionsHelper,ge as TileCacheHelper,Ce as getPositionsAndIndices,xe as threeToSoloNavMesh,Ae as threeToTileCache,Se as threeToTiledNavMesh};
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+
import{Object3D as e,MeshBasicMaterial as t,Vector3 as i,Mesh as a,CylinderGeometry as s,Matrix4 as r,Color as o,BoxGeometry as l,InstancedMesh as n,DynamicDrawUsage as h,BufferGeometry as c,BufferAttribute as d,LineBasicMaterial as g,CircleGeometry as m,CatmullRomCurve3 as u,Line as f}from"three";import{recastConfigDefaults as b,RecastBuildContext as w,NavMesh as M,Arrays as y,createRcConfig as p,calcGridSize as C,allocHeightfield as x,createHeightfield as S,markWalkableTriangles as A,rasterizeTriangles as k,filterLowHangingWalkableObstacles as R,filterLedgeSpans as v,filterWalkableLowHeightSpans as z,allocCompactHeightfield as _,buildCompactHeightfield as T,freeHeightfield as E,erodeWalkableArea as H,buildDistanceField as D,buildRegions as P,allocContourSet as F,buildContours as L,Raw as I,allocPolyMesh as O,buildPolyMesh as W,allocPolyMeshDetail as $,buildPolyMeshDetail as G,freeCompactHeightfield as N,freeContourSet as U,NavMeshCreateParams as V,createNavMeshData as B,TileCache as K,DetourTileCacheParams as X,vec3 as Y,NavMeshParams as Z,RecastChunkyTriMesh as j,statusToReadableString as q,TileCacheMeshProcess as J,freeHeightfieldLayerSet as Q,cloneRcConfig as ee,allocHeightfieldLayerSet as te,buildHeightfieldLayers as ie,getHeightfieldLayerHeights as ae,getHeightfieldLayerAreas as se,getHeightfieldLayerCons as re,buildTileCacheLayer as oe}from"@recast-navigation/core";class le extends e{agentMeshes=new Map;recastCrowd;agentMaterial;constructor({crowd:e,agentMaterial:i}){super(),this.recastCrowd=e,this.agentMaterial=i??new t({color:"red"}),this.update()}update(){const e=this.recastCrowd.getAgents(),t=new Set(this.agentMeshes.keys());for(const a of e){t.delete(a.agentIndex);const e=a.position(),s=a.velocity();let r=this.agentMeshes.get(a.agentIndex);void 0===r?(r=this.createAgentMesh(a),this.add(r),this.agentMeshes.set(a.agentIndex,r)):this.updateAgentGeometry(r,a),r.position.set(e.x,e.y+a.height/2,e.z),r.lookAt((new i).copy(r.position).add(s))}for(const e of t){const t=this.agentMeshes.get(e);t&&(this.remove(t),this.agentMeshes.delete(e))}}createAgentMesh(e){const t=new a;return t.material=this.agentMaterial,this.updateAgentGeometry(t,e),t.userData={radius:e.radius,height:e.height},t}updateAgentGeometry(e,t){if(e.userData.radius!==t.radius||e.userData.height!==t.height){const i=new s(t.radius,t.radius,t.height);e.geometry.dispose(),e.geometry=i,e.userData.radius=t.radius,e.userData.height=t.height}}}const ne=new r;class he extends e{heightfields;highlightWalkable;defaultColor;walkableColor;material;constructor({heightfields:e,highlightWalkable:i=!1,material:a=new t,defaultColor:s="blue",walkableColor:r="green"}){super(),this.heightfields=e,this.highlightWalkable=i,this.material=a,this.defaultColor=new o(s),this.walkableColor=new o(r),this.update()}update(){this.clear();for(const e of this.heightfields){const t=e.bmin(),i=e.cs(),a=e.ch(),s=e.width(),r=e.height(),o=[];for(let l=0;l<r;++l)for(let r=0;r<s;++r){const n=t.x+r*i,h=t.z+l*i;let c=e.spans(r+l*s);for(;c;){const e=n,s=t.y+c.smin()*a,r=h,l=n+i,d=t.y+c.smax()*a,g=h+i;o.push({position:[(l+e)/2,(d+s)/2,(g+r)/2],walkable:this.highlightWalkable&&0!==c.area()}),c=c.next()}}const c=new l(i,a,i),d=new n(c,this.material,o.length);d.instanceMatrix.setUsage(h);for(let e=0;e<o.length;e++){const{position:t,walkable:i}=o[e];d.setMatrixAt(e,ne.setPosition(...t)),d.setColorAt(e,i?this.walkableColor:this.defaultColor)}d.instanceMatrix.needsUpdate=!0,d.instanceColor&&(d.instanceColor.needsUpdate=!0),this.add(d)}}}class ce extends e{navMesh;navMeshMaterial;mesh;geometry;constructor({navMesh:e,navMeshMaterial:i}){super(),this.navMesh=e,this.geometry=new c,this.navMeshMaterial=i||new t({color:"orange",transparent:!0,opacity:.7,depthWrite:!1}),this.update(),this.mesh=new a(this.geometry,this.navMeshMaterial),this.add(this.mesh)}update(){const[e,t]=this.navMesh.getDebugNavMesh();this.geometry.setAttribute("position",new d(Float32Array.from(e),3)),this.geometry.setIndex(new d(Uint32Array.from(t),1)),this.geometry.computeVertexNormals()}}class de extends e{offMeshConnections;entryCircleMaterial;exitCircleMaterial;lineMaterial;constructor({offMeshConnections:e,entryCircleMaterial:i,exitCircleMaterial:a,lineMaterial:s}){super(),this.offMeshConnections=e??[],this.entryCircleMaterial=i??new t({color:"green"}),this.exitCircleMaterial=a??new t({color:"blue"}),this.lineMaterial=s??new g({color:"red"}),this.update()}update(){this.clear();for(const e of this.offMeshConnections){const t=new m(e.radius,16),s=new a(t,this.entryCircleMaterial);s.position.copy(e.startPosition),s.position.y+=.001,s.rotation.x=-Math.PI/2,this.add(s);const r=new a(t,e.bidirectional?this.entryCircleMaterial:this.exitCircleMaterial);r.position.copy(e.endPosition),r.position.y+=.001,r.rotation.x=-Math.PI/2,this.add(r);const o=(new i).copy(e.startPosition),l=(new i).copy(e.endPosition),n=(new i).addVectors(o,l).multiplyScalar(.5);n.y*=1.2;const h=new u([o,n,l]).getPoints(50),d=(new c).setFromPoints(h),g=new f(d,this.lineMaterial);this.add(g)}}}class ge extends e{tileCache;obstacleMeshes=new Map;obstacleMaterial;constructor({tileCache:e,obstacleMaterial:i}){super(),this.tileCache=e,this.obstacleMaterial=i||new t({color:"red",wireframe:!0,wireframeLinewidth:2}),this.update()}update(){const e=new Set(this.obstacleMeshes.keys());for(const[,t]of this.tileCache.obstacles){const i=this.obstacleMeshes.get(t);if(e.delete(t),!i){const{position:e}=t,i=new a(void 0,this.obstacleMaterial);if(i.position.copy(e),"box"===t.type){const{extent:e,angle:a}=t;i.geometry=new l(2*e.x,2*e.y,2*e.z),i.rotation.y=a}else{if("cylinder"!==t.type)throw new Error(`Unknown obstacle type: ${t}`);{const{radius:e,height:a}=t;i.geometry=new s(e,e,a,16),i.position.y+=a/2}}this.add(i),this.obstacleMeshes.set(t,i)}}for(const t of e){const e=this.obstacleMeshes.get(t);e&&(this.remove(e),this.obstacleMeshes.delete(t))}}}const me=(e,t)=>{const i={x:1/0,y:1/0,z:1/0},a={x:-1/0,y:-1/0,z:-1/0};for(let s=0;s<t.length;s++){const r=t[s],o=e[3*r],l=e[3*r+1],n=e[3*r+2];i.x=Math.min(i.x,o),i.y=Math.min(i.y,l),i.z=Math.min(i.z,n),a.x=Math.max(a.x,o),a.y=Math.max(a.y,l),a.z=Math.max(a.z,n)}return{bbMin:Y.toArray(i),bbMax:Y.toArray(a)}},ue=e=>{let t=0,i=0;return t=Number(e>65535)<<4,e>>=t,i=Number(e>255)<<3,e>>=i,t|=i,i=Number(e>15)<<2,e>>=i,t|=i,i=Number(e>3)<<1,t|=i,t|=(e>>=i)>>1,t},fe=e=>(e--,e|=e>>1,e|=e>>2,e|=e>>4,e|=e>>8,e|=e>>16,++e),be={...b},we={...b,tileSize:32,expectedLayersPerTile:4,maxObstacles:128},Me=(e,t,i={},a=!1)=>{const s=new w,r={type:"tilecache",buildContext:s,chunkyTriMesh:void 0,tileIntermediates:[]},o=new K,l=new M,n=()=>{if(!a)for(let e=0;e<r.tileIntermediates.length;e++){const t=r.tileIntermediates[e];t.heightfield&&(E(t.heightfield),t.heightfield=void 0),t.compactHeightfield&&(N(t.compactHeightfield),t.compactHeightfield=void 0),t.heightfieldLayerSet&&(Q(t.heightfieldLayerSet),t.heightfieldLayerSet=void 0)}},h=e=>(n(),o.destroy(),l.destroy(),{success:!1,navMesh:void 0,tileCache:void 0,intermediates:r,error:e}),c=e,d=t.length,g=new y.VertsArray;g.copy(c,c.length);const m=t,u=t.length/3,f=new y.TrisArray;f.copy(m,m.length);const{bbMin:b,bbMax:D}=me(e,t),{expectedLayersPerTile:P,maxObstacles:F,...L}={...we,...i},O=p(L),W=C(b,D,O.cs);O.width=W.width,O.height=W.height,O.minRegionArea=O.minRegionArea*O.minRegionArea,O.mergeRegionArea=O.mergeRegionArea*O.mergeRegionArea,O.detailSampleDist=O.detailSampleDist<.9?0:O.cs*O.detailSampleDist,O.detailSampleMaxError=O.ch*O.detailSampleMaxError;const $=Math.floor(O.tileSize),G=Math.floor((O.width+$-1)/$),U=Math.floor((O.height+$-1)/$);O.borderSize=O.walkableRadius+3,O.width=O.tileSize+2*O.borderSize,O.height=O.tileSize+2*O.borderSize;const V=X.create({orig:b,cs:O.cs,ch:O.ch,width:O.tileSize,height:O.tileSize,walkableHeight:O.walkableHeight,walkableRadius:O.walkableRadius,walkableClimb:O.walkableClimb,maxSimplificationError:O.maxSimplificationError,maxTiles:G*U*P,maxObstacles:F}),B=new I.RecastLinearAllocator(32e3),q=new I.RecastFastLZCompressor,le=i.tileCacheMeshProcess??new J(((e,t,i)=>{for(let a=0;a<e.polyCount();++a)t.set(a,0),i.set(a,1)}));if(!o.init(V,B,q,le))return h("Failed to initialize tile cache");const ne=Y.fromArray(b);let he=Math.min(Math.floor(ue(fe(G*U*P))),14);he>14&&(he=14);const ce=1<<he,de=1<<22-he,ge=Z.create({orig:ne,tileWidth:O.tileSize*O.cs,tileHeight:O.tileSize*O.cs,maxTiles:ce,maxPolys:de});if(!l.initTiled(ge))return h("Failed to initialize tiled navmesh");const be=new j;if(r.chunkyTriMesh=be,!be.init(g,f,u,256))return h("Failed to build chunky triangle mesh");const Me=(e,t)=>{const i={tileX:e,tileY:t},o=O.tileSize*O.cs,l=ee(O),n=[b[0]+e*o,b[1],b[2]+t*o],h=[b[0]+(e+1)*o,D[1],b[2]+(t+1)*o];n[0]-=l.borderSize*l.cs,n[2]-=l.borderSize*l.cs,h[0]+=l.borderSize*l.cs,h[2]+=l.borderSize*l.cs,l.set_bmin(0,n[0]),l.set_bmin(1,n[1]),l.set_bmin(2,n[2]),l.set_bmax(0,h[0]),l.set_bmax(1,h[1]),l.set_bmax(2,h[2]);const c=x();if(i.heightfield=c,!S(s,c,l.width,l.height,n,h,l.cs,l.ch))return{n:0};const m=[n[0],n[2]],u=[h[0],h[2]],f=new y.ChunkIdsArray;f.resize(512);const w=be.getChunksOverlappingRect(m,u,f,512);if(0===w)return{n:0};for(let e=0;e<w;++e){const t=f.get_data(e),i=be.nodes(t).n,a=be.getNodeTris(t),r=new y.TriAreasArray;r.resize(i),A(s,l.walkableSlopeAngle,g,d,a,i,r);const o=k(s,g,d,a,r,i,c,l.walkableClimb);if(r.free(),!o)return{n:0}}R(s,O.walkableClimb,c),v(s,O.walkableHeight,O.walkableClimb,c),z(s,O.walkableHeight,c);const M=_();if(!T(s,O.walkableHeight,O.walkableClimb,c,M))return{n:0};if(a||(E(i.heightfield),i.heightfield=void 0),!H(s,O.walkableRadius,M))return{n:0};const p=te();if(!ie(s,M,O.borderSize,O.walkableHeight,p))return{n:0};a||(N(M),i.compactHeightfield=void 0);const C=[];for(let i=0;i<p.nlayers();i++){const a=new y.TileCacheData,s=p.layers(i),r=new I.dtTileCacheLayerHeader;r.magic=I.Detour.TILECACHE_MAGIC,r.version=I.Detour.TILECACHE_VERSION,r.tx=e,r.ty=t,r.tlayer=i;const o=s.bmin(),l=s.bmax();r.set_bmin(0,o.x),r.set_bmin(1,o.y),r.set_bmin(2,o.z),r.set_bmax(0,l.x),r.set_bmax(1,l.y),r.set_bmax(2,l.z),r.width=s.width(),r.height=s.height(),r.minx=s.minx(),r.maxx=s.maxx(),r.miny=s.miny(),r.maxy=s.maxy(),r.hmin=s.hmin(),r.hmax=s.hmax();const n=ae(s),h=se(s),c=re(s),d=oe(q,r,n,h,c,a);if(I.Detour.statusFailed(d))return{n:0};C.push(a)}return a||(Q(p),i.heightfieldLayerSet=void 0),r.tileIntermediates.push(i),{n:C.length,tiles:C}};for(let e=0;e<U;++e)for(let t=0;t<G;++t){const{n:i,tiles:a}=Me(t,e);if(i>0&&a)for(let r=0;r<i;r++){const i=a[r],l=o.addTile(i);I.Detour.statusFailed(l.status)&&s.log(I.Module.RC_LOG_WARNING,`Failed to add tile to tile cache - tx: ${t}, ty: ${e}`)}}for(let e=0;e<U;e++)for(let t=0;t<G;t++){const i=o.buildNavMeshTilesAt(t,e,l);if(I.Detour.statusFailed(i))return h(`Failed to build nav mesh tiles at ${t}, ${e}`)}return n(),{success:!0,tileCache:o,navMesh:l,intermediates:r}},ye={...b},pe=new i,Ce=e=>{const t=[];for(const i of e){const e=i.geometry.attributes.position;if(!e||3!==e.itemSize)continue;let a=i;const s=i.geometry.getIndex()?.array;if(void 0===s){a=a.clone(),a.geometry=i.geometry.clone();const t=[];for(let i=0;i<e.count;i++)t.push(i);a.geometry.setIndex(t)}t.push(a)}const i=[],a=[],s={};let r=0;for(const e of t){e.updateMatrixWorld();const t=e.geometry.attributes.position.array,o=e.geometry.getIndex().array;for(let l=0;l<o.length;l++){const n=3*o[l],h=pe.set(t[n],t[n+1],t[n+2]);e.localToWorld(h);const c=`${h.x}_${h.y}_${h.z}`;let d=s[c];d||(s[c]=d=r,i.push(h.x,h.y,h.z),r++),a.push(d)}}return[Float32Array.from(i),Uint32Array.from(a)]},xe=(e,t={},i=!1)=>{const[a,s]=Ce(e);return((e,t,i={},a=!1)=>{const s=new w,r={type:"solo",buildContext:s},o=new M,l=e=>(a||(r.heightfield&&(E(r.heightfield),r.heightfield=void 0),r.compactHeightfield&&(N(r.compactHeightfield),r.compactHeightfield=void 0),r.contourSet&&(U(r.contourSet),r.contourSet=void 0)),o.destroy(),{navMesh:void 0,success:!1,intermediates:r,error:e}),n=e,h=t.length,c=new y.VertsArray;c.copy(n,n.length);const d=t,g=t.length/3,m=new y.TrisArray;m.copy(d,d.length);const{bbMin:u,bbMax:f}=me(e,t),b=p({...be,...i});b.minRegionArea=b.minRegionArea*b.minRegionArea,b.mergeRegionArea=b.mergeRegionArea*b.mergeRegionArea,b.detailSampleDist=b.detailSampleDist<.9?0:b.cs*b.detailSampleDist,b.detailSampleMaxError=b.ch*b.detailSampleMaxError;const K=C(u,f,b.cs);b.width=K.width,b.height=K.height;const X=x();if(r.heightfield=X,!S(s,X,b.width,b.height,u,f,b.cs,b.ch))return l("Could not create heightfield");const Y=new y.TriAreasArray;if(Y.resize(g),A(s,b.walkableSlopeAngle,c,h,m,g,Y),!k(s,c,h,m,Y,g,X,b.walkableClimb))return l("Could not rasterize triangles");Y.free(),R(s,b.walkableClimb,X),v(s,b.walkableHeight,b.walkableClimb,X),z(s,b.walkableHeight,X);const Z=_();if(r.compactHeightfield=Z,!T(s,b.walkableHeight,b.walkableClimb,X,Z))return l("Failed to build compact data");if(a||(E(X),r.heightfield=void 0),!H(s,b.walkableRadius,Z))return l("Failed to erode walkable area");if(!D(s,Z))return l("Failed to build distance field");if(!P(s,Z,b.borderSize,b.minRegionArea,b.mergeRegionArea))return l("Failed to build regions");const j=F();if(r.contourSet=j,!L(s,Z,b.maxSimplificationError,b.maxEdgeLen,j,I.Module.RC_CONTOUR_TESS_WALL_EDGES))return l("Failed to create contours");const q=O();if(!W(s,j,b.maxVertsPerPoly,q))return l("Failed to triangulate contours");const J=$();if(!G(s,q,Z,b.detailSampleDist,b.detailSampleMaxError,J))return l("Failed to build detail mesh");a||(N(Z),r.compactHeightfield=void 0,U(j),r.contourSet=void 0);for(let e=0;e<q.npolys();e++)q.areas(e)==I.Recast.WALKABLE_AREA&&q.setAreas(e,0),0==q.areas(e)&&q.setFlags(e,1);const Q=new V;Q.setPolyMeshCreateParams(q),Q.setPolyMeshDetailCreateParams(J),Q.setWalkableHeight(b.walkableHeight),Q.setWalkableRadius(b.walkableRadius),Q.setWalkableClimb(b.walkableClimb),Q.setCellSize(b.cs),Q.setCellHeight(b.ch),Q.setBuildBvTree(!0),i.offMeshConnections&&Q.setOffMeshConnections(i.offMeshConnections);const ee=B(Q);if(!ee.success)return l("Failed to create Detour navmesh data");const{navMeshData:te}=ee;return o.initSolo(te)?{success:!0,navMesh:o,intermediates:r}:l("Failed to create Detour navmesh")})(a,s,t,i)},Se=(e,t={},i=!1)=>{const[a,s]=Ce(e);return((e,t,i={},a=!1)=>{const s=new w,r={type:"tiled",buildContext:s,chunkyTriMesh:void 0,tileIntermediates:[]},o=new M,l=()=>{if(!a){for(let e=0;e<r.tileIntermediates.length;e++){const t=r.tileIntermediates[e];t.compactHeightfield&&N(t.compactHeightfield),t.heightfield&&E(t.heightfield),t.contourSet&&U(t.contourSet)}r.chunkyTriMesh&&(r.chunkyTriMesh=void 0)}},n=e=>(l(),o.destroy(),{success:!1,navMesh:void 0,intermediates:r,error:e}),h=p({...ye,...i}),{bbMin:c,bbMax:d}=me(e,t),g=C(c,d,h.cs);h.width=g.width,h.height=g.height,h.minRegionArea=h.minRegionArea*h.minRegionArea,h.mergeRegionArea=h.mergeRegionArea*h.mergeRegionArea,h.tileSize=Math.floor(h.tileSize),h.borderSize=h.walkableRadius+3,h.width=h.tileSize+2*h.borderSize,h.height=h.tileSize+2*h.borderSize,h.detailSampleDist=h.detailSampleDist<.9?0:h.cs*h.detailSampleDist,h.detailSampleMaxError=h.ch*h.detailSampleMaxError;const m=Math.floor(h.tileSize),u=Math.floor((g.width+m-1)/m),f=Math.floor((g.height+m-1)/m),b=h.tileSize*h.cs,K=e,X=t.length,J=new y.VertsArray;J.copy(K,K.length);const Q=t,te=t.length/3,ie=new y.TrisArray;ie.copy(Q,Q.length);const ae=Y.fromArray(c);let se=Math.min(Math.floor(ue(fe(u*f))),14);se>14&&(se=14);const re=1<<se,oe=1<<22-se,le=Z.create({orig:ae,tileWidth:h.tileSize*h.cs,tileHeight:h.tileSize*h.cs,maxTiles:re,maxPolys:oe});if(!o.initTiled(le))return n("Could not init nav mesh for tiled use");const ne=new j;if(r.chunkyTriMesh=ne,!ne.init(J,ie,te,256))return n("Failed to build chunky triangle mesh");const he=(e,t,o,l)=>{const n=e=>(s.log(I.Module.RC_LOG_ERROR,e),{success:!1,error:e}),c={tileX:e,tileY:t};r.tileIntermediates.push(c);const d=ee(h),g=[...o],m=[...l];g[0]-=d.borderSize*d.cs,g[2]-=d.borderSize*d.cs,m[0]+=d.borderSize*d.cs,m[2]+=d.borderSize*d.cs,d.set_bmin(0,g[0]),d.set_bmin(1,g[1]),d.set_bmin(2,g[2]),d.set_bmax(0,m[0]),d.set_bmax(1,m[1]),d.set_bmax(2,m[2]),s.resetTimers(),s.startTimer(I.Module.RC_TIMER_TOTAL),s.log(I.Module.RC_LOG_PROGRESS,`Building tile ${r.tileIntermediates.length} at x: ${e}, y: ${t}`),s.log(I.Module.RC_LOG_PROGRESS,` - ${h.width} x ${h.height} cells`),s.log(I.Module.RC_LOG_PROGRESS,` - ${X/1e3}fK verts, ${te/1e3}K tris`);const u=x();if(c.heightfield=u,!S(s,u,d.width,d.height,g,m,d.cs,d.ch))return n("Could not create heightfield");(new y.TriAreasArray).resize(ne.maxTrisPerChunk());const f=[g[0],g[2]],b=[m[0],m[2]],w=new y.ChunkIdsArray;w.resize(512);const M=ne.getChunksOverlappingRect(f,b,w,512);if(0===M)return{success:!0};for(let e=0;e<M;++e){const t=w.get_data(e),i=ne.nodes(t).n,a=ne.getNodeTris(t),r=new y.TriAreasArray;r.resize(i),A(s,d.walkableSlopeAngle,J,X,a,i,r);const o=k(s,J,X,a,r,i,u,d.walkableClimb);if(r.free(),!o)return n("Could not rasterize triangles")}R(s,d.walkableClimb,u),v(s,d.walkableHeight,d.walkableClimb,u),z(s,d.walkableHeight,u);const p=_();if(c.compactHeightfield=p,!T(s,d.walkableHeight,d.walkableClimb,u,p))return n("Could not build compact heightfield");if(a||(E(c.heightfield),c.heightfield=void 0),!H(s,d.walkableRadius,p))return n("Could not erode walkable area");if(!D(s,p))return n("Failed to build distance field");if(!P(s,p,d.borderSize,d.minRegionArea,d.mergeRegionArea))return n("Failed to build regions");const C=F();if(c.contourSet=C,!L(s,p,d.maxSimplificationError,d.maxEdgeLen,C,I.Module.RC_CONTOUR_TESS_WALL_EDGES))return n("Failed to create contours");const K=O();if(!W(s,C,d.maxVertsPerPoly,K))return n("Failed to triangulate contours");const Y=$();if(!G(s,K,p,d.detailSampleDist,d.detailSampleMaxError,Y))return n("Failed to build detail mesh");a||(N(p),c.compactHeightfield=void 0,U(C),c.contourSet=void 0);for(let e=0;e<K.npolys();e++)K.areas(e)==I.Recast.WALKABLE_AREA&&K.setAreas(e,0),0==K.areas(e)&&K.setFlags(e,1);const Z=new V;Z.setPolyMeshCreateParams(K),Z.setPolyMeshDetailCreateParams(Y),Z.setWalkableHeight(d.walkableHeight),Z.setWalkableRadius(d.walkableRadius),Z.setWalkableClimb(d.walkableClimb),Z.setCellSize(d.cs),Z.setCellHeight(d.ch),Z.setBuildBvTree(!0),i.offMeshConnections&&Z.setOffMeshConnections(i.offMeshConnections),Z.setTileX(e),Z.setTileY(t);const j=B(Z);return j.success?(s.log(I.Module.RC_LOG_PROGRESS,`>> Polymesh: ${K.nverts()} vertices ${K.npolys()} polygons`),{success:!0,data:j.navMeshData}):n("Failed to create Detour navmesh data")};s.startTimer(I.Module.RC_TIMER_TEMP);const ce=[0,0,0],de=[0,0,0];for(let e=0;e<f;e++)for(let t=0;t<u;t++){ce[0]=c[0]+t*b,ce[1]=c[1],ce[2]=c[2]+e*b,de[0]=c[0]+(t+1)*b,de[1]=d[1],de[2]=c[2]+(e+1)*b;const i=he(t,e,ce,de);if(i.success&&i.data){o.removeTile(o.getTileRefAt(t,e,0));const a=o.addTile(i.data,I.Module.DT_TILE_FREE_DATA,0);I.Detour.statusFailed(a.status)&&(s.log(I.Module.RC_LOG_WARNING,`Failed to add tile to nav mesh\n\ttx: ${t}, ty: ${e},status: ${q(a.status)} (${a.status})`),i.data.free())}}return s.stopTimer(I.Module.RC_TIMER_TEMP),a||l(),{success:!0,navMesh:o,intermediates:r}})(a,s,t,i)},Ae=(e,t={},i=!1)=>{const[a,s]=Ce(e);return Me(a,s,t,i)};export{le as CrowdHelper,he as HeightfieldHelper,ce as NavMeshHelper,de as OffMeshConnectionsHelper,ge as TileCacheHelper,Ce as getPositionsAndIndices,xe as threeToSoloNavMesh,Ae as threeToTileCache,Se as threeToTiledNavMesh};
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{"version":3,"file":"index.mjs","sources":["../src/helpers/crowd-helper.ts","../src/helpers/heightfield-helper.ts","../src/helpers/nav-mesh-helper.ts","../src/helpers/off-mesh-connections-helper.ts","../src/helpers/tile-cache-helper.ts","../../recast-navigation-generators/dist/index.mjs","../src/utils/get-positions-and-indices.ts","../src/utils/generators.ts"],"sourcesContent":["import { Crowd, CrowdAgent } from '@recast-navigation/core';\nimport {\n CylinderGeometry,\n Material,\n Mesh,\n MeshBasicMaterial,\n Object3D,\n Vector3,\n} from 'three';\n\nexport type CrowdHelperParams = {\n crowd: Crowd;\n agentMaterial?: Material;\n};\n\nexport class CrowdHelper extends Object3D {\n agentMeshes: Map<number, Mesh> = new Map();\n\n recastCrowd: Crowd;\n\n agentMaterial: Material;\n\n constructor({ crowd, agentMaterial }: CrowdHelperParams) {\n super();\n\n this.recastCrowd = crowd;\n\n this.agentMaterial =\n agentMaterial ?? new MeshBasicMaterial({ color: 'red' });\n\n this.update();\n }\n\n /**\n * Update the three debug view of the crowd agents.\n *\n * This should be called after updating the crowd.\n */\n update() {\n const agents = this.recastCrowd.getAgents();\n\n const unseen = new Set(this.agentMeshes.keys());\n\n for (const agent of agents) {\n unseen.delete(agent.agentIndex);\n\n const position = agent.position();\n const velocity = agent.velocity();\n\n let agentMesh: Mesh | undefined = this.agentMeshes.get(agent.agentIndex);\n\n if (agentMesh === undefined) {\n agentMesh = this.createAgentMesh(agent);\n\n this.add(agentMesh);\n this.agentMeshes.set(agent.agentIndex, agentMesh);\n } else {\n this.updateAgentGeometry(agentMesh, agent);\n }\n\n agentMesh.position.set(\n position.x,\n position.y + agent.height / 2,\n position.z\n );\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.remove(agentMesh);\n this.agentMeshes.delete(agentId);\n }\n }\n }\n\n private createAgentMesh(agent: CrowdAgent): Mesh {\n const mesh = new Mesh();\n\n mesh.material = this.agentMaterial;\n\n this.updateAgentGeometry(mesh, agent);\n\n mesh.userData = {\n radius: agent.radius,\n height: agent.height,\n };\n\n return mesh;\n }\n\n private updateAgentGeometry(agentMesh: Mesh, agentParams: CrowdAgent) {\n if (\n agentMesh.userData.radius !== agentParams.radius ||\n agentMesh.userData.height !== agentParams.height\n ) {\n const geometry = new CylinderGeometry(\n agentParams.radius,\n agentParams.radius,\n agentParams.height\n );\n\n agentMesh.geometry.dispose();\n agentMesh.geometry = geometry;\n\n agentMesh.userData.radius = agentParams.radius;\n agentMesh.userData.height = agentParams.height;\n }\n }\n}\n","import { RecastHeightfield, RecastSpan } from '@recast-navigation/core';\nimport {\n BoxGeometry,\n Color,\n ColorRepresentation,\n DynamicDrawUsage,\n InstancedMesh,\n Material,\n Matrix4,\n MeshBasicMaterial,\n Object3D,\n Vector3Tuple,\n} from 'three';\n\nconst tmpMatrix4 = new Matrix4();\n\nexport type HeightfieldHelperParams = {\n heightfields: RecastHeightfield[];\n\n /**\n * @default false\n */\n highlightWalkable?: boolean;\n\n /**\n * @default 'blue'\n */\n defaultColor?: ColorRepresentation;\n\n /**\n * @default 'green'\n */\n walkableColor?: ColorRepresentation;\n\n /**\n * @default MeshBasicMaterial\n */\n material?: Material;\n};\n\nexport class HeightfieldHelper extends Object3D {\n heightfields: RecastHeightfield[];\n\n highlightWalkable: boolean;\n\n defaultColor: Color;\n\n walkableColor: Color;\n\n material: Material;\n\n constructor({\n heightfields,\n highlightWalkable = false,\n material = new MeshBasicMaterial(),\n defaultColor = 'blue',\n walkableColor = 'green',\n }: HeightfieldHelperParams) {\n super();\n\n this.heightfields = heightfields;\n this.highlightWalkable = highlightWalkable;\n this.material = material;\n this.defaultColor = new Color(defaultColor);\n this.walkableColor = new Color(walkableColor);\n\n this.update();\n }\n\n update(): void {\n this.clear();\n\n for (const hf of this.heightfields) {\n const orig = hf.bmin();\n const cs = hf.cs();\n const ch = hf.ch();\n\n const width = hf.width();\n const height = hf.height();\n\n const boxes: {\n position: Vector3Tuple;\n walkable: boolean;\n }[] = [];\n\n for (let y = 0; y < height; ++y) {\n for (let x = 0; x < width; ++x) {\n const fx = orig.x + x * cs;\n const fz = orig.z + y * cs;\n\n let span: RecastSpan | null = hf.spans(x + y * width);\n\n while (span) {\n const minX = fx;\n const minY = orig.y + span.smin() * ch;\n const minZ = fz;\n\n const maxX = fx + cs;\n const maxY = orig.y + span.smax() * ch;\n const maxZ = fz + cs;\n\n boxes.push({\n position: [\n (maxX + minX) / 2,\n (maxY + minY) / 2,\n (maxZ + minZ) / 2,\n ],\n walkable: this.highlightWalkable && span.area() !== 0,\n });\n\n span = span.next();\n }\n }\n }\n\n const geometry = new BoxGeometry(cs, ch, cs);\n\n const instancedMesh = new InstancedMesh(\n geometry,\n this.material,\n boxes.length\n );\n instancedMesh.instanceMatrix.setUsage(DynamicDrawUsage);\n\n for (let i = 0; i < boxes.length; i++) {\n const { position, walkable } = boxes[i];\n\n instancedMesh.setMatrixAt(i, tmpMatrix4.setPosition(...position));\n instancedMesh.setColorAt(\n i,\n walkable ? this.walkableColor : this.defaultColor\n );\n }\n\n instancedMesh.instanceMatrix.needsUpdate = true;\n\n if (instancedMesh.instanceColor) {\n instancedMesh.instanceColor.needsUpdate = true;\n }\n\n this.add(instancedMesh);\n }\n }\n}\n","import { NavMesh } from '@recast-navigation/core';\nimport {\n BufferAttribute,\n BufferGeometry,\n Material,\n Mesh,\n MeshBasicMaterial,\n Object3D,\n} from 'three';\n\nexport type NavMeshHelperParams = {\n navMesh: NavMesh;\n navMeshMaterial?: Material;\n};\n\nexport class NavMeshHelper extends Object3D {\n navMesh: NavMesh;\n\n navMeshMaterial: Material;\n\n mesh: Mesh;\n\n geometry: BufferGeometry;\n\n constructor({ navMesh, navMeshMaterial }: NavMeshHelperParams) {\n super();\n\n this.navMesh = navMesh;\n\n this.geometry = new BufferGeometry();\n\n this.navMeshMaterial = navMeshMaterial\n ? navMeshMaterial\n : new MeshBasicMaterial({\n color: 'orange',\n transparent: true,\n opacity: 0.7,\n depthWrite: false,\n });\n\n this.update();\n\n this.mesh = new Mesh(this.geometry, this.navMeshMaterial);\n\n this.add(this.mesh);\n }\n\n /**\n * Update the three debug nav mesh.\n *\n * This should be called after updating the nav mesh.\n */\n update() {\n const [positions, indices] = this.navMesh.getDebugNavMesh();\n\n this.geometry.setAttribute(\n 'position',\n new BufferAttribute(Float32Array.from(positions), 3)\n );\n this.geometry.setIndex(new BufferAttribute(Uint32Array.from(indices), 1));\n this.geometry.computeVertexNormals();\n }\n}\n","import { OffMeshConnectionParams } from '@recast-navigation/core';\nimport {\n BufferGeometry,\n CatmullRomCurve3,\n CircleGeometry,\n Line,\n LineBasicMaterial,\n Material,\n Mesh,\n MeshBasicMaterial,\n Object3D,\n Vector3,\n} from 'three';\n\nexport type OffMeshConnectionsHelperParams = {\n offMeshConnections?: OffMeshConnectionParams[];\n entryCircleMaterial?: Material;\n exitCircleMaterial?: Material;\n lineMaterial?: LineBasicMaterial;\n};\n\nexport class OffMeshConnectionsHelper extends Object3D {\n offMeshConnections: OffMeshConnectionParams[];\n\n entryCircleMaterial: Material;\n\n exitCircleMaterial: Material;\n\n lineMaterial: LineBasicMaterial;\n\n constructor({\n offMeshConnections,\n entryCircleMaterial,\n exitCircleMaterial,\n lineMaterial,\n }: OffMeshConnectionsHelperParams) {\n super();\n\n this.offMeshConnections = offMeshConnections ?? [];\n\n this.entryCircleMaterial =\n entryCircleMaterial ?? new MeshBasicMaterial({ color: 'green' });\n\n this.exitCircleMaterial =\n exitCircleMaterial ?? new MeshBasicMaterial({ color: 'blue' });\n\n this.lineMaterial = lineMaterial ?? new LineBasicMaterial({ color: 'red' });\n\n this.update();\n }\n\n /**\n * Update the three debug view of the off mesh connections.\n */\n update() {\n this.clear();\n\n for (const offMeshConnection of this.offMeshConnections) {\n // start and end circles\n const circleGeometry = new CircleGeometry(offMeshConnection.radius, 16);\n\n const startMesh = new Mesh(circleGeometry, this.entryCircleMaterial);\n startMesh.position.copy(offMeshConnection.startPosition as Vector3);\n startMesh.position.y += 0.001;\n startMesh.rotation.x = -Math.PI / 2;\n this.add(startMesh);\n\n const endMesh = new Mesh(\n circleGeometry,\n offMeshConnection.bidirectional\n ? this.entryCircleMaterial\n : this.exitCircleMaterial\n );\n endMesh.position.copy(offMeshConnection.endPosition as Vector3);\n endMesh.position.y += 0.001;\n endMesh.rotation.x = -Math.PI / 2;\n this.add(endMesh);\n\n // line between points\n const start = new Vector3().copy(\n offMeshConnection.startPosition as Vector3\n );\n const end = new Vector3().copy(offMeshConnection.endPosition as Vector3);\n\n const middle = new Vector3().addVectors(start, end).multiplyScalar(0.5);\n middle.y *= 1.2;\n\n const curve = new CatmullRomCurve3([start, middle, end]);\n const curvePoints = curve.getPoints(50);\n\n const lineGeometry = new BufferGeometry().setFromPoints(curvePoints);\n const line = new Line(lineGeometry, this.lineMaterial);\n\n this.add(line);\n }\n }\n}\n","import { Obstacle, TileCache } from '@recast-navigation/core';\nimport {\n BoxGeometry,\n CylinderGeometry,\n Material,\n Mesh,\n MeshBasicMaterial,\n Object3D,\n Vector3,\n} from 'three';\n\nexport type TileCacheHelperParams = {\n tileCache: TileCache;\n obstacleMaterial?: Material;\n};\n\nexport class TileCacheHelper extends Object3D {\n tileCache: TileCache;\n\n obstacleMeshes: Map<Obstacle, Mesh> = new Map();\n\n obstacleMaterial: Material;\n\n constructor({ tileCache, obstacleMaterial }: TileCacheHelperParams) {\n super();\n\n this.tileCache = tileCache;\n\n this.obstacleMaterial = obstacleMaterial\n ? obstacleMaterial\n : new MeshBasicMaterial({\n color: 'red',\n wireframe: true,\n wireframeLinewidth: 2,\n });\n\n this.update();\n }\n\n /**\n * Update the obstacle meshes.\n *\n * This should be called after adding or removing obstacles.\n */\n update() {\n const unseen = new Set(this.obstacleMeshes.keys());\n\n for (const [, obstacle] of this.tileCache.obstacles) {\n const obstacleMesh = this.obstacleMeshes.get(obstacle);\n\n unseen.delete(obstacle);\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.add(mesh);\n this.obstacleMeshes.set(obstacle, mesh);\n }\n }\n\n for (const obstacle of unseen) {\n const obstacleMesh = this.obstacleMeshes.get(obstacle);\n\n if (obstacleMesh) {\n this.remove(obstacleMesh);\n this.obstacleMeshes.delete(obstacle);\n }\n }\n }\n}\n","import{vec3 as e,recastConfigDefaults as t,RecastBuildContext as i,NavMesh as a,Arrays as l,createRcConfig as r,calcGridSize as s,allocHeightfield as o,createHeightfield as n,markWalkableTriangles as d,rasterizeTriangles as h,filterLowHangingWalkableObstacles as c,filterLedgeSpans as m,filterWalkableLowHeightSpans as g,allocCompactHeightfield as u,buildCompactHeightfield as b,freeHeightfield as f,erodeWalkableArea as S,buildDistanceField as w,buildRegions as M,allocContourSet as y,buildContours as R,Raw as C,allocPolyMesh as x,buildPolyMesh as p,allocPolyMeshDetail as A,buildPolyMeshDetail as k,freeCompactHeightfield as _,freeContourSet as z,NavMeshCreateParams as T,createNavMeshData as v,TileCacheMeshProcess as E,TileCache as H,DetourTileCacheParams as F,NavMeshParams as L,RecastChunkyTriMesh as D,freeHeightfieldLayerSet as O,cloneRcConfig as P,allocHeightfieldLayerSet as I,buildHeightfieldLayers as $,getHeightfieldLayerHeights as G,getHeightfieldLayerAreas as N,getHeightfieldLayerCons as W,buildTileCacheLayer as B,dtStatusToReadableString as V}from\"@recast-navigation/core\";const K=(t,i)=>{const a={x:1/0,y:1/0,z:1/0},l={x:-1/0,y:-1/0,z:-1/0};for(let e=0;e<i.length;e++){const r=i[e],s=t[3*r],o=t[3*r+1],n=t[3*r+2];a.x=Math.min(a.x,s),a.y=Math.min(a.y,o),a.z=Math.min(a.z,n),l.x=Math.max(l.x,s),l.y=Math.max(l.y,o),l.z=Math.max(l.z,n)}return{bbMin:e.toArray(a),bbMax:e.toArray(l)}},X=e=>{let t=0,i=0;return t=Number(e>65535)<<4,e>>=t,i=Number(e>255)<<3,e>>=i,t|=i,i=Number(e>15)<<2,e>>=i,t|=i,i=Number(e>3)<<1,t|=i,t|=(e>>=i)>>1,t},Y=e=>(e--,e|=e>>1,e|=e>>2,e|=e>>4,e|=e>>8,e|=e>>16,++e),U={...t},Z=(e,t,E={},H=!1)=>{const F=new i,L={type:\"solo\",buildContext:F},D=new a,O=e=>(H||(L.heightfield&&(f(L.heightfield),L.heightfield=void 0),L.compactHeightfield&&(_(L.compactHeightfield),L.compactHeightfield=void 0),L.contourSet&&(z(L.contourSet),L.contourSet=void 0)),D.destroy(),{navMesh:void 0,success:!1,intermediates:L,error:e}),P=e,I=t.length,$=new l.VertsArray;$.copy(P,P.length);const G=t,N=t.length/3,W=new l.TrisArray;W.copy(G,G.length);const{bbMin:B,bbMax:V}=K(e,t),X=r({...U,...E});X.minRegionArea=X.minRegionArea*X.minRegionArea,X.mergeRegionArea=X.mergeRegionArea*X.mergeRegionArea,X.detailSampleDist=X.detailSampleDist<.9?0:X.cs*X.detailSampleDist,X.detailSampleMaxError=X.ch*X.detailSampleMaxError;const Y=s(B,V,X.cs);X.width=Y.width,X.height=Y.height;const Z=o();if(L.heightfield=Z,!n(F,Z,X.width,X.height,B,V,X.cs,X.ch))return O(\"Could not create heightfield\");const j=new l.TriAreasArray;if(j.resize(N),d(F,X.walkableSlopeAngle,$,I,W,N,j),!h(F,$,I,W,j,N,Z,X.walkableClimb))return O(\"Could not rasterize triangles\");j.free(),c(F,X.walkableClimb,Z),m(F,X.walkableHeight,X.walkableClimb,Z),g(F,X.walkableHeight,Z);const q=u();if(L.compactHeightfield=q,!b(F,X.walkableHeight,X.walkableClimb,Z,q))return O(\"Failed to build compact data\");if(H||(f(Z),L.heightfield=void 0),!S(F,X.walkableRadius,q))return O(\"Failed to erode walkable area\");if(!w(F,q))return O(\"Failed to build distance field\");if(!M(F,q,X.borderSize,X.minRegionArea,X.mergeRegionArea))return O(\"Failed to build regions\");const J=y();if(L.contourSet=J,!R(F,q,X.maxSimplificationError,X.maxEdgeLen,J,C.Module.RC_CONTOUR_TESS_WALL_EDGES))return O(\"Failed to create contours\");const Q=x();if(!p(F,J,X.maxVertsPerPoly,Q))return O(\"Failed to triangulate contours\");const ee=A();if(!k(F,Q,q,X.detailSampleDist,X.detailSampleMaxError,ee))return O(\"Failed to build detail mesh\");H||(_(q),L.compactHeightfield=void 0,z(J),L.contourSet=void 0);for(let e=0;e<Q.npolys();e++)Q.areas(e)==C.Recast.WALKABLE_AREA&&Q.setAreas(e,0),0==Q.areas(e)&&Q.setFlags(e,1);const te=new T;te.setPolyMeshCreateParams(Q),te.setPolyMeshDetailCreateParams(ee),te.setWalkableHeight(X.walkableHeight),te.setWalkableRadius(X.walkableRadius),te.setWalkableClimb(X.walkableClimb),te.setCellSize(X.cs),te.setCellHeight(X.ch),te.setBuildBvTree(!0),E.offMeshConnections&&te.setOffMeshConnections(E.offMeshConnections);const ie=v(te);if(!ie.success)return O(\"Failed to create Detour navmesh data\");const{navMeshData:ae}=ie;return D.initSolo(ae)?{success:!0,navMesh:D,intermediates:L}:O(\"Failed to create Detour navmesh\")},j={...t,tileSize:32,expectedLayersPerTile:4,maxObstacles:128},q=()=>new E(((e,t,i)=>{for(let a=0;a<e.polyCount();++a)t.set(a,0),i.set(a,1)})),J=(t,w,M={},y=!1)=>{const R=new i,x={type:\"tilecache\",buildContext:R,chunkyTriMesh:void 0,tileIntermediates:[]},p=new H,A=new a,k=()=>{if(!y)for(let e=0;e<x.tileIntermediates.length;e++){const t=x.tileIntermediates[e];t.heightfield&&(f(t.heightfield),t.heightfield=void 0),t.compactHeightfield&&(_(t.compactHeightfield),t.compactHeightfield=void 0),t.heightfieldLayerSet&&(O(t.heightfieldLayerSet),t.heightfieldLayerSet=void 0)}},z=e=>(k(),p.destroy(),A.destroy(),{success:!1,navMesh:void 0,tileCache:void 0,intermediates:x,error:e}),T=t,v=w.length,E=new l.VertsArray;E.copy(T,T.length);const V=w,U=w.length/3,Z=new l.TrisArray;Z.copy(V,V.length);const{bbMin:J,bbMax:Q}=K(t,w),{expectedLayersPerTile:ee,maxObstacles:te,...ie}={...j,...M},ae=r(ie),le=s(J,Q,ae.cs);ae.width=le.width,ae.height=le.height,ae.minRegionArea=ae.minRegionArea*ae.minRegionArea,ae.mergeRegionArea=ae.mergeRegionArea*ae.mergeRegionArea,ae.detailSampleDist=ae.detailSampleDist<.9?0:ae.cs*ae.detailSampleDist,ae.detailSampleMaxError=ae.ch*ae.detailSampleMaxError;const re=Math.floor(ae.tileSize),se=Math.floor((ae.width+re-1)/re),oe=Math.floor((ae.height+re-1)/re);ae.borderSize=ae.walkableRadius+3,ae.width=ae.tileSize+2*ae.borderSize,ae.height=ae.tileSize+2*ae.borderSize;const ne=F.create({orig:J,cs:ae.cs,ch:ae.ch,width:ae.tileSize,height:ae.tileSize,walkableHeight:ae.walkableHeight,walkableRadius:ae.walkableRadius,walkableClimb:ae.walkableClimb,maxSimplificationError:ae.maxSimplificationError,maxTiles:se*oe*ee,maxObstacles:te}),de=new C.RecastLinearAllocator(32e3),he=new C.RecastFastLZCompressor,ce=M.tileCacheMeshProcess??q();if(!p.init(ne,de,he,ce))return z(\"Failed to initialize tile cache\");const me=e.fromArray(J);let ge=Math.min(Math.floor(X(Y(se*oe*ee))),14);ge>14&&(ge=14);const ue=1<<ge,be=1<<22-ge,fe=L.create({orig:me,tileWidth:ae.tileSize*ae.cs,tileHeight:ae.tileSize*ae.cs,maxTiles:ue,maxPolys:be});if(!A.initTiled(fe))return z(\"Failed to initialize tiled navmesh\");const Se=new D;if(x.chunkyTriMesh=Se,!Se.init(E,Z,U,256))return z(\"Failed to build chunky triangle mesh\");const we=(e,t)=>{const i={tileX:e,tileY:t},a=ae.tileSize*ae.cs,r=P(ae),s=[J[0]+e*a,J[1],J[2]+t*a],w=[J[0]+(e+1)*a,Q[1],J[2]+(t+1)*a];s[0]-=r.borderSize*r.cs,s[2]-=r.borderSize*r.cs,w[0]+=r.borderSize*r.cs,w[2]+=r.borderSize*r.cs,r.set_bmin(0,s[0]),r.set_bmin(1,s[1]),r.set_bmin(2,s[2]),r.set_bmax(0,w[0]),r.set_bmax(1,w[1]),r.set_bmax(2,w[2]);const M=o();if(i.heightfield=M,!n(R,M,r.width,r.height,s,w,r.cs,r.ch))return{n:0};const p=[s[0],s[2]],A=[w[0],w[2]],k=new 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o=r.bmin(),n=r.bmax();s.set_bmin(0,o.x),s.set_bmin(1,o.y),s.set_bmin(2,o.z),s.set_bmax(0,n.x),s.set_bmax(1,n.y),s.set_bmax(2,n.z),s.width=r.width(),s.height=r.height(),s.minx=r.minx(),s.maxx=r.maxx(),s.miny=r.miny(),s.maxy=r.maxy(),s.hmin=r.hmin(),s.hmax=r.hmax();const d=G(r),h=N(r),c=W(r),m=B(he,s,d,h,c,a);if(C.Detour.statusFailed(m))return{n:0};F.push(a)}return y||(O(H),i.heightfieldLayerSet=void 0),x.tileIntermediates.push(i),{n:F.length,tiles:F}};for(let e=0;e<oe;++e)for(let t=0;t<se;++t){const{n:i,tiles:a}=we(t,e);if(i>0&&a)for(let l=0;l<i;l++){const i=a[l],r=p.addTile(i);C.Detour.statusFailed(r.status)&&R.log(C.Module.RC_LOG_WARNING,`Failed to add tile to tile cache - tx: ${t}, ty: ${e}`)}}for(let e=0;e<oe;e++)for(let t=0;t<se;t++){const i=p.buildNavMeshTilesAt(t,e,A);if(C.Detour.statusFailed(i))return z(`Failed to build nav mesh tiles at ${t}, ${e}`)}return k(),{success:!0,tileCache:p,navMesh:A,intermediates:x}},Q={...t},ee=(t,E,H={},F=!1)=>{const O=new 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0),!S(O,E.walkableRadius,K))return r(\"Could not erode walkable area\");if(!w(O,K))return r(\"Failed to build distance field\");if(!M(O,K,E.borderSize,E.minRegionArea,E.mergeRegionArea))return r(\"Failed to build regions\");const X=y();if(s.contourSet=X,!R(O,K,E.maxSimplificationError,E.maxEdgeLen,X,C.Module.RC_CONTOUR_TESS_WALL_EDGES))return r(\"Failed to create contours\");const Y=x();if(!p(O,X,E.maxVertsPerPoly,Y))return r(\"Failed to triangulate contours\");const U=A();if(!k(O,Y,K,E.detailSampleDist,E.detailSampleMaxError,U))return r(\"Failed to build detail mesh\");F||(_(K),s.compactHeightfield=void 0,z(X),s.contourSet=void 0);for(let e=0;e<Y.npolys();e++)Y.areas(e)==C.Recast.WALKABLE_AREA&&Y.setAreas(e,0),0==Y.areas(e)&&Y.setFlags(e,1);const Z=new 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`${pos.x}_${pos.y}_${pos.z}`;\n let idx = positionToIndex[key];\n\n if (!idx) {\n positionToIndex[key] = idx = indexCounter;\n mergedPositions.push(pos.x, pos.y, pos.z);\n indexCounter++;\n }\n\n mergedIndices.push(idx);\n }\n }\n\n return [Float32Array.from(mergedPositions), Uint32Array.from(mergedIndices)];\n};\n","import {\n SoloNavMeshGeneratorConfig,\n TileCacheGeneratorConfig,\n TiledNavMeshGeneratorConfig,\n generateSoloNavMesh,\n generateTileCache,\n generateTiledNavMesh\n} from '@recast-navigation/generators';\nimport { Mesh } from 'three';\nimport { getPositionsAndIndices } from './get-positions-and-indices';\n\nexport const threeToSoloNavMesh = (\n meshes: Mesh[],\n navMeshGeneratorConfig: Partial<SoloNavMeshGeneratorConfig> = {},\n keepIntermediates = false\n) => {\n const [positions, indices] = getPositionsAndIndices(meshes);\n\n return generateSoloNavMesh(\n positions,\n indices,\n navMeshGeneratorConfig,\n keepIntermediates\n );\n};\n\nexport const threeToTiledNavMesh = 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{"version":3,"file":"index.mjs","sources":["../src/helpers/crowd-helper.ts","../src/helpers/heightfield-helper.ts","../src/helpers/nav-mesh-helper.ts","../src/helpers/off-mesh-connections-helper.ts","../src/helpers/tile-cache-helper.ts","../../recast-navigation-generators/dist/index.mjs","../src/utils/get-positions-and-indices.ts","../src/utils/generators.ts"],"sourcesContent":["import { Crowd, CrowdAgent } from '@recast-navigation/core';\nimport {\n CylinderGeometry,\n Material,\n Mesh,\n MeshBasicMaterial,\n Object3D,\n Vector3,\n} from 'three';\n\nexport type CrowdHelperParams = {\n crowd: Crowd;\n agentMaterial?: Material;\n};\n\nexport class CrowdHelper extends Object3D {\n agentMeshes: Map<number, Mesh> = new Map();\n\n recastCrowd: Crowd;\n\n agentMaterial: Material;\n\n constructor({ crowd, agentMaterial }: CrowdHelperParams) {\n super();\n\n this.recastCrowd = crowd;\n\n this.agentMaterial =\n agentMaterial ?? new MeshBasicMaterial({ color: 'red' });\n\n this.update();\n }\n\n /**\n * Update the three debug view of the crowd agents.\n *\n * This should be called after updating the crowd.\n */\n update() {\n const agents = this.recastCrowd.getAgents();\n\n const unseen = new Set(this.agentMeshes.keys());\n\n for (const agent of agents) {\n unseen.delete(agent.agentIndex);\n\n const position = agent.position();\n const velocity = agent.velocity();\n\n let agentMesh: Mesh | undefined = this.agentMeshes.get(agent.agentIndex);\n\n if (agentMesh === undefined) {\n agentMesh = this.createAgentMesh(agent);\n\n this.add(agentMesh);\n this.agentMeshes.set(agent.agentIndex, agentMesh);\n } else {\n this.updateAgentGeometry(agentMesh, agent);\n }\n\n agentMesh.position.set(\n position.x,\n position.y + agent.height / 2,\n position.z\n );\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.remove(agentMesh);\n this.agentMeshes.delete(agentId);\n }\n }\n }\n\n private createAgentMesh(agent: CrowdAgent): Mesh {\n const mesh = new Mesh();\n\n mesh.material = this.agentMaterial;\n\n this.updateAgentGeometry(mesh, agent);\n\n mesh.userData = {\n radius: agent.radius,\n height: agent.height,\n };\n\n return mesh;\n }\n\n private updateAgentGeometry(agentMesh: Mesh, agentParams: CrowdAgent) {\n if (\n agentMesh.userData.radius !== agentParams.radius ||\n agentMesh.userData.height !== agentParams.height\n ) {\n const geometry = new CylinderGeometry(\n agentParams.radius,\n agentParams.radius,\n agentParams.height\n );\n\n agentMesh.geometry.dispose();\n agentMesh.geometry = geometry;\n\n agentMesh.userData.radius = agentParams.radius;\n agentMesh.userData.height = agentParams.height;\n }\n }\n}\n","import { RecastHeightfield, RecastSpan } from '@recast-navigation/core';\nimport {\n BoxGeometry,\n Color,\n ColorRepresentation,\n DynamicDrawUsage,\n InstancedMesh,\n Material,\n Matrix4,\n MeshBasicMaterial,\n Object3D,\n Vector3Tuple,\n} from 'three';\n\nconst tmpMatrix4 = new Matrix4();\n\nexport type HeightfieldHelperParams = {\n heightfields: RecastHeightfield[];\n\n /**\n * @default false\n */\n highlightWalkable?: boolean;\n\n /**\n * @default 'blue'\n */\n defaultColor?: ColorRepresentation;\n\n /**\n * @default 'green'\n */\n walkableColor?: ColorRepresentation;\n\n /**\n * @default MeshBasicMaterial\n */\n material?: Material;\n};\n\nexport class HeightfieldHelper extends Object3D {\n heightfields: RecastHeightfield[];\n\n highlightWalkable: boolean;\n\n defaultColor: Color;\n\n walkableColor: Color;\n\n material: Material;\n\n constructor({\n heightfields,\n highlightWalkable = false,\n material = new MeshBasicMaterial(),\n defaultColor = 'blue',\n walkableColor = 'green',\n }: HeightfieldHelperParams) {\n super();\n\n this.heightfields = heightfields;\n this.highlightWalkable = highlightWalkable;\n this.material = material;\n this.defaultColor = new Color(defaultColor);\n this.walkableColor = new Color(walkableColor);\n\n this.update();\n }\n\n update(): void {\n this.clear();\n\n for (const hf of this.heightfields) {\n const orig = hf.bmin();\n const cs = hf.cs();\n const ch = hf.ch();\n\n const width = hf.width();\n const height = hf.height();\n\n const boxes: {\n position: Vector3Tuple;\n walkable: boolean;\n }[] = [];\n\n for (let y = 0; y < height; ++y) {\n for (let x = 0; x < width; ++x) {\n const fx = orig.x + x * cs;\n const fz = orig.z + y * cs;\n\n let span: RecastSpan | null = hf.spans(x + y * width);\n\n while (span) {\n const minX = fx;\n const minY = orig.y + span.smin() * ch;\n const minZ = fz;\n\n const maxX = fx + cs;\n const maxY = orig.y + span.smax() * ch;\n const maxZ = fz + cs;\n\n boxes.push({\n position: [\n (maxX + minX) / 2,\n (maxY + minY) / 2,\n (maxZ + minZ) / 2,\n ],\n walkable: this.highlightWalkable && span.area() !== 0,\n });\n\n span = span.next();\n }\n }\n }\n\n const geometry = new BoxGeometry(cs, ch, cs);\n\n const instancedMesh = new InstancedMesh(\n geometry,\n this.material,\n boxes.length\n );\n instancedMesh.instanceMatrix.setUsage(DynamicDrawUsage);\n\n for (let i = 0; i < boxes.length; i++) {\n const { position, walkable } = boxes[i];\n\n instancedMesh.setMatrixAt(i, tmpMatrix4.setPosition(...position));\n instancedMesh.setColorAt(\n i,\n walkable ? this.walkableColor : this.defaultColor\n );\n }\n\n instancedMesh.instanceMatrix.needsUpdate = true;\n\n if (instancedMesh.instanceColor) {\n instancedMesh.instanceColor.needsUpdate = true;\n }\n\n this.add(instancedMesh);\n }\n }\n}\n","import { NavMesh } from '@recast-navigation/core';\nimport {\n BufferAttribute,\n BufferGeometry,\n Material,\n Mesh,\n MeshBasicMaterial,\n Object3D,\n} from 'three';\n\nexport type NavMeshHelperParams = {\n navMesh: NavMesh;\n navMeshMaterial?: Material;\n};\n\nexport class NavMeshHelper extends Object3D {\n navMesh: NavMesh;\n\n navMeshMaterial: Material;\n\n mesh: Mesh;\n\n geometry: BufferGeometry;\n\n constructor({ navMesh, navMeshMaterial }: NavMeshHelperParams) {\n super();\n\n this.navMesh = navMesh;\n\n this.geometry = new BufferGeometry();\n\n this.navMeshMaterial = navMeshMaterial\n ? navMeshMaterial\n : new MeshBasicMaterial({\n color: 'orange',\n transparent: true,\n opacity: 0.7,\n depthWrite: false,\n });\n\n this.update();\n\n this.mesh = new Mesh(this.geometry, this.navMeshMaterial);\n\n this.add(this.mesh);\n }\n\n /**\n * Update the three debug nav mesh.\n *\n * This should be called after updating the nav mesh.\n */\n update() {\n const [positions, indices] = this.navMesh.getDebugNavMesh();\n\n this.geometry.setAttribute(\n 'position',\n new BufferAttribute(Float32Array.from(positions), 3)\n );\n this.geometry.setIndex(new BufferAttribute(Uint32Array.from(indices), 1));\n this.geometry.computeVertexNormals();\n }\n}\n","import { OffMeshConnectionParams } from '@recast-navigation/core';\nimport {\n BufferGeometry,\n CatmullRomCurve3,\n CircleGeometry,\n Line,\n LineBasicMaterial,\n Material,\n Mesh,\n MeshBasicMaterial,\n Object3D,\n Vector3,\n} from 'three';\n\nexport type OffMeshConnectionsHelperParams = {\n offMeshConnections?: OffMeshConnectionParams[];\n entryCircleMaterial?: Material;\n exitCircleMaterial?: Material;\n lineMaterial?: LineBasicMaterial;\n};\n\nexport class OffMeshConnectionsHelper extends Object3D {\n offMeshConnections: OffMeshConnectionParams[];\n\n entryCircleMaterial: Material;\n\n exitCircleMaterial: Material;\n\n lineMaterial: LineBasicMaterial;\n\n constructor({\n offMeshConnections,\n entryCircleMaterial,\n exitCircleMaterial,\n lineMaterial,\n }: OffMeshConnectionsHelperParams) {\n super();\n\n this.offMeshConnections = offMeshConnections ?? [];\n\n this.entryCircleMaterial =\n entryCircleMaterial ?? new MeshBasicMaterial({ color: 'green' });\n\n this.exitCircleMaterial =\n exitCircleMaterial ?? new MeshBasicMaterial({ color: 'blue' });\n\n this.lineMaterial = lineMaterial ?? new LineBasicMaterial({ color: 'red' });\n\n this.update();\n }\n\n /**\n * Update the three debug view of the off mesh connections.\n */\n update() {\n this.clear();\n\n for (const offMeshConnection of this.offMeshConnections) {\n // start and end circles\n const circleGeometry = new CircleGeometry(offMeshConnection.radius, 16);\n\n const startMesh = new Mesh(circleGeometry, this.entryCircleMaterial);\n startMesh.position.copy(offMeshConnection.startPosition as Vector3);\n startMesh.position.y += 0.001;\n startMesh.rotation.x = -Math.PI / 2;\n this.add(startMesh);\n\n const endMesh = new Mesh(\n circleGeometry,\n offMeshConnection.bidirectional\n ? this.entryCircleMaterial\n : this.exitCircleMaterial\n );\n endMesh.position.copy(offMeshConnection.endPosition as Vector3);\n endMesh.position.y += 0.001;\n endMesh.rotation.x = -Math.PI / 2;\n this.add(endMesh);\n\n // line between points\n const start = new Vector3().copy(\n offMeshConnection.startPosition as Vector3\n );\n const end = new Vector3().copy(offMeshConnection.endPosition as Vector3);\n\n const middle = new Vector3().addVectors(start, end).multiplyScalar(0.5);\n middle.y *= 1.2;\n\n const curve = new CatmullRomCurve3([start, middle, end]);\n const curvePoints = curve.getPoints(50);\n\n const lineGeometry = new BufferGeometry().setFromPoints(curvePoints);\n const line = new Line(lineGeometry, this.lineMaterial);\n\n this.add(line);\n }\n }\n}\n","import { Obstacle, TileCache } from '@recast-navigation/core';\nimport {\n BoxGeometry,\n CylinderGeometry,\n Material,\n Mesh,\n MeshBasicMaterial,\n Object3D,\n Vector3,\n} from 'three';\n\nexport type TileCacheHelperParams = {\n tileCache: TileCache;\n obstacleMaterial?: Material;\n};\n\nexport class TileCacheHelper extends Object3D {\n tileCache: TileCache;\n\n obstacleMeshes: Map<Obstacle, Mesh> = new Map();\n\n obstacleMaterial: Material;\n\n constructor({ tileCache, obstacleMaterial }: TileCacheHelperParams) {\n super();\n\n this.tileCache = tileCache;\n\n this.obstacleMaterial = obstacleMaterial\n ? obstacleMaterial\n : new MeshBasicMaterial({\n color: 'red',\n wireframe: true,\n wireframeLinewidth: 2,\n });\n\n this.update();\n }\n\n /**\n * Update the obstacle meshes.\n *\n * This should be called after adding or removing obstacles.\n */\n update() {\n const unseen = new Set(this.obstacleMeshes.keys());\n\n for (const [, obstacle] of this.tileCache.obstacles) {\n const obstacleMesh = this.obstacleMeshes.get(obstacle);\n\n unseen.delete(obstacle);\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.add(mesh);\n this.obstacleMeshes.set(obstacle, mesh);\n }\n }\n\n for (const obstacle of unseen) {\n const obstacleMesh = this.obstacleMeshes.get(obstacle);\n\n if (obstacleMesh) {\n this.remove(obstacleMesh);\n this.obstacleMeshes.delete(obstacle);\n }\n }\n }\n}\n","import{vec3 as e,recastConfigDefaults as t,RecastBuildContext as i,NavMesh as a,Arrays as l,createRcConfig as r,calcGridSize as s,allocHeightfield as o,createHeightfield as n,markWalkableTriangles as d,rasterizeTriangles as h,filterLowHangingWalkableObstacles as c,filterLedgeSpans as m,filterWalkableLowHeightSpans as g,allocCompactHeightfield as u,buildCompactHeightfield as b,freeHeightfield as f,erodeWalkableArea as S,buildDistanceField as w,buildRegions as M,allocContourSet as y,buildContours as R,Raw as C,allocPolyMesh as x,buildPolyMesh as p,allocPolyMeshDetail as A,buildPolyMeshDetail as k,freeCompactHeightfield as _,freeContourSet as z,NavMeshCreateParams as T,createNavMeshData as v,TileCacheMeshProcess as E,TileCache as H,DetourTileCacheParams as F,NavMeshParams as L,RecastChunkyTriMesh as D,freeHeightfieldLayerSet as O,cloneRcConfig as P,allocHeightfieldLayerSet as I,buildHeightfieldLayers as $,getHeightfieldLayerHeights as G,getHeightfieldLayerAreas as N,getHeightfieldLayerCons as W,buildTileCacheLayer as B,statusToReadableString as V}from\"@recast-navigation/core\";const K=(t,i)=>{const a={x:1/0,y:1/0,z:1/0},l={x:-1/0,y:-1/0,z:-1/0};for(let e=0;e<i.length;e++){const r=i[e],s=t[3*r],o=t[3*r+1],n=t[3*r+2];a.x=Math.min(a.x,s),a.y=Math.min(a.y,o),a.z=Math.min(a.z,n),l.x=Math.max(l.x,s),l.y=Math.max(l.y,o),l.z=Math.max(l.z,n)}return{bbMin:e.toArray(a),bbMax:e.toArray(l)}},X=e=>{let t=0,i=0;return t=Number(e>65535)<<4,e>>=t,i=Number(e>255)<<3,e>>=i,t|=i,i=Number(e>15)<<2,e>>=i,t|=i,i=Number(e>3)<<1,t|=i,t|=(e>>=i)>>1,t},Y=e=>(e--,e|=e>>1,e|=e>>2,e|=e>>4,e|=e>>8,e|=e>>16,++e),U={...t},Z=(e,t,E={},H=!1)=>{const F=new i,L={type:\"solo\",buildContext:F},D=new a,O=e=>(H||(L.heightfield&&(f(L.heightfield),L.heightfield=void 0),L.compactHeightfield&&(_(L.compactHeightfield),L.compactHeightfield=void 0),L.contourSet&&(z(L.contourSet),L.contourSet=void 0)),D.destroy(),{navMesh:void 0,success:!1,intermediates:L,error:e}),P=e,I=t.length,$=new l.VertsArray;$.copy(P,P.length);const G=t,N=t.length/3,W=new l.TrisArray;W.copy(G,G.length);const{bbMin:B,bbMax:V}=K(e,t),X=r({...U,...E});X.minRegionArea=X.minRegionArea*X.minRegionArea,X.mergeRegionArea=X.mergeRegionArea*X.mergeRegionArea,X.detailSampleDist=X.detailSampleDist<.9?0:X.cs*X.detailSampleDist,X.detailSampleMaxError=X.ch*X.detailSampleMaxError;const Y=s(B,V,X.cs);X.width=Y.width,X.height=Y.height;const Z=o();if(L.heightfield=Z,!n(F,Z,X.width,X.height,B,V,X.cs,X.ch))return O(\"Could not create heightfield\");const j=new l.TriAreasArray;if(j.resize(N),d(F,X.walkableSlopeAngle,$,I,W,N,j),!h(F,$,I,W,j,N,Z,X.walkableClimb))return O(\"Could not rasterize triangles\");j.free(),c(F,X.walkableClimb,Z),m(F,X.walkableHeight,X.walkableClimb,Z),g(F,X.walkableHeight,Z);const q=u();if(L.compactHeightfield=q,!b(F,X.walkableHeight,X.walkableClimb,Z,q))return O(\"Failed to build compact data\");if(H||(f(Z),L.heightfield=void 0),!S(F,X.walkableRadius,q))return O(\"Failed to erode walkable area\");if(!w(F,q))return O(\"Failed to build distance field\");if(!M(F,q,X.borderSize,X.minRegionArea,X.mergeRegionArea))return O(\"Failed to build regions\");const J=y();if(L.contourSet=J,!R(F,q,X.maxSimplificationError,X.maxEdgeLen,J,C.Module.RC_CONTOUR_TESS_WALL_EDGES))return O(\"Failed to create contours\");const Q=x();if(!p(F,J,X.maxVertsPerPoly,Q))return O(\"Failed to triangulate contours\");const ee=A();if(!k(F,Q,q,X.detailSampleDist,X.detailSampleMaxError,ee))return O(\"Failed to build detail mesh\");H||(_(q),L.compactHeightfield=void 0,z(J),L.contourSet=void 0);for(let e=0;e<Q.npolys();e++)Q.areas(e)==C.Recast.WALKABLE_AREA&&Q.setAreas(e,0),0==Q.areas(e)&&Q.setFlags(e,1);const te=new T;te.setPolyMeshCreateParams(Q),te.setPolyMeshDetailCreateParams(ee),te.setWalkableHeight(X.walkableHeight),te.setWalkableRadius(X.walkableRadius),te.setWalkableClimb(X.walkableClimb),te.setCellSize(X.cs),te.setCellHeight(X.ch),te.setBuildBvTree(!0),E.offMeshConnections&&te.setOffMeshConnections(E.offMeshConnections);const ie=v(te);if(!ie.success)return O(\"Failed to create Detour navmesh data\");const{navMeshData:ae}=ie;return D.initSolo(ae)?{success:!0,navMesh:D,intermediates:L}:O(\"Failed to create Detour navmesh\")},j={...t,tileSize:32,expectedLayersPerTile:4,maxObstacles:128},q=()=>new E(((e,t,i)=>{for(let a=0;a<e.polyCount();++a)t.set(a,0),i.set(a,1)})),J=(t,w,M={},y=!1)=>{const R=new i,x={type:\"tilecache\",buildContext:R,chunkyTriMesh:void 0,tileIntermediates:[]},p=new H,A=new a,k=()=>{if(!y)for(let e=0;e<x.tileIntermediates.length;e++){const t=x.tileIntermediates[e];t.heightfield&&(f(t.heightfield),t.heightfield=void 0),t.compactHeightfield&&(_(t.compactHeightfield),t.compactHeightfield=void 0),t.heightfieldLayerSet&&(O(t.heightfieldLayerSet),t.heightfieldLayerSet=void 0)}},z=e=>(k(),p.destroy(),A.destroy(),{success:!1,navMesh:void 0,tileCache:void 0,intermediates:x,error:e}),T=t,v=w.length,E=new l.VertsArray;E.copy(T,T.length);const V=w,U=w.length/3,Z=new l.TrisArray;Z.copy(V,V.length);const{bbMin:J,bbMax:Q}=K(t,w),{expectedLayersPerTile:ee,maxObstacles:te,...ie}={...j,...M},ae=r(ie),le=s(J,Q,ae.cs);ae.width=le.width,ae.height=le.height,ae.minRegionArea=ae.minRegionArea*ae.minRegionArea,ae.mergeRegionArea=ae.mergeRegionArea*ae.mergeRegionArea,ae.detailSampleDist=ae.detailSampleDist<.9?0:ae.cs*ae.detailSampleDist,ae.detailSampleMaxError=ae.ch*ae.detailSampleMaxError;const re=Math.floor(ae.tileSize),se=Math.floor((ae.width+re-1)/re),oe=Math.floor((ae.height+re-1)/re);ae.borderSize=ae.walkableRadius+3,ae.width=ae.tileSize+2*ae.borderSize,ae.height=ae.tileSize+2*ae.borderSize;const ne=F.create({orig:J,cs:ae.cs,ch:ae.ch,width:ae.tileSize,height:ae.tileSize,walkableHeight:ae.walkableHeight,walkableRadius:ae.walkableRadius,walkableClimb:ae.walkableClimb,maxSimplificationError:ae.maxSimplificationError,maxTiles:se*oe*ee,maxObstacles:te}),de=new C.RecastLinearAllocator(32e3),he=new C.RecastFastLZCompressor,ce=M.tileCacheMeshProcess??q();if(!p.init(ne,de,he,ce))return z(\"Failed to initialize tile cache\");const me=e.fromArray(J);let ge=Math.min(Math.floor(X(Y(se*oe*ee))),14);ge>14&&(ge=14);const ue=1<<ge,be=1<<22-ge,fe=L.create({orig:me,tileWidth:ae.tileSize*ae.cs,tileHeight:ae.tileSize*ae.cs,maxTiles:ue,maxPolys:be});if(!A.initTiled(fe))return z(\"Failed to initialize tiled navmesh\");const Se=new D;if(x.chunkyTriMesh=Se,!Se.init(E,Z,U,256))return z(\"Failed to build chunky triangle mesh\");const we=(e,t)=>{const i={tileX:e,tileY:t},a=ae.tileSize*ae.cs,r=P(ae),s=[J[0]+e*a,J[1],J[2]+t*a],w=[J[0]+(e+1)*a,Q[1],J[2]+(t+1)*a];s[0]-=r.borderSize*r.cs,s[2]-=r.borderSize*r.cs,w[0]+=r.borderSize*r.cs,w[2]+=r.borderSize*r.cs,r.set_bmin(0,s[0]),r.set_bmin(1,s[1]),r.set_bmin(2,s[2]),r.set_bmax(0,w[0]),r.set_bmax(1,w[1]),r.set_bmax(2,w[2]);const M=o();if(i.heightfield=M,!n(R,M,r.width,r.height,s,w,r.cs,r.ch))return{n:0};const p=[s[0],s[2]],A=[w[0],w[2]],k=new l.ChunkIdsArray;k.resize(512);const z=Se.getChunksOverlappingRect(p,A,k,512);if(0===z)return{n:0};for(let e=0;e<z;++e){const t=k.get_data(e),i=Se.nodes(t).n,a=Se.getNodeTris(t),s=new l.TriAreasArray;s.resize(i),d(R,r.walkableSlopeAngle,E,v,a,i,s);const o=h(R,E,v,a,s,i,M,r.walkableClimb);if(s.free(),!o)return{n:0}}c(R,ae.walkableClimb,M),m(R,ae.walkableHeight,ae.walkableClimb,M),g(R,ae.walkableHeight,M);const T=u();if(!b(R,ae.walkableHeight,ae.walkableClimb,M,T))return{n:0};if(y||(f(i.heightfield),i.heightfield=void 0),!S(R,ae.walkableRadius,T))return{n:0};const H=I();if(!$(R,T,ae.borderSize,ae.walkableHeight,H))return{n:0};y||(_(T),i.compactHeightfield=void 0);const F=[];for(let i=0;i<H.nlayers();i++){const a=new l.TileCacheData,r=H.layers(i),s=new C.dtTileCacheLayerHeader;s.magic=C.Detour.TILECACHE_MAGIC,s.version=C.Detour.TILECACHE_VERSION,s.tx=e,s.ty=t,s.tlayer=i;const o=r.bmin(),n=r.bmax();s.set_bmin(0,o.x),s.set_bmin(1,o.y),s.set_bmin(2,o.z),s.set_bmax(0,n.x),s.set_bmax(1,n.y),s.set_bmax(2,n.z),s.width=r.width(),s.height=r.height(),s.minx=r.minx(),s.maxx=r.maxx(),s.miny=r.miny(),s.maxy=r.maxy(),s.hmin=r.hmin(),s.hmax=r.hmax();const d=G(r),h=N(r),c=W(r),m=B(he,s,d,h,c,a);if(C.Detour.statusFailed(m))return{n:0};F.push(a)}return y||(O(H),i.heightfieldLayerSet=void 0),x.tileIntermediates.push(i),{n:F.length,tiles:F}};for(let e=0;e<oe;++e)for(let t=0;t<se;++t){const{n:i,tiles:a}=we(t,e);if(i>0&&a)for(let l=0;l<i;l++){const i=a[l],r=p.addTile(i);C.Detour.statusFailed(r.status)&&R.log(C.Module.RC_LOG_WARNING,`Failed to add tile to tile cache - tx: ${t}, ty: ${e}`)}}for(let e=0;e<oe;e++)for(let t=0;t<se;t++){const i=p.buildNavMeshTilesAt(t,e,A);if(C.Detour.statusFailed(i))return z(`Failed to build nav mesh tiles at ${t}, ${e}`)}return k(),{success:!0,tileCache:p,navMesh:A,intermediates:x}},Q={...t},ee=(t,E,H={},F=!1)=>{const O=new i,I={type:\"tiled\",buildContext:O,chunkyTriMesh:void 0,tileIntermediates:[]},$=new a,G=()=>{if(!F){for(let e=0;e<I.tileIntermediates.length;e++){const t=I.tileIntermediates[e];t.compactHeightfield&&_(t.compactHeightfield),t.heightfield&&f(t.heightfield),t.contourSet&&z(t.contourSet)}I.chunkyTriMesh&&(I.chunkyTriMesh=void 0)}},N=e=>(G(),$.destroy(),{success:!1,navMesh:void 0,intermediates:I,error:e}),W=r({...Q,...H}),{bbMin:B,bbMax:U}=K(t,E),Z=s(B,U,W.cs);W.width=Z.width,W.height=Z.height,W.minRegionArea=W.minRegionArea*W.minRegionArea,W.mergeRegionArea=W.mergeRegionArea*W.mergeRegionArea,W.tileSize=Math.floor(W.tileSize),W.borderSize=W.walkableRadius+3,W.width=W.tileSize+2*W.borderSize,W.height=W.tileSize+2*W.borderSize,W.detailSampleDist=W.detailSampleDist<.9?0:W.cs*W.detailSampleDist,W.detailSampleMaxError=W.ch*W.detailSampleMaxError;const j=Math.floor(W.tileSize),q=Math.floor((Z.width+j-1)/j),J=Math.floor((Z.height+j-1)/j),ee=W.tileSize*W.cs,te=t,ie=E.length,ae=new l.VertsArray;ae.copy(te,te.length);const le=E,re=E.length/3,se=new l.TrisArray;se.copy(le,le.length);const oe=e.fromArray(B);let ne=Math.min(Math.floor(X(Y(q*J))),14);ne>14&&(ne=14);const de=1<<ne,he=1<<22-ne,ce=L.create({orig:oe,tileWidth:W.tileSize*W.cs,tileHeight:W.tileSize*W.cs,maxTiles:de,maxPolys:he});if(!$.initTiled(ce))return N(\"Could not init nav mesh for tiled use\");const me=new D;if(I.chunkyTriMesh=me,!me.init(ae,se,re,256))return N(\"Failed to build chunky triangle mesh\");const ge=(e,t,i,a)=>{const r=e=>(O.log(C.Module.RC_LOG_ERROR,e),{success:!1,error:e}),s={tileX:e,tileY:t};I.tileIntermediates.push(s);const E=P(W),L=[...i],D=[...a];L[0]-=E.borderSize*E.cs,L[2]-=E.borderSize*E.cs,D[0]+=E.borderSize*E.cs,D[2]+=E.borderSize*E.cs,E.set_bmin(0,L[0]),E.set_bmin(1,L[1]),E.set_bmin(2,L[2]),E.set_bmax(0,D[0]),E.set_bmax(1,D[1]),E.set_bmax(2,D[2]),O.resetTimers(),O.startTimer(C.Module.RC_TIMER_TOTAL),O.log(C.Module.RC_LOG_PROGRESS,`Building tile ${I.tileIntermediates.length} at x: ${e}, y: ${t}`),O.log(C.Module.RC_LOG_PROGRESS,` - ${W.width} x ${W.height} cells`),O.log(C.Module.RC_LOG_PROGRESS,` - ${ie/1e3}fK verts, ${re/1e3}K tris`);const $=o();if(s.heightfield=$,!n(O,$,E.width,E.height,L,D,E.cs,E.ch))return r(\"Could not create heightfield\");(new l.TriAreasArray).resize(me.maxTrisPerChunk());const G=[L[0],L[2]],N=[D[0],D[2]],B=new l.ChunkIdsArray;B.resize(512);const V=me.getChunksOverlappingRect(G,N,B,512);if(0===V)return{success:!0};for(let e=0;e<V;++e){const t=B.get_data(e),i=me.nodes(t).n,a=me.getNodeTris(t),s=new l.TriAreasArray;s.resize(i),d(O,E.walkableSlopeAngle,ae,ie,a,i,s);const o=h(O,ae,ie,a,s,i,$,E.walkableClimb);if(s.free(),!o)return r(\"Could not rasterize triangles\")}c(O,E.walkableClimb,$),m(O,E.walkableHeight,E.walkableClimb,$),g(O,E.walkableHeight,$);const K=u();if(s.compactHeightfield=K,!b(O,E.walkableHeight,E.walkableClimb,$,K))return r(\"Could not build compact heightfield\");if(F||(f(s.heightfield),s.heightfield=void 0),!S(O,E.walkableRadius,K))return r(\"Could not erode walkable area\");if(!w(O,K))return r(\"Failed to build distance field\");if(!M(O,K,E.borderSize,E.minRegionArea,E.mergeRegionArea))return r(\"Failed to build regions\");const X=y();if(s.contourSet=X,!R(O,K,E.maxSimplificationError,E.maxEdgeLen,X,C.Module.RC_CONTOUR_TESS_WALL_EDGES))return r(\"Failed to create contours\");const Y=x();if(!p(O,X,E.maxVertsPerPoly,Y))return r(\"Failed to triangulate contours\");const U=A();if(!k(O,Y,K,E.detailSampleDist,E.detailSampleMaxError,U))return r(\"Failed to build detail mesh\");F||(_(K),s.compactHeightfield=void 0,z(X),s.contourSet=void 0);for(let e=0;e<Y.npolys();e++)Y.areas(e)==C.Recast.WALKABLE_AREA&&Y.setAreas(e,0),0==Y.areas(e)&&Y.setFlags(e,1);const Z=new 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${e},status: ${V(a.status)} (${a.status})`),i.data.free())}}return O.stopTimer(C.Module.RC_TIMER_TEMP),F||G(),{success:!0,navMesh:$,intermediates:I}};export{q as createDefaultTileCacheMeshProcess,X as dtIlog2,Y as dtNextPow2,Z as generateSoloNavMesh,J as generateTileCache,ee as generateTiledNavMesh,K as getBoundingBox,U as soloNavMeshGeneratorConfigDefaults,j as tileCacheGeneratorConfigDefaults,Q as tiledNavMeshGeneratorConfigDefaults};\n//# sourceMappingURL=index.mjs.map\n","import { BufferAttribute, Mesh, Vector3 } from 'three';\n\nconst tmpVec3 = new Vector3();\n\nexport const getPositionsAndIndices = (\n meshes: Mesh[]\n): [positions: Float32Array, indices: Uint32Array] => {\n const meshesToMerge: Mesh[] = [];\n\n for (const mesh of meshes) {\n const positionAttribute = mesh.geometry.attributes\n .position as BufferAttribute;\n\n if (!positionAttribute || positionAttribute.itemSize !== 3) {\n continue;\n }\n\n let meshToMerge = mesh;\n const index: ArrayLike<number> | undefined = 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`${pos.x}_${pos.y}_${pos.z}`;\n let idx = positionToIndex[key];\n\n if (!idx) {\n positionToIndex[key] = idx = indexCounter;\n mergedPositions.push(pos.x, pos.y, pos.z);\n indexCounter++;\n }\n\n mergedIndices.push(idx);\n }\n }\n\n return [Float32Array.from(mergedPositions), Uint32Array.from(mergedIndices)];\n};\n","import {\n SoloNavMeshGeneratorConfig,\n TileCacheGeneratorConfig,\n TiledNavMeshGeneratorConfig,\n generateSoloNavMesh,\n generateTileCache,\n generateTiledNavMesh\n} from '@recast-navigation/generators';\nimport { Mesh } from 'three';\nimport { getPositionsAndIndices } from './get-positions-and-indices';\n\nexport const threeToSoloNavMesh = (\n meshes: Mesh[],\n navMeshGeneratorConfig: Partial<SoloNavMeshGeneratorConfig> = {},\n keepIntermediates = false\n) => {\n const [positions, indices] = getPositionsAndIndices(meshes);\n\n return generateSoloNavMesh(\n positions,\n indices,\n navMeshGeneratorConfig,\n keepIntermediates\n );\n};\n\nexport const threeToTiledNavMesh = 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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.
|
|
9
|
+
"version": "0.20.0",
|
|
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.
|
|
30
|
-
"@recast-navigation/generators": "0.
|
|
29
|
+
"@recast-navigation/core": "0.20.0",
|
|
30
|
+
"@recast-navigation/generators": "0.20.0"
|
|
31
31
|
},
|
|
32
32
|
"peerDependencies": {
|
|
33
33
|
"@types/three": "0.x.x",
|