@v12-engine/engine 0.1.0 → 0.4.0

package/dist/builds-C6LfgvEU.js

@@ -1,460 +0,0 @@
-import { ChunkIdsArray, Detour, DetourTileCacheParams, NavMesh, NavMeshParams, Raw, RecastBuildContext, RecastChunkyTriMesh, TileCache, TileCacheData, TileCacheMeshProcess, TriangleAreasArray, TrianglesArray, VerticesArray, allocCompactHeightfield, allocHeightfield, allocHeightfieldLayerSet, buildCompactHeightfield, buildHeightfieldLayers, buildTileCacheLayer, calcGridSize, cloneRcConfig, createHeightfield, createRcConfig, erodeWalkableArea, exportTileCache, filterLedgeSpans, filterLowHangingWalkableObstacles, filterWalkableLowHeightSpans, freeCompactHeightfield, freeHeightfield, freeHeightfieldLayerSet, getHeightfieldLayerAreas, getHeightfieldLayerCons, getHeightfieldLayerHeights, init, markWalkableTriangles, rasterizeTriangles, recastConfigDefaults, statusFailed, vec3 } from "@recast-navigation/core";
-import { dtIlog2, dtNextPow2, generateTileCache, getBoundingBox } from "@recast-navigation/generators";
-//#region src/navigation/groundAreas.ts
-/** The areas of slow (or quick) ground: a speed in steps of a sixteenth, 1..62. 0 is ordinary ground, 63 Recast's walkable */
-var STEPS = 16;
-var WALKABLE = 63;
-/** The area of ground of this speed: 0 for ordinary ground, else its speed in sixteenths, 1 at the least and 62 at the most */
-function areaOfSpeed(speed) {
-	if (speed === 1 || !(speed >= 0)) return 0;
-	const steps = Math.round(speed * STEPS);
-	return steps === STEPS ? 0 : Math.min(Math.max(steps, 1), 62);
-}
-/** What a path pays for each area of slow ground, on a filter: `1 / speed`, ordinary ground 1 */
-function setAreaCosts(filter) {
-	for (let area = 1; area < WALKABLE; area++) filter.setAreaCost(area, STEPS / area);
-}
-/** The speed of a cell of a build's grid: 1 off it, or with no grid */
-function speedOfBuild(speeds, x, z) {
-	if (!speeds) return 1;
-	const column = Math.floor(x);
-	const row = Math.floor(z);
-	if (column < 0 || row < 0 || column >= speeds.width || row >= speeds.depth) return 1;
-	return speeds.values[row * speeds.width + column];
-}
-/**
-* What makes a tile's polygons, as Recast's tile cache asks: each walkable (flags 1), its area the speed of the ground
-* under its middle (`speedAt`). Without one, every polygon is ordinary ground, as Recast's default makes them
-*/
-function groundMeshProcess(speedAt) {
-	return new TileCacheMeshProcess((params, polyAreas, polyFlags) => {
-		const count = params.polyCount();
-		if (!speedAt) {
-			for (let i = 0; i < count; i++) {
-				polyAreas.set(i, 0);
-				polyFlags.set(i, 1);
-			}
-			return;
-		}
-		const nvp = params.nvp();
-		const raw = params.raw;
-		const cs = raw.cs;
-		const originX = raw.get_bmin(0);
-		const originZ = raw.get_bmin(2);
-		for (let i = 0; i < count; i++) {
-			let x = 0;
-			let z = 0;
-			let corners = 0;
-			for (let j = 0; j < nvp; j++) {
-				const vertex = params.polys(i * nvp * 2 + j);
-				if (vertex === 65535) break;
-				x += params.verts(vertex * 3);
-				z += params.verts(vertex * 3 + 2);
-				corners++;
-			}
-			const speed = corners ? speedAt(originX + x / corners * cs, originZ + z / corners * cs) : 1;
-			polyAreas.set(i, areaOfSpeed(speed));
-			polyFlags.set(i, 1);
-		}
-	});
-}
-/**
-* Builds a tile cache and its navmesh from a build, as Recast's `generateTileCache` does, but with each triangle of the
-* ground marked with its cell's speed (`NavigationBuild.speeds`) before it is rasterised. What it gives is Recast's own;
-* the caller exports and lets go of it
-*/
-function generateGroundTileCache(build) {
-	const { positions, indices, speeds } = build;
-	const buildContext = new RecastBuildContext();
-	const tileCache = new TileCache();
-	const navMesh = new NavMesh();
-	const process = groundMeshProcess((x, z) => speedOfBuild(speeds, x, z));
-	const verticesArray = new VerticesArray();
-	verticesArray.copy(positions);
-	const numVertices = indices.length;
-	const trianglesArray = new TrianglesArray();
-	trianglesArray.copy(indices);
-	const numTriangles = indices.length / 3;
-	const { bbMin, bbMax } = getBoundingBox(positions, indices);
-	const { expectedLayersPerTile, maxObstacles, ...recastConfig } = {
-		...recastConfigDefaults,
-		...build.config
-	};
-	const chunkyTriMesh = new RecastChunkyTriMesh();
-	const fail = (error) => {
-		verticesArray.destroy();
-		trianglesArray.destroy();
-		tileCache.destroy();
-		navMesh.destroy();
-		throw new Error(`Navmesh generation failed: ${error}`);
-	};
-	const config = createRcConfig(recastConfig);
-	const gridSize = calcGridSize(bbMin, bbMax, config.cs);
-	config.width = gridSize.width;
-	config.height = gridSize.height;
-	config.minRegionArea = config.minRegionArea * config.minRegionArea;
-	config.mergeRegionArea = config.mergeRegionArea * config.mergeRegionArea;
-	config.detailSampleDist = config.detailSampleDist < .9 ? 0 : config.cs * config.detailSampleDist;
-	config.detailSampleMaxError = config.ch * config.detailSampleMaxError;
-	const tileSize = Math.floor(config.tileSize);
-	const tileWidth = Math.floor((config.width + tileSize - 1) / tileSize);
-	const tileHeight = Math.floor((config.height + tileSize - 1) / tileSize);
-	config.borderSize = config.walkableRadius + 3;
-	config.width = config.tileSize + config.borderSize * 2;
-	config.height = config.tileSize + config.borderSize * 2;
-	const tileCacheParams = DetourTileCacheParams.create({
-		orig: bbMin,
-		cs: config.cs,
-		ch: config.ch,
-		width: config.tileSize,
-		height: config.tileSize,
-		walkableHeight: config.walkableHeight * config.ch,
-		walkableRadius: config.walkableRadius * config.cs,
-		walkableClimb: config.walkableClimb * config.ch,
-		maxSimplificationError: config.maxSimplificationError,
-		maxTiles: tileWidth * tileHeight * expectedLayersPerTile,
-		maxObstacles
-	});
-	const allocator = new Raw.RecastLinearAllocator(32e3);
-	const compressor = new Raw.RecastFastLZCompressor();
-	if (!tileCache.init(tileCacheParams, allocator, compressor, process)) fail("Failed to initialize tile cache");
-	const tileBits = Math.min(Math.floor(dtIlog2(dtNextPow2(tileWidth * tileHeight * expectedLayersPerTile))), 14);
-	const navMeshParams = NavMeshParams.create({
-		orig: vec3.fromArray(bbMin),
-		tileWidth: config.tileSize * config.cs,
-		tileHeight: config.tileSize * config.cs,
-		maxTiles: 1 << tileBits,
-		maxPolys: 1 << 22 - tileBits
-	});
-	if (!navMesh.initTiled(navMeshParams)) fail("Failed to initialize tiled navmesh");
-	if (!chunkyTriMesh.init(verticesArray, trianglesArray, numTriangles, 256)) fail("Failed to build chunky triangle mesh");
-	/** The speed's area of the `t`th triangle of a chunk (its corners, as indices of the ground's vertices), by its middle */
-	const areaOf = (corners, t) => {
-		let x = 0;
-		let z = 0;
-		for (let k = 0; k < 3; k++) {
-			const vertex = corners.get(t * 3 + k);
-			x += positions[vertex * 3];
-			z += positions[vertex * 3 + 2];
-		}
-		const area = areaOfSpeed(speedOfBuild(speeds, x / 3, z / 3));
-		return area === 0 ? WALKABLE : area;
-	};
-	const rasterizeTileLayers = (tileX, tileY) => {
-		const tcs = config.tileSize * config.cs;
-		const tileConfig = cloneRcConfig(config);
-		const tileBoundsMin = [
-			bbMin[0] + tileX * tcs - config.borderSize * config.cs,
-			bbMin[1],
-			bbMin[2] + tileY * tcs - config.borderSize * config.cs
-		];
-		const tileBoundsMax = [
-			bbMin[0] + (tileX + 1) * tcs + config.borderSize * config.cs,
-			bbMax[1],
-			bbMin[2] + (tileY + 1) * tcs + config.borderSize * config.cs
-		];
-		for (let i = 0; i < 3; i++) {
-			tileConfig.set_bmin(i, tileBoundsMin[i]);
-			tileConfig.set_bmax(i, tileBoundsMax[i]);
-		}
-		const heightfield = allocHeightfield();
-		if (!createHeightfield(buildContext, heightfield, tileConfig.width, tileConfig.height, tileBoundsMin, tileBoundsMax, tileConfig.cs, tileConfig.ch)) {
-			freeHeightfield(heightfield);
-			return [];
-		}
-		const maxChunkIds = 512;
-		const chunkIdsArray = new ChunkIdsArray();
-		chunkIdsArray.resize(maxChunkIds);
-		const overlapping = chunkyTriMesh.getChunksOverlappingRect([tileBoundsMin[0], tileBoundsMin[2]], [tileBoundsMax[0], tileBoundsMax[2]], chunkIdsArray, maxChunkIds);
-		for (let i = 0; i < overlapping; ++i) {
-			const nodeId = chunkIdsArray.get(i);
-			const node = chunkyTriMesh.nodes(nodeId);
-			const nodeTris = chunkyTriMesh.getNodeTris(nodeId);
-			const areas = new TriangleAreasArray();
-			areas.resize(node.n);
-			markWalkableTriangles(buildContext, tileConfig.walkableSlopeAngle, verticesArray, numVertices, nodeTris, node.n, areas);
-			if (speeds) {
-				for (let t = 0; t < node.n; t++) if (areas.get(t) === WALKABLE) areas.set(t, areaOf(nodeTris, t));
-			}
-			const rasterized = rasterizeTriangles(buildContext, verticesArray, numVertices, nodeTris, areas, node.n, heightfield, tileConfig.walkableClimb);
-			areas.destroy();
-			if (!rasterized) {
-				chunkIdsArray.destroy();
-				freeHeightfield(heightfield);
-				return [];
-			}
-		}
-		chunkIdsArray.destroy();
-		filterLowHangingWalkableObstacles(buildContext, config.walkableClimb, heightfield);
-		filterLedgeSpans(buildContext, config.walkableHeight, config.walkableClimb, heightfield);
-		filterWalkableLowHeightSpans(buildContext, config.walkableHeight, heightfield);
-		const compactHeightfield = allocCompactHeightfield();
-		const compacted = buildCompactHeightfield(buildContext, config.walkableHeight, config.walkableClimb, heightfield, compactHeightfield);
-		freeHeightfield(heightfield);
-		if (!compacted || !erodeWalkableArea(buildContext, config.walkableRadius, compactHeightfield)) {
-			freeCompactHeightfield(compactHeightfield);
-			return [];
-		}
-		const layerSet = allocHeightfieldLayerSet();
-		const layered = buildHeightfieldLayers(buildContext, compactHeightfield, config.borderSize, config.walkableHeight, layerSet);
-		freeCompactHeightfield(compactHeightfield);
-		if (!layered) {
-			freeHeightfieldLayerSet(layerSet);
-			return [];
-		}
-		const tiles = [];
-		for (let i = 0; i < layerSet.nlayers(); i++) {
-			const tile = new TileCacheData();
-			const layer = layerSet.layers(i);
-			const header = new Raw.dtTileCacheLayerHeader();
-			header.magic = Detour.DT_TILECACHE_MAGIC;
-			header.version = Detour.DT_TILECACHE_VERSION;
-			header.tx = tileX;
-			header.ty = tileY;
-			header.tlayer = i;
-			const min = layer.bmin();
-			const max = layer.bmax();
-			header.set_bmin(0, min.x);
-			header.set_bmin(1, min.y);
-			header.set_bmin(2, min.z);
-			header.set_bmax(0, max.x);
-			header.set_bmax(1, max.y);
-			header.set_bmax(2, max.z);
-			header.width = layer.width();
-			header.height = layer.height();
-			header.minx = layer.minx();
-			header.maxx = layer.maxx();
-			header.miny = layer.miny();
-			header.maxy = layer.maxy();
-			header.hmin = layer.hmin();
-			header.hmax = layer.hmax();
-			const status = buildTileCacheLayer(compressor, header, getHeightfieldLayerHeights(layer), getHeightfieldLayerAreas(layer), getHeightfieldLayerCons(layer), tile);
-			if (statusFailed(status)) break;
-			tiles.push(tile);
-		}
-		freeHeightfieldLayerSet(layerSet);
-		return tiles;
-	};
-	for (let y = 0; y < tileHeight; ++y) for (let x = 0; x < tileWidth; ++x) for (const tile of rasterizeTileLayers(x, y)) tileCache.addTile(tile);
-	for (let y = 0; y < tileHeight; y++) for (let x = 0; x < tileWidth; x++) if (statusFailed(tileCache.buildNavMeshTilesAt(x, y, navMesh))) fail(`Failed to build nav mesh tiles at ${x}, ${y}`);
-	verticesArray.destroy();
-	trianglesArray.destroy();
-	return {
-		navMesh,
-		tileCache,
-		process
-	};
-}
-//#endregion
-//#region src/navigation/builds.ts
-var initialized;
-/** Recast's WebAssembly, once for each thread */
-var initRecast = () => initialized ??= init();
-/**
-* Builds a navigation on this thread, and gives back what was built: what a worker does too
-*
-* @beta
-*/
-async function buildNavigationData(build) {
-	await initRecast();
-	return buildNavigationNow(build);
-}
-/**
-* Builds a navigation on this thread at once, Recast's WebAssembly there already (`initRecast`): a navigation made
-* again in the middle of a tick, its ground reshaped (`RecastNavigation.reshape`)
-*
-* @internal
-*/
-function buildNavigationNow(build) {
-	if (build.speeds) {
-		const { navMesh, tileCache } = generateGroundTileCache(build);
-		try {
-			return exportTileCache(navMesh, tileCache);
-		} finally {
-			tileCache.destroy();
-			navMesh.destroy();
-		}
-	}
-	const result = generateTileCache(build.positions, build.indices, build.config);
-	if (!result.success) throw new Error(`Navmesh generation failed: ${result.error}`);
-	const { navMesh, tileCache } = result;
-	try {
-		return exportTileCache(navMesh, tileCache);
-	} finally {
-		tileCache.destroy();
-		navMesh.destroy();
-	}
-}
-/**
-* Kept in memory, the last built first, up to `maxBytes` of them (64 MB when left out): a map of 512 cells a side is
-* under a megabyte
-*
-* @beta
-*/
-function memoryNavigationCache(maxBytes = 67108864) {
-	const kept = /* @__PURE__ */ new Map();
-	let bytes = 0;
-	return {
-		get(key) {
-			const data = kept.get(key);
-			if (!data) return void 0;
-			kept.delete(key);
-			kept.set(key, data);
-			return data;
-		},
-		set(key, data) {
-			const before = kept.get(key);
-			if (before) bytes -= before.byteLength;
-			kept.delete(key);
-			kept.set(key, data);
-			bytes += data.byteLength;
-			for (const [old, value] of kept) {
-				if (bytes <= maxBytes || old === key) break;
-				kept.delete(old);
-				bytes -= value.byteLength;
-			}
-		}
-	};
-}
-/**
-* The key of a build: a hash of the triangles and of how they are cut. Two builds of the same key make the same
-* navigation
-*
-* @internal
-*/
-function navigationKey(build) {
-	let a = 2166136261;
-	let b = 1523705862;
-	const mix = (word) => {
-		a = Math.imul(a ^ word, 16777619);
-		b = Math.imul(b ^ word, 1540483477);
-	};
-	const positions = new Uint32Array(build.positions.buffer, build.positions.byteOffset, build.positions.length);
-	for (let i = 0; i < positions.length; i++) mix(positions[i]);
-	mix(4294967295);
-	for (let i = 0; i < build.indices.length; i++) mix(build.indices[i]);
-	const config = JSON.stringify(build.config, Object.keys(build.config).sort());
-	for (let i = 0; i < config.length; i++) mix(config.charCodeAt(i));
-	if (build.speeds) {
-		mix(4294967294);
-		mix(build.speeds.width);
-		const speeds = new Uint32Array(build.speeds.values.buffer, build.speeds.values.byteOffset, build.speeds.values.length);
-		for (let i = 0; i < speeds.length; i++) mix(speeds[i]);
-	}
-	return `${(a >>> 0).toString(16).padStart(8, "0")}${(b >>> 0).toString(16).padStart(8, "0")}-${positions.length}`;
-}
-/**
-* A builder that builds in a worker: one whose file serves builds (`serveNavigationBuilds`). In a page, the page makes
-* the worker, as its bundler wants it: the library makes no worker of its own there.
-*
-* A worker's file of two lines (`serveNavigationBuilds` imported from the engine, and called), and the page:
-* `navigationWorker(() => new Worker(new URL('./navigation.worker.ts', import.meta.url), { type: 'module' }))`, the
-* builder of every world it makes (`NavigationBuilds`).
-* Given as a function, the worker is made at the first build: a page whose menu builds nothing fetches none of it
-* until a world is made (OF2); given made, it is used as it is
-*
-* @beta
-*/
-function navigationWorker(given) {
-	let next = 0;
-	const waiting = /* @__PURE__ */ new Map();
-	const answered = (answer) => {
-		const wait = waiting.get(answer.id);
-		if (!wait) return;
-		waiting.delete(answer.id);
-		if (answer.data) wait.done(answer.data);
-		else wait.failed(new Error(answer.error ?? "The navigation could not be built"));
-	};
-	const broke = (error) => {
-		const reason = /* @__PURE__ */ new Error(`The navigation's worker stopped: ${error instanceof Error ? error.message : String(error?.message ?? error)}`);
-		for (const wait of waiting.values()) wait.failed(reason);
-		waiting.clear();
-	};
-	let made;
-	const worker = () => {
-		if (made) return made;
-		made = typeof given === "function" ? given() : given;
-		if (made.on) {
-			made.on("message", (value) => answered(value));
-			made.on("error", broke);
-		} else {
-			made.addEventListener?.("message", (event) => answered(event.data));
-			made.addEventListener?.("error", broke);
-		}
-		return made;
-	};
-	if (typeof given !== "function") worker();
-	return (build) => new Promise((done, failed) => {
-		const id = ++next;
-		waiting.set(id, {
-			done,
-			failed
-		});
-		worker().postMessage({
-			id,
-			build: {
-				positions: build.positions.slice(),
-				indices: build.indices.slice(),
-				config: build.config,
-				...build.speeds && { speeds: {
-					...build.speeds,
-					values: build.speeds.values.slice()
-				} }
-			}
-		});
-	});
-}
-/**
-* What a navigation worker's file does: it builds what it is sent and sends back what it built. `port` is where it
-* hears: the worker's own scope when left out (a page's worker)
-*
-* @beta
-*/
-function serveNavigationBuilds(port = globalThis) {
-	const asked = async (message) => {
-		const { id, build } = message;
-		try {
-			const data = await buildNavigationData(build);
-			port.postMessage({
-				id,
-				data
-			}, [data.buffer]);
-		} catch (error) {
-			port.postMessage({
-				id,
-				error: error instanceof Error ? error.message : String(error)
-			});
-		}
-	};
-	if (port.on) port.on("message", (value) => void asked(value));
-	else port.addEventListener?.("message", (event) => void asked(event.data));
-}
-/** Where a world says nothing: this thread, and kept in the process's memory, which every world's ground may read */
-var defaults = {
-	builder: buildNavigationData,
-	cache: memoryNavigationCache()
-};
-/**
-* What was built from this: kept, or built now (by the builder set) and kept. A builder that fails falls back to this
-* thread once, and says why in what it throws only when that fails too
-*/
-async function navigationData(build, using = {}) {
-	const cache = using.cache !== void 0 ? using.cache : defaults.cache;
-	const builder = using.builder ?? defaults.builder;
-	const key = cache ? navigationKey(build) : "";
-	const kept = cache ? await cache.get(key) : void 0;
-	if (kept) return kept;
-	let data;
-	try {
-		data = await builder(build);
-	} catch (error) {
-		if (builder === buildNavigationData) throw error;
-		data = await buildNavigationData(build);
-	}
-	if (cache) await cache.set(key, data);
-	return data;
-}
-//#endregion
-export { navigationData as a, serveNavigationBuilds as c, memoryNavigationCache as i, groundMeshProcess as l, buildNavigationNow as n, navigationKey as o, initRecast as r, navigationWorker as s, buildNavigationData as t, setAreaCosts as u };
-
-//# sourceMappingURL=builds-C6LfgvEU.js.map

package/dist/builds-C6LfgvEU.js.map

@@ -1 +0,0 @@
-{"version":3,"file":"builds-C6LfgvEU.js","names":[],"sources":["../src/navigation/groundAreas.ts","../src/navigation/builds.ts"],"sourcesContent":["import {\n\tallocCompactHeightfield,\n\tallocHeightfield,\n\tallocHeightfieldLayerSet,\n\tbuildCompactHeightfield,\n\tbuildHeightfieldLayers,\n\tbuildTileCacheLayer,\n\tcalcGridSize,\n\tChunkIdsArray,\n\tcloneRcConfig,\n\tcreateHeightfield,\n\tcreateRcConfig,\n\tDetour,\n\tDetourTileCacheParams,\n\terodeWalkableArea,\n\tfilterLedgeSpans,\n\tfilterLowHangingWalkableObstacles,\n\tfilterWalkableLowHeightSpans,\n\tfreeCompactHeightfield,\n\tfreeHeightfield,\n\tfreeHeightfieldLayerSet,\n\tgetHeightfieldLayerAreas,\n\tgetHeightfieldLayerCons,\n\tgetHeightfieldLayerHeights,\n\tmarkWalkableTriangles,\n\tNavMesh,\n\ttype NavMeshCreateParams,\n\tNavMeshParams,\n\ttype QueryFilter,\n\trasterizeTriangles,\n\tRaw,\n\tRecastBuildContext,\n\tRecastChunkyTriMesh,\n\trecastConfigDefaults,\n\tstatusFailed,\n\tTileCache,\n\tTileCacheData,\n\tTileCacheMeshProcess,\n\tTriangleAreasArray,\n\tTrianglesArray,\n\tvec3,\n\tVerticesArray\n} from '@recast-navigation/core'\nimport { dtIlog2, dtNextPow2, getBoundingBox } from '@recast-navigation/generators'\nimport type { NavigationBuild, NavigationSpeeds } from './builds'\n\n/*\n * Ground that slows, in the ways units are sent (EN2). A cell's speed (its tile's and its layers', `groundSpeedOfCell`)\n * is an area of the navigation's: each triangle of the ground is marked with its cell's as it is cut, so the\n * navigation's polygons part where the speed does, and a path weighs each polygon by `1 / speed` (`setAreaCosts`), so a\n * road around the mud wins when it is quicker. Ordinary ground (speed 1) is area 0 as it always was: a map without slow\n * ground is cut and walked exactly as before. Each polygon's area is the speed under its middle, worked out whenever a\n * tile is made (`groundMeshProcess`): as it is built, as it is read again, as a building comes or goes on it, and as a\n * slowing layer of cells changes there in play (`RecastNavigation.groundChanged`), which makes its tiles again\n */\n\n/** The areas of slow (or quick) ground: a speed in steps of a sixteenth, 1..62. 0 is ordinary ground, 63 Recast's walkable */\nconst STEPS = 16\nconst WALKABLE = 63\n\n/** The area of ground of this speed: 0 for ordinary ground, else its speed in sixteenths, 1 at the least and 62 at the most */\nexport function areaOfSpeed(speed: number): number {\n\tif (speed === 1 || !(speed >= 0)) return 0\n\tconst steps = Math.round(speed * STEPS)\n\treturn steps === STEPS ? 0 : Math.min(Math.max(steps, 1), WALKABLE - 1)\n}\n\n/** What a path pays for each area of slow ground, on a filter: `1 / speed`, ordinary ground 1 */\nexport function setAreaCosts(filter: QueryFilter): void {\n\tfor (let area = 1; area < WALKABLE; area++) filter.setAreaCost(area, STEPS / area)\n}\n\n/** The speed of a cell of a build's grid: 1 off it, or with no grid */\nexport function speedOfBuild(speeds: NavigationSpeeds | undefined, x: number, z: number): number {\n\tif (!speeds) return 1\n\tconst column = Math.floor(x)\n\tconst row = Math.floor(z)\n\tif (column < 0 || row < 0 || column >= speeds.width || row >= speeds.depth) return 1\n\treturn speeds.values[row * speeds.width + column]\n}\n\n/**\n * What makes a tile's polygons, as Recast's tile cache asks: each walkable (flags 1), its area the speed of the ground\n * under its middle (`speedAt`). Without one, every polygon is ordinary ground, as Recast's default makes them\n */\nexport function groundMeshProcess(speedAt?: (x: number, z: number) => number): TileCacheMeshProcess {\n\treturn new TileCacheMeshProcess((params: NavMeshCreateParams, polyAreas, polyFlags) => {\n\t\tconst count = params.polyCount()\n\t\tif (!speedAt) {\n\t\t\tfor (let i = 0; i < count; i++) {\n\t\t\t\tpolyAreas.set(i, 0)\n\t\t\t\tpolyFlags.set(i, 1)\n\t\t\t}\n\t\t\treturn\n\t\t}\n\t\t// a polygon's corners, as indices into the tile's vertices (voxels from its corner), then as many for its neighbours\n\t\tconst nvp = params.nvp()\n\t\tconst raw = params.raw\n\t\tconst cs = raw.cs\n\t\tconst originX = raw.get_bmin(0)\n\t\tconst originZ = raw.get_bmin(2)\n\t\tfor (let i = 0; i < count; i++) {\n\t\t\tlet x = 0\n\t\t\tlet z = 0\n\t\t\tlet corners = 0\n\t\t\tfor (let j = 0; j < nvp; j++) {\n\t\t\t\tconst vertex = params.polys(i * nvp * 2 + j)\n\t\t\t\t// Recast's \"no more corners\"\n\t\t\t\tif (vertex === 0xffff) break\n\t\t\t\tx += params.verts(vertex * 3)\n\t\t\t\tz += params.verts(vertex * 3 + 2)\n\t\t\t\tcorners++\n\t\t\t}\n\t\t\tconst speed = corners ? speedAt(originX + (x / corners) * cs, originZ + (z / corners) * cs) : 1\n\t\t\tpolyAreas.set(i, areaOfSpeed(speed))\n\t\t\tpolyFlags.set(i, 1)\n\t\t}\n\t})\n}\n\n/**\n * Builds a tile cache and its navmesh from a build, as Recast's `generateTileCache` does, but with each triangle of the\n * ground marked with its cell's speed (`NavigationBuild.speeds`) before it is rasterised. What it gives is Recast's own;\n * the caller exports and lets go of it\n */\nexport function generateGroundTileCache(build: NavigationBuild): { navMesh: NavMesh; tileCache: TileCache; process: TileCacheMeshProcess } {\n\tconst { positions, indices, speeds } = build\n\tconst buildContext = new RecastBuildContext()\n\tconst tileCache = new TileCache()\n\tconst navMesh = new NavMesh()\n\tconst process = groundMeshProcess((x, z) => speedOfBuild(speeds, x, z))\n\tconst verticesArray = new VerticesArray()\n\tverticesArray.copy(positions as unknown as number[])\n\tconst numVertices = indices.length\n\tconst trianglesArray = new TrianglesArray()\n\ttrianglesArray.copy(indices as unknown as number[])\n\tconst numTriangles = indices.length / 3\n\tconst { bbMin, bbMax } = getBoundingBox(positions as unknown as number[], indices as unknown as number[])\n\tconst { expectedLayersPerTile, maxObstacles, ...recastConfig } = { ...recastConfigDefaults, ...build.config }\n\tconst chunkyTriMesh = new RecastChunkyTriMesh()\n\tconst fail = (error: string): never => {\n\t\tverticesArray.destroy()\n\t\ttrianglesArray.destroy()\n\t\ttileCache.destroy()\n\t\tnavMesh.destroy()\n\t\tthrow new Error(`Navmesh generation failed: ${error}`)\n\t}\n\tconst config = createRcConfig(recastConfig)\n\tconst gridSize = calcGridSize(bbMin, bbMax, config.cs)\n\tconfig.width = gridSize.width\n\tconfig.height = gridSize.height\n\tconfig.minRegionArea = config.minRegionArea * config.minRegionArea\n\tconfig.mergeRegionArea = config.mergeRegionArea * config.mergeRegionArea\n\tconfig.detailSampleDist = config.detailSampleDist < 0.9 ? 0 : config.cs * config.detailSampleDist\n\tconfig.detailSampleMaxError = config.ch * config.detailSampleMaxError\n\tconst tileSize = Math.floor(config.tileSize)\n\tconst tileWidth = Math.floor((config.width + tileSize - 1) / tileSize)\n\tconst tileHeight = Math.floor((config.height + tileSize - 1) / tileSize)\n\tconfig.borderSize = config.walkableRadius + 3\n\tconfig.width = config.tileSize + config.borderSize * 2\n\tconfig.height = config.tileSize + config.borderSize * 2\n\tconst tileCacheParams = DetourTileCacheParams.create({\n\t\torig: bbMin,\n\t\tcs: config.cs,\n\t\tch: config.ch,\n\t\twidth: config.tileSize,\n\t\theight: config.tileSize,\n\t\twalkableHeight: config.walkableHeight * config.ch,\n\t\twalkableRadius: config.walkableRadius * config.cs,\n\t\twalkableClimb: config.walkableClimb * config.ch,\n\t\tmaxSimplificationError: config.maxSimplificationError,\n\t\tmaxTiles: tileWidth * tileHeight * expectedLayersPerTile,\n\t\tmaxObstacles\n\t})\n\tconst allocator = new Raw.RecastLinearAllocator(32000)\n\tconst compressor = new Raw.RecastFastLZCompressor()\n\tif (!tileCache.init(tileCacheParams, allocator, compressor, process)) fail('Failed to initialize tile cache')\n\tconst tileBits = Math.min(Math.floor(dtIlog2(dtNextPow2(tileWidth * tileHeight * expectedLayersPerTile))), 14)\n\tconst navMeshParams = NavMeshParams.create({\n\t\torig: vec3.fromArray(bbMin),\n\t\ttileWidth: config.tileSize * config.cs,\n\t\ttileHeight: config.tileSize * config.cs,\n\t\tmaxTiles: 1 << tileBits,\n\t\tmaxPolys: 1 << (22 - tileBits)\n\t})\n\tif (!navMesh.initTiled(navMeshParams)) fail('Failed to initialize tiled navmesh')\n\tif (!chunkyTriMesh.init(verticesArray, trianglesArray, numTriangles, 256)) fail('Failed to build chunky triangle mesh')\n\n\t/** The speed's area of the `t`th triangle of a chunk (its corners, as indices of the ground's vertices), by its middle */\n\tconst areaOf = (corners: { get(index: number): number }, t: number) => {\n\t\tlet x = 0\n\t\tlet z = 0\n\t\tfor (let k = 0; k < 3; k++) {\n\t\t\tconst vertex = corners.get(t * 3 + k)\n\t\t\tx += positions[vertex * 3]\n\t\t\tz += positions[vertex * 3 + 2]\n\t\t}\n\t\tconst area = areaOfSpeed(speedOfBuild(speeds, x / 3, z / 3))\n\t\treturn area === 0 ? WALKABLE : area\n\t}\n\n\tconst rasterizeTileLayers = (tileX: number, tileY: number): InstanceType<typeof TileCacheData>[] => {\n\t\tconst tcs = config.tileSize * config.cs\n\t\tconst tileConfig = cloneRcConfig(config)\n\t\tconst tileBoundsMin: [number, number, number] = [\n\t\t\tbbMin[0] + tileX * tcs - config.borderSize * config.cs,\n\t\t\tbbMin[1],\n\t\t\tbbMin[2] + tileY * tcs - config.borderSize * config.cs\n\t\t]\n\t\tconst tileBoundsMax: [number, number, number] = [\n\t\t\tbbMin[0] + (tileX + 1) * tcs + config.borderSize * config.cs,\n\t\t\tbbMax[1],\n\t\t\tbbMin[2] + (tileY + 1) * tcs + config.borderSize * config.cs\n\t\t]\n\t\tfor (let i = 0; i < 3; i++) {\n\t\t\ttileConfig.set_bmin(i, tileBoundsMin[i])\n\t\t\ttileConfig.set_bmax(i, tileBoundsMax[i])\n\t\t}\n\t\tconst heightfield = allocHeightfield()\n\t\tif (\n\t\t\t!createHeightfield(buildContext, heightfield, tileConfig.width, tileConfig.height, tileBoundsMin, tileBoundsMax, tileConfig.cs, tileConfig.ch)\n\t\t) {\n\t\t\tfreeHeightfield(heightfield)\n\t\t\treturn []\n\t\t}\n\t\tconst maxChunkIds = 512\n\t\tconst chunkIdsArray = new ChunkIdsArray()\n\t\tchunkIdsArray.resize(maxChunkIds)\n\t\tconst overlapping = chunkyTriMesh.getChunksOverlappingRect(\n\t\t\t[tileBoundsMin[0], tileBoundsMin[2]],\n\t\t\t[tileBoundsMax[0], tileBoundsMax[2]],\n\t\t\tchunkIdsArray,\n\t\t\tmaxChunkIds\n\t\t)\n\t\tfor (let i = 0; i < overlapping; ++i) {\n\t\t\tconst nodeId = chunkIdsArray.get(i)\n\t\t\tconst node = chunkyTriMesh.nodes(nodeId)\n\t\t\tconst nodeTris = chunkyTriMesh.getNodeTris(nodeId)\n\t\t\tconst areas = new TriangleAreasArray()\n\t\t\tareas.resize(node.n)\n\t\t\tmarkWalkableTriangles(buildContext, tileConfig.walkableSlopeAngle, verticesArray, numVertices, nodeTris, node.n, areas)\n\t\t\t// what is walkable takes its cell's speed: the one change from Recast's own\n\t\t\tif (speeds) for (let t = 0; t < node.n; t++) if (areas.get(t) === WALKABLE) areas.set(t, areaOf(nodeTris, t))\n\t\t\tconst rasterized = rasterizeTriangles(buildContext, verticesArray, numVertices, nodeTris, areas, node.n, heightfield, tileConfig.walkableClimb)\n\t\t\tareas.destroy()\n\t\t\tif (!rasterized) {\n\t\t\t\tchunkIdsArray.destroy()\n\t\t\t\tfreeHeightfield(heightfield)\n\t\t\t\treturn []\n\t\t\t}\n\t\t}\n\t\tchunkIdsArray.destroy()\n\t\tfilterLowHangingWalkableObstacles(buildContext, config.walkableClimb, heightfield)\n\t\tfilterLedgeSpans(buildContext, config.walkableHeight, config.walkableClimb, heightfield)\n\t\tfilterWalkableLowHeightSpans(buildContext, config.walkableHeight, heightfield)\n\t\tconst compactHeightfield = allocCompactHeightfield()\n\t\tconst compacted = buildCompactHeightfield(buildContext, config.walkableHeight, config.walkableClimb, heightfield, compactHeightfield)\n\t\tfreeHeightfield(heightfield)\n\t\tif (!compacted || !erodeWalkableArea(buildContext, config.walkableRadius, compactHeightfield)) {\n\t\t\tfreeCompactHeightfield(compactHeightfield)\n\t\t\treturn []\n\t\t}\n\t\tconst layerSet = allocHeightfieldLayerSet()\n\t\tconst layered = buildHeightfieldLayers(buildContext, compactHeightfield, config.borderSize, config.walkableHeight, layerSet)\n\t\tfreeCompactHeightfield(compactHeightfield)\n\t\tif (!layered) {\n\t\t\tfreeHeightfieldLayerSet(layerSet)\n\t\t\treturn []\n\t\t}\n\t\tconst tiles: InstanceType<typeof TileCacheData>[] = []\n\t\tfor (let i = 0; i < layerSet.nlayers(); i++) {\n\t\t\tconst tile = new TileCacheData()\n\t\t\tconst layer = layerSet.layers(i)\n\t\t\tconst header = new Raw.dtTileCacheLayerHeader()\n\t\t\theader.magic = Detour.DT_TILECACHE_MAGIC\n\t\t\theader.version = Detour.DT_TILECACHE_VERSION\n\t\t\theader.tx = tileX\n\t\t\theader.ty = tileY\n\t\t\theader.tlayer = i\n\t\t\tconst min = layer.bmin()\n\t\t\tconst max = layer.bmax()\n\t\t\theader.set_bmin(0, min.x)\n\t\t\theader.set_bmin(1, min.y)\n\t\t\theader.set_bmin(2, min.z)\n\t\t\theader.set_bmax(0, max.x)\n\t\t\theader.set_bmax(1, max.y)\n\t\t\theader.set_bmax(2, max.z)\n\t\t\theader.width = layer.width()\n\t\t\theader.height = layer.height()\n\t\t\theader.minx = layer.minx()\n\t\t\theader.maxx = layer.maxx()\n\t\t\theader.miny = layer.miny()\n\t\t\theader.maxy = layer.maxy()\n\t\t\theader.hmin = layer.hmin()\n\t\t\theader.hmax = layer.hmax()\n\t\t\tconst status = buildTileCacheLayer(\n\t\t\t\tcompressor,\n\t\t\t\theader,\n\t\t\t\tgetHeightfieldLayerHeights(layer),\n\t\t\t\tgetHeightfieldLayerAreas(layer),\n\t\t\t\tgetHeightfieldLayerCons(layer),\n\t\t\t\ttile\n\t\t\t)\n\t\t\tif (statusFailed(status)) break\n\t\t\ttiles.push(tile)\n\t\t}\n\t\tfreeHeightfieldLayerSet(layerSet)\n\t\treturn tiles\n\t}\n\n\tfor (let y = 0; y < tileHeight; ++y) {\n\t\tfor (let x = 0; x < tileWidth; ++x) for (const tile of rasterizeTileLayers(x, y)) tileCache.addTile(tile)\n\t}\n\tfor (let y = 0; y < tileHeight; y++) {\n\t\tfor (let x = 0; x < tileWidth; x++)\n\t\t\tif (statusFailed(tileCache.buildNavMeshTilesAt(x, y, navMesh))) fail(`Failed to build nav mesh tiles at ${x}, ${y}`)\n\t}\n\tverticesArray.destroy()\n\ttrianglesArray.destroy()\n\treturn { navMesh, tileCache, process }\n}\n","import { exportTileCache, init } from '@recast-navigation/core'\nimport { generateTileCache } from '@recast-navigation/generators'\nimport { generateGroundTileCache } from './groundAreas'\n\n/*\n * Building a navigation off the thread that runs the game, and not again for ground it was built for (S37). A build of\n * the whole map blocks: 0.1 s for 128 cells a side, 0.4 s for 256, 2 s for 512, on every world made or loaded. What a\n * build makes is data (Recast's tile cache, exported): built once, it is kept by a hash of what it was built from, and\n * a world made again on the same ground (a restart, a load, Play here) reads it in a few milliseconds. Every navigation\n * is read from that data, built just now or kept, so the two are the same navigation: nothing depends on whether a\n * build was kept, nor on how long it took, and the world does not step until it is there.\n */\n\n/**\n * How Recast is told to cut the ground: what the tile cache is generated with\n *\n * @beta\n */\nexport interface NavigationBuildConfig {\n\tcs: number\n\tch: number\n\ttileSize: number\n\twalkableSlopeAngle: number\n\twalkableHeight: number\n\twalkableClimb: number\n\twalkableRadius: number\n\tmaxSimplificationError: number\n\tmergeRegionArea: number\n\tmaxVertsPerPoly: number\n\tdetailSampleDist: number\n\tdetailSampleMaxError: number\n\texpectedLayersPerTile: number\n\tmaxObstacles: number\n}\n\n/**\n * What a navigation is built from: the ground's (or the water's) triangles, and how to cut them. Plain data, sent to a worker as it is\n *\n * @beta\n */\nexport interface NavigationBuild {\n\tpositions: Float32Array\n\tindices: Uint32Array\n\tconfig: NavigationBuildConfig\n\t/**\n\t * How fast one on foot goes over each cell of the ground (`groundSpeedOfCell`), for a path to weigh: none where every\n\t * cell is 1, which cuts the ground as it always was\n\t */\n\tspeeds?: NavigationSpeeds\n}\n\n/**\n * Each cell's speed on the ground, row by row (`NavigationBuild.speeds`)\n *\n * @beta\n */\nexport interface NavigationSpeeds {\n\twidth: number\n\tdepth: number\n\tvalues: Float32Array\n}\n\n/**\n * What builds a navigation: given what to build, gives back what was built (Recast's tile cache, exported). On this\n * thread (`buildNavigationData`), or in a worker (`navigationWorker`)\n *\n * @beta\n */\nexport type NavigationBuilder = (build: NavigationBuild) => Promise<Uint8Array>\n\n/**\n * Where what was built is kept, by a hash of what it was built from: in memory when nothing else is said\n * (`memoryNavigationCache`). A game keeps it elsewhere with one of its own (the browser's storage, a file)\n *\n * @beta\n */\nexport interface NavigationCache {\n\tget(key: string): Uint8Array | undefined | Promise<Uint8Array | undefined>\n\tset(key: string, data: Uint8Array): void | Promise<void>\n}\n\nlet initialized: Promise<void> | undefined\n\n/** Recast's WebAssembly, once for each thread */\nexport const initRecast = (): Promise<void> => (initialized ??= init())\n\n/**\n * Builds a navigation on this thread, and gives back what was built: what a worker does too\n *\n * @beta\n */\nexport async function buildNavigationData(build: NavigationBuild): Promise<Uint8Array> {\n\tawait initRecast()\n\treturn buildNavigationNow(build)\n}\n\n/**\n * Builds a navigation on this thread at once, Recast's WebAssembly there already (`initRecast`): a navigation made\n * again in the middle of a tick, its ground reshaped (`RecastNavigation.reshape`)\n *\n * @internal\n */\nexport function buildNavigationNow(build: NavigationBuild): Uint8Array {\n\t// slow ground marked as it is cut (EN2); ground without any, as Recast cuts it\n\tif (build.speeds) {\n\t\tconst { navMesh, tileCache } = generateGroundTileCache(build)\n\t\ttry {\n\t\t\treturn exportTileCache(navMesh, tileCache)\n\t\t} finally {\n\t\t\ttileCache.destroy()\n\t\t\tnavMesh.destroy()\n\t\t}\n\t}\n\tconst result = generateTileCache(build.positions, build.indices, build.config)\n\tif (!result.success) throw new Error(`Navmesh generation failed: ${result.error}`)\n\tconst { navMesh, tileCache } = result\n\ttry {\n\t\treturn exportTileCache(navMesh, tileCache)\n\t} finally {\n\t\ttileCache.destroy()\n\t\tnavMesh.destroy()\n\t}\n}\n\n/**\n * Kept in memory, the last built first, up to `maxBytes` of them (64 MB when left out): a map of 512 cells a side is\n * under a megabyte\n *\n * @beta\n */\nexport function memoryNavigationCache(maxBytes = 64 * 1024 * 1024): NavigationCache {\n\tconst kept = new Map<string, Uint8Array>()\n\tlet bytes = 0\n\treturn {\n\t\tget(key) {\n\t\t\tconst data = kept.get(key)\n\t\t\tif (!data) return undefined\n\t\t\t// used: the last to go\n\t\t\tkept.delete(key)\n\t\t\tkept.set(key, data)\n\t\t\treturn data\n\t\t},\n\t\tset(key, data) {\n\t\t\tconst before = kept.get(key)\n\t\t\tif (before) bytes -= before.byteLength\n\t\t\tkept.delete(key)\n\t\t\tkept.set(key, data)\n\t\t\tbytes += data.byteLength\n\t\t\tfor (const [old, value] of kept) {\n\t\t\t\tif (bytes <= maxBytes || old === key) break\n\t\t\t\tkept.delete(old)\n\t\t\t\tbytes -= value.byteLength\n\t\t\t}\n\t\t}\n\t}\n}\n\n/**\n * The key of a build: a hash of the triangles and of how they are cut. Two builds of the same key make the same\n * navigation\n *\n * @internal\n */\nexport function navigationKey(build: NavigationBuild): string {\n\t// FNV-1a over the words, twice over with different starts, for 64 bits: enough to tell grounds apart, not a secret\n\tlet a = 0x811c9dc5\n\tlet b = 0x01000193 ^ 0x5bd1e995\n\tconst mix = (word: number) => {\n\t\ta = Math.imul(a ^ word, 0x01000193)\n\t\tb = Math.imul(b ^ word, 0x5bd1e995)\n\t}\n\tconst positions = new Uint32Array(build.positions.buffer, build.positions.byteOffset, build.positions.length)\n\tfor (let i = 0; i < positions.length; i++) mix(positions[i])\n\tmix(0xffffffff)\n\tfor (let i = 0; i < build.indices.length; i++) mix(build.indices[i])\n\tconst config = JSON.stringify(build.config, Object.keys(build.config).sort())\n\tfor (let i = 0; i < config.length; i++) mix(config.charCodeAt(i))\n\t// the paint's speeds too, where there are any: a build of none is keyed as one always was\n\tif (build.speeds) {\n\t\tmix(0xfffffffe)\n\t\tmix(build.speeds.width)\n\t\tconst speeds = new Uint32Array(build.speeds.values.buffer, build.speeds.values.byteOffset, build.speeds.values.length)\n\t\tfor (let i = 0; i < speeds.length; i++) mix(speeds[i])\n\t}\n\treturn `${(a >>> 0).toString(16).padStart(8, '0')}${(b >>> 0).toString(16).padStart(8, '0')}-${positions.length}`\n}\n\n/**\n * What a worker is, as far as building goes: a page's `Worker`, or Node's `worker_threads` one\n *\n * @beta\n */\nexport interface NavigationWorkerLike {\n\tpostMessage(message: unknown, transfer?: unknown[]): void\n\taddEventListener?(type: 'message' | 'error', listener: (event: { data?: unknown; message?: string }) => void): void\n\ton?(type: 'message' | 'error', listener: (value: unknown) => void): void\n}\n\ninterface BuildAnswer {\n\tid: number\n\tdata?: Uint8Array\n\terror?: string\n}\n\n/**\n * A builder that builds in a worker: one whose file serves builds (`serveNavigationBuilds`). In a page, the page makes\n * the worker, as its bundler wants it: the library makes no worker of its own there.\n *\n * A worker's file of two lines (`serveNavigationBuilds` imported from the engine, and called), and the page:\n * `navigationWorker(() => new Worker(new URL('./navigation.worker.ts', import.meta.url), { type: 'module' }))`, the\n * builder of every world it makes (`NavigationBuilds`).\n * Given as a function, the worker is made at the first build: a page whose menu builds nothing fetches none of it\n * until a world is made (OF2); given made, it is used as it is\n *\n * @beta\n */\nexport function navigationWorker(given: NavigationWorkerLike | (() => NavigationWorkerLike)): NavigationBuilder {\n\tlet next = 0\n\tconst waiting = new Map<number, { done: (data: Uint8Array) => void; failed: (error: Error) => void }>()\n\tconst answered = (answer: BuildAnswer) => {\n\t\tconst wait = waiting.get(answer.id)\n\t\tif (!wait) return\n\t\twaiting.delete(answer.id)\n\t\tif (answer.data) wait.done(answer.data)\n\t\telse wait.failed(new Error(answer.error ?? 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What an app hands every world it makes (`launch`,\n * `startApp`, `GameServer.start`)\n *\n * @beta\n */\nexport interface NavigationBuilds {\n\tbuilder?: NavigationBuilder\n\tcache?: NavigationCache | null\n}\n\n/** Where a world says nothing: this thread, and kept in the process's memory, which every world's ground may read */\nconst defaults: { readonly builder: NavigationBuilder; readonly cache: NavigationCache } = {\n\tbuilder: buildNavigationData,\n\tcache: memoryNavigationCache()\n}\n\n/**\n * What was built from this: kept, or built now (by the builder set) and kept. A builder that fails falls back to this\n * thread once, and says why in what it throws only when that fails too\n */\nexport async function navigationData(build: NavigationBuild, using: NavigationBuilds = {}): Promise<Uint8Array> {\n\t// `using`: who builds this one and where it is kept (a page's worker, a game's worker asked by its page: S54)\n\tconst cache = using.cache !== undefined ? using.cache : defaults.cache\n\tconst builder = using.builder ?? defaults.builder\n\tconst key = cache ? navigationKey(build) : ''\n\tconst kept = cache ? await cache.get(key) : undefined\n\tif (kept) return kept\n\tlet data: Uint8Array\n\ttry {\n\t\tdata = await builder(build)\n\t} catch (error) {\n\t\tif (builder === buildNavigationData) throw error\n\t\tdata = await buildNavigationData(build)\n\t}\n\tif (cache) await cache.set(key, data)\n\treturn 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