@v12-engine/engine 0.1.1 → 0.4.0

package/dist/navigation/recast.js.map

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+{"version":3,"file":"recast.js","names":[],"sources":["../../src/navigation/recast.ts"],"sourcesContent":["import {\n\ttype BoxObstacle,\n\tCrowd,\n\ttype CrowdAgent,\n\tDebugDrawerUtils,\n\timportTileCache,\n\ttype NavMesh,\n\tNavMeshQuery,\n\ttype Obstacle,\n\tRaw,\n\ttype TileCache,\n\tTileCacheMeshProcess\n} from '@recast-navigation/core'\nimport { createDefaultTileCacheMeshProcess } from '@recast-navigation/generators'\nimport { addTileLayer, columnTileCache, groundMeshProcess, groundTileLayers, layerOf, setAreaCosts, type TileCut, tileGridOf, tileKey } from './groundAreas'\nimport {\n\tbuildNavigationData,\n\tbuildNavigationNow,\n\tinitRecast,\n\tinTurn,\n\ttype NavigationBuild,\n\ttype NavigationBuildConfig,\n\ttype NavigationBuilds,\n\ttype NavigationSpeeds,\n\tnavigationData\n} from './builds'\nimport type { Rect, Vec2 } from '#engine/math'\nimport { type Terrain, walkedCell } from '#engine/terrain'\nimport type { AgentMirrors, AgentMotion, AgentParams, AgentSave, AgentState, CellArea, NavDebugGeometry, Navigation } from './navigation'\n\n/**\n * The options a Recast navigation is made with: who builds it, the agents' size and slope limits, and the room for agents, obstacles and path steps\n *\n * @beta\n */\nexport interface RecastNavigationOptions {\n\t/** Who builds it and where what was built is kept: this thread and the process's memory when left out */\n\tbuilds?: NavigationBuilds\n\t/** Navmesh is eroded by this radius, so it has to cover the largest unit */\n\tagentRadius?: number\n\t/** Steepest slope units can walk, in degrees */\n\tmaxSlope?: number\n\t/**\n\t * How many agents the crowd makes room for at first: 512 when left out. It is not a limit: a crowd that is full makes\n\t * room for twice as many, and the agents go on as they were. A game that knows it brings thousands says so, to save\n\t * those moves\n\t */\n\tmaxAgents?: number\n\t/**\n\t * How many obstacles (buildings, shut gates) there is room for: past it, placing one is refused. From the map's\n\t * size when left out: half its cells, at least 8192, at most 65535\n\t */\n\tmaxObstacles?: number\n\t/**\n\t * How many steps a path search takes before it gives up with the best it found: a long path on a large map needs\n\t * more. From the map's size when left out: a quarter of its cells, at least 4096, at most 65535\n\t */\n\tmaxNodes?: number\n\t/**\n\t * Navigations cut for units of these sizes, each unit on the one for the biggest size it is not smaller than: a\n\t * big unit keeps from walls as far as it needs, where all keep 0.5 when left out. Each size is a navigation of its\n\t * own, with its own crowd, and the units of the other sizes stand in that crowd as mirrors, so they keep apart as on\n\t * one navigation (see `SizedNavigation`)\n\t */\n\tradii?: number[]\n\t/** How big a cell is, in world units; the engine's own when left out */\n\tcellSize?: number\n\t/**\n\t * What it is a navigation of: the ground, walked on, or the deep water, sailed on (`Terrain.buildWaterMesh`), at\n\t * the height of its surface. The ground when left out\n\t */\n\tsurface?: 'ground' | 'water'\n\t/**\n\t * How agents steer around each other (Detour's obstacle avoidance): a level (`AVOIDANCE_LEVELS`: how carefully a\n\t * crowd samples the velocities it might go at, `'medium'` being Detour's own), or the parts of `AvoidanceParams`\n\t * to change, Detour's own for the rest. `'medium'` when left out. `'low'` crosses and gathers crowds as well\n\t * in the measured cases for about a quarter less of a tick with a thousand walking, but it plays out other games\n\t * differently (six of the example's tuned AI tests), so it is a game's choice\n\t *\n\t * @beta\n\t */\n\tavoidance?: AvoidanceLevel | Partial<AvoidanceParams>\n\t/**\n\t * How hard agents push each other apart as they walk near each other (within eight radii), 0 for not at all:\n\t * Detour's separation weight. 0.5 when left out: at Detour's 1.5, a unit walking past standing ones is pushed off\n\t * its line and loses a tenth of its speed to it\n\t */\n\tseparation?: number\n\t/**\n\t * How a walking agent minds the walls, the edges of the ground it may walk (cliffs, buildings, trees). `'soft'` when\n\t * left out: an agent steers among velocities (Detour's obstacle avoidance) only while another agent, walking or\n\t * standing, is within its reach (eight of its radii), and otherwise follows its path, still pushed apart from those near it\n\t * (`separation`); where it does steer, a wall ahead weighs less (`SOFT_WALLS`). It keeps its speed between trees and\n\t * round corners. `'detour'` is Detour's own: every walking agent steers every tick, by `DEFAULT_AVOIDANCE`, and one\n\t * in a gap or hugging a corner, on ground cut its radius from every wall, goes slower or sideways for it\n\t *\n\t * @beta\n\t */\n\twalls?: 'soft' | 'detour'\n\t/**\n\t * How fast one on foot goes over the ground at a point, as a multiplier (`groundSpeedOfCell`): what a path weighs,\n\t * so that a way around slow ground wins where it is quicker (EN2). Asked as the ground is cut, and again for the tiles\n\t * a slowing layer changed on (`groundChanged`). Every cell 1 when left out; never asked of the water\n\t */\n\tspeedAt?: (x: number, z: number) => number\n}\n\n/**\n * How agents steer around each other: Detour's obstacle avoidance parameters, which weigh the velocities an agent\n * samples each tick. The one that costs least wins: going the speed it wants (`weightDesVel`), going as it went\n * (`weightCurVel`), passing on its preferred side (`weightSide`), and how soon it would hit something\n * (`weightToi`, within `horizTime` seconds). `velBias` is how far the samples stray from the velocity it wants, 0..1\n *\n * @beta\n */\nexport interface AvoidanceParams {\n\t/** How far the velocity samples may stray from the velocity the agent wants, 0..1 */\n\tvelBias: number\n\t/** How much a sample is penalised for differing from the speed the agent wants */\n\tweightDesVel: number\n\t/** How much a sample is penalised for differing from the velocity the agent has */\n\tweightCurVel: number\n\t/** How much a sample is penalised for not passing on the preferred side */\n\tweightSide: number\n\t/** How much a sample is penalised for hitting something soon */\n\tweightToi: number\n\t/** How many seconds ahead a sample is checked for hitting something */\n\thorizTime: number\n\t/** Samples a side in the grid sampling, odd. Only the adaptive sampling is used by the engine, which goes by the three below */\n\tgridSize: number\n\t/** How many divisions the adaptive sampling's pattern has */\n\tadaptiveDivs: number\n\t/** How many rings of samples the adaptive sampling has */\n\tadaptiveRings: number\n\t/** How many times the adaptive sampling is refined around the best sample */\n\tadaptiveDepth: number\n}\n\n/**\n * The engine's avoidance (`RecastNavigationOptions.avoidance`): Detour's own numbers, which `AVOIDANCE_LEVELS` change the sampling of\n *\n * @internal\n */\nexport const DEFAULT_AVOIDANCE: Readonly<AvoidanceParams> = Object.freeze({\n\tvelBias: 0.4,\n\tweightDesVel: 2,\n\tweightCurVel: 0.75,\n\tweightSide: 0.75,\n\tweightToi: 2.5,\n\thorizTime: 2.5,\n\tgridSize: 33,\n\tadaptiveDivs: 7,\n\tadaptiveRings: 2,\n\tadaptiveDepth: 5\n})\n\n/**\n * What `walls: 'soft'` changes of `DEFAULT_AVOIDANCE`, under the level and a game's own numbers: what is ahead counts\n * within 1.5 s (Detour's 2.5) and weighs 1.5 (2.5), and going the speed it wants weighs 3 (2), so that a slower\n * velocity that would touch a wall a little later no longer wins\n *\n * @beta\n */\nexport const SOFT_WALLS: Readonly<Partial<AvoidanceParams>> = Object.freeze({ horizTime: 1.5, weightToi: 1.5, weightDesVel: 3 })\n\n/**\n * How carefully a crowd steers: `'low'` samples fewer velocities, a cost a tick that grows with the crowd, `'high'` more\n *\n * @beta\n */\nexport type AvoidanceLevel = 'low' | 'medium' | 'high'\n\n/**\n * What each `AvoidanceLevel` changes of `DEFAULT_AVOIDANCE`: the sampling (`adaptiveDivs`, `adaptiveRings` and\n * `adaptiveDepth`, which what an agent costs a tick goes by)\n *\n * @beta\n */\nexport const AVOIDANCE_LEVELS: Readonly<Record<AvoidanceLevel, Readonly<Partial<AvoidanceParams>>>> = Object.freeze({\n\tlow: Object.freeze({ adaptiveDivs: 5, adaptiveRings: 1, adaptiveDepth: 3 }),\n\tmedium: Object.freeze({}),\n\thigh: Object.freeze({ adaptiveDivs: 7, adaptiveRings: 3, adaptiveDepth: 7 })\n})\n\nconst ANTICIPATE_TURNS = 1\nconst OBSTACLE_AVOIDANCE = 2\nconst SEPARATION = 4\nconst OPTIMIZE_VIS = 8\nconst OPTIMIZE_TOPO = 16\n\nconst DEFAULT_FLAGS = ANTICIPATE_TURNS | OBSTACLE_AVOIDANCE | SEPARATION | OPTIMIZE_VIS | OPTIMIZE_TOPO\nconst GHOST_FLAGS = ANTICIPATE_TURNS | OPTIMIZE_VIS | OPTIMIZE_TOPO\n/**\n * An agent with nowhere to go: no velocity sampled among its neighbours, which for one that wants to stand still comes to\n * standing still all the same (a crowd of idle units: EN1, the same hashes). It is pushed as any agent is\n */\nconst RESTING_FLAGS = ANTICIPATE_TURNS | SEPARATION | OPTIMIZE_VIS | OPTIMIZE_TOPO\n/** What an agent's target is while its path is still being looked for: requesting, waiting for the queue, waiting for the path */\nconst PLANNING = new Set([3, 4, 5])\n/** How fast an agent with no speed left comes to a halt, in ground units per second squared */\nconst BRAKING = 60\n/**\n * Detour's states of an agent. An invalid one is left out of every step of the crowd (no path checked, no neighbours\n * looked for, no velocity sampled, not moved, not pushed) but stays in the grid the others look for neighbours in: it\n * is what an anchored agent is, asleep where it stands, while everyone else still goes around it\n */\nconst INVALID = 0\nconst WALKING = 1\n\ninterface AgentEntry {\n\tagent: CrowdAgent\n\tradius: number\n\tanchored: boolean\n\tanchorX: number\n\tanchorZ: number\n\tghost: boolean\n\t/**\n\t * It walks through everyone and everyone through it (`setPhasing`): on a crowd of its own (`phasers`), with nobody\n\t * else in it, so it is neither anyone's neighbour nor has any\n\t */\n\tphasing?: boolean\n\t/** Where it was last sent, snapped: kept for a save, which cannot read it back from the crowd */\n\ttarget: Vec2 | null\n\t/** The flags it steers by now: with obstacle avoidance or without, as its neighbours are (`walls: 'soft'`) */\n\tflags: number\n}\n\n/**\n * Where the mirror of an agent that phases is kept (`setMirrorPhasing`): far from anyone, so that it is nobody's\n * neighbour, and still in its place among the crowd's agents\n */\nconst PARKED = -100000\n\n/** An agent of another crowd (`AgentMirrors`): asleep in this one, where only `moveMirror` moves it */\ninterface Mirror extends AgentEntry {\n\ty: number\n\tvx: number\n\tvz: number\n}\n\n/** Each cell's speed on the ground, as a build is told it: none where every cell is 1 (the ground cut as it always was) */\nfunction speedsOf(terrain: Terrain, speedAt: (x: number, z: number) => number): NavigationSpeeds | undefined {\n\tconst { width, depth } = terrain\n\tconst values = new Float32Array(width * depth)\n\tlet slow = false\n\tfor (let z = 0; z < depth; z++) {\n\t\tfor (let x = 0; x < width; x++) {\n\t\t\tconst speed = speedAt(x + 0.5, z + 0.5)\n\t\t\tvalues[z * width + x] = speed\n\t\t\tif (speed !== 1) slow = true\n\t\t}\n\t}\n\treturn slow ? { width, depth, values } : undefined\n}\n\n/** The least of one coordinate (0 x, 2 z) of the vertices a mesh's triangles use: where its tiles start, as Recast's bounds do */\nfunction minOf(positions: Float32Array, indices: Uint32Array, axis: number): number {\n\tlet least = Infinity\n\tfor (let i = 0; i < indices.length; i++) least = Math.min(least, positions[indices[i] * 3 + axis])\n\treturn least\n}\n\n/** A limit from the map's size, never less than it was before the map's size counted, never past what Detour counts to */\nconst limitFor = (wanted: number, least: number) => Math.min(Math.max(Math.ceil(wanted), least), 65535)\n\n/** How many requests the tile cache queues, and how many tiles it makes again from one batch of them, at most (Detour's) */\nconst MAX_REQUESTS = 64\n/** Half of Detour's 64: a column of the tile grid may hold more than one layer, and each is a tile of its own */\nconst MAX_HELD_COLUMNS = 32\n\n/**\n * The walkable ground about some tiles (their keys), as `Terrain.buildMesh(true)` and `speedsOf` give it whole: the\n * triangles of the cells within a tile's border (and a cell more) of each, in the whole mesh's order, and the speed of\n * the cell a point is in, so that each of those tiles is made from it as from the whole (`groundTileLayers` takes a\n * tile's triangles by where they reach). As much as those tiles need, however big the map\n */\nfunction groundPart(\n\tterrain: Terrain,\n\tconfig: NavigationBuildConfig,\n\tspeedAt: (x: number, z: number) => number,\n\tkeys: readonly number[],\n\tgrid: { bbMin: readonly number[]; tileSize: number; border: number }\n): { build: NavigationBuild; speedOf: (x: number, z: number) => number } {\n\tconst { width, depth, vertsX } = terrain\n\tconst reach = grid.border + 1\n\tconst near: number[] = []\n\tfor (const key of keys) {\n\t\tconst tx = Math.floor(key / 65536)\n\t\tconst ty = key % 65536\n\t\tconst x0 = Math.max(0, Math.floor(grid.bbMin[0] + tx * grid.tileSize - reach))\n\t\tconst x1 = Math.min(width - 1, Math.ceil(grid.bbMin[0] + (tx + 1) * grid.tileSize + reach))\n\t\tconst z0 = Math.max(0, Math.floor(grid.bbMin[2] + ty * grid.tileSize - reach))\n\t\tconst z1 = Math.min(depth - 1, Math.ceil(grid.bbMin[2] + (ty + 1) * grid.tileSize + reach))\n\t\tfor (let iz = z0; iz <= z1; iz++) for (let ix = x0; ix <= x1; ix++) near.push(iz * width + ix)\n\t}\n\t// in the whole mesh's order, row by row, each cell once: as a tile cut alone from the whole is given them\n\tnear.sort((a, b) => a - b)\n\tconst speeds = new Map<number, number>()\n\tconst vertices = new Map<number, number>()\n\tconst positions: number[] = []\n\tconst indices: number[] = []\n\tconst vertex = (v: number) => {\n\t\tlet at = vertices.get(v)\n\t\tif (at === undefined) {\n\t\t\tat = vertices.size\n\t\t\tvertices.set(v, at)\n\t\t\tpositions.push(v % vertsX, terrain.heights[v], Math.floor(v / vertsX))\n\t\t}\n\t\treturn at\n\t}\n\tfor (let i = 0; i < near.length; i++) {\n\t\tconst cell = near[i]\n\t\tif (cell === near[i - 1]) continue\n\t\tconst ix = cell % width\n\t\tconst iz = (cell - ix) / width\n\t\tif (!walkedCell(terrain, ix, iz)) continue\n\t\tspeeds.set(cell, speedAt(ix + 0.5, iz + 0.5))\n\t\tconst a = iz * vertsX + ix\n\t\tconst [va, vb, vc, vd] = [vertex(a), vertex(a + 1), vertex(a + vertsX), vertex(a + vertsX + 1)]\n\t\tindices.push(va, vc, vb, vb, vc, vd)\n\t}\n\treturn {\n\t\tbuild: { positions: Float32Array.from(positions), indices: Uint32Array.from(indices), config },\n\t\tspeedOf: (x, z) => speeds.get(Math.floor(z) * width + Math.floor(x)) ?? 1\n\t}\n}\n\n/**\n * The tiles of a navigation made again alone since its ground was last cut whole (`RecastNavigation.groundChanged`,\n * `reshape` of a part): the compressed layers of each column of the grid, by its key (`tileKey`). The whole's tile\n * cache keeps its own layers there (Recast cannot take a tile out of one), of the ground as it was: the navmesh's tiles\n * of such a column are made from these instead, through a tile cache of the column alone with the obstacles on it\n * (`buildColumn`)\n */\ntype Overridden = Map<number, Uint8Array[]>\n\n/**\n * More than this share of the tiles reshaped at once is cut whole, and nothing kept apart after. Only a reshape: a\n * slowing layer painted is never cut whole (`groundChanged`), its tiles alone being quicker\n */\nconst MOST_TILES = 0.5\n\n/** Where the tiles are: their size and where the first starts, in ground units */\ninterface TileGrid {\n\tsize: number\n\toriginX: number\n\toriginZ: number\n}\n\n/** The slot of the crowd's obstacle avoidance parameters every agent uses */\nconst AVOIDANCE_SLOT = 3\n\n/**\n * A crowd on the navmesh with room for `maxAgents` agents, of any radius up to twice the one it was cut for, steering\n * as `avoidance` says\n */\nfunction crowdOf(navMesh: NavMesh, maxAgents: number, agentRadius: number, avoidance: Readonly<AvoidanceParams>, weighs: boolean): Crowd {\n\tconst crowd = new Crowd(navMesh, { maxAgents, maxAgentRadius: Math.max(agentRadius * 2, 1) })\n\tcrowd.navMeshQuery.defaultQueryHalfExtents = { x: 2, y: 6, z: 2 }\n\t// the paths its agents plan pay for slow ground as the navigation's own searches do\n\tif (weighs) setAreaCosts(crowd.getFilter(0))\n\tconst params = new Raw.Module.dtObstacleAvoidanceParams()\n\tparams.velBias = avoidance.velBias\n\tparams.weightDesVel = avoidance.weightDesVel\n\tparams.weightCurVel = avoidance.weightCurVel\n\tparams.weightSide = avoidance.weightSide\n\tparams.weightToi = avoidance.weightToi\n\tparams.horizTime = avoidance.horizTime\n\tparams.gridSize = avoidance.gridSize\n\tparams.adaptiveDivs = avoidance.adaptiveDivs\n\tparams.adaptiveRings = avoidance.adaptiveRings\n\tparams.adaptiveDepth = avoidance.adaptiveDepth\n\tcrowd.raw.setObstacleAvoidanceParams(AVOIDANCE_SLOT, params)\n\tRaw.destroy(params)\n\treturn crowd\n}\n\n/**\n * What the ground's changes asked of a navigation and it has not done yet (`RecastNavigation.groundChanged`, `reshape`):\n * done together at the first thing asked of it after them, or as the tick ends (`settleGround`)\n */\ninterface GroundAsked {\n\t/** How many asks: the version goes up by as many, as it would have one by one */\n\tasks: number\n\t/** A whole cut asked: of no part, or of a part reaching most of the tiles. Nothing else is then needed */\n\twhole: boolean\n\t/** The tiles a part of the ground reshaped reaches (`reshape`): cut again from the whole ground as it is now */\n\treshaped: Set<number>\n\t/** The tiles a slowing layer changed on (`groundChanged`): cut again from the ground about them alone, where nothing is reshaped */\n\tpainted: Set<number>\n}\n\nexport class RecastNavigation implements Navigation, AgentMirrors {\n\t/** One more each time walkable space changes (`version`) */\n\tprivate changes = 0\n\t/** What the ground's changes asked and is not done yet: none, mostly */\n\tprivate asked: GroundAsked | undefined\n\n\tprivate agents = new Map<number, AgentEntry>()\n\tprivate mirrors = new Map<number, Mirror>()\n\t/**\n\t * The crowd of the agents that walk through others (`setPhasing`), on the same navmesh, made as the first comes:\n\t * Detour has no way to keep an agent out of the others' neighbours, so it walks where there are none. Walls,\n\t * cliffs and obstacles are the navmesh's, and stop it as they stop anyone\n\t */\n\tprivate phasers: Crowd | undefined\n\t/** How many agents the crowd of those that phase has room for now */\n\tprivate phasersRoom = 0\n\tprivate obstacles = new Map<number, Obstacle>()\n\t/** The room the crowd was first made with: a crowd made anew (`reseat`) starts there, as a loaded world's does */\n\tprivate firstMaxAgents = 0\n\tprivate obstaclesDirty = false\n\t/** Obstacles are put down many at once (`holdObstacles`): their requests wait in the tile cache to be made into tiles together */\n\tprivate holding = false\n\t/** Requests waiting while held, and the columns of the tile grid they touch (x * 65536 + z) */\n\tprivate held = 0\n\tprivate readonly heldColumns = new Set<number>()\n\t/** Points handed to the module, which copies them in: one, and a second for a path's end */\n\tprivate readonly scratch = { x: 0, y: 0, z: 0 }\n\tprivate readonly scratchEnd = { x: 0, y: 0, z: 0 }\n\t/** How far `closestPoint` looks, set for each ask */\n\tprivate readonly closestQuery = { halfExtents: { x: 0, y: 8, z: 0 } }\n\t/** What `steer` works in each tick, kept: the agents that count, where they are, and a grid of them */\n\tprivate readonly near: AgentEntry[] = []\n\tprivate nearX = new Float64Array(0)\n\tprivate nearZ = new Float64Array(0)\n\tprivate nearNext = new Int32Array(0)\n\tprivate readonly nearHeads = new Map<number, number>()\n\t/** The tiles made again alone since the ground was last cut whole (`groundChanged`, `reshape` of a part) */\n\tprivate overridden: Overridden | undefined\n\t/**\n\t * The obstacles about each column of the grid (`columnsOf`), by their keys, in the order they were put down: what a\n\t * column made alone is made with. Kept while tiles are made alone, made from `obstacles` as the first is\n\t */\n\tprivate byColumn: Map<number, Set<number>> | undefined\n\t/** The grid the whole was cut on (`tileGridOf`): a part is made again alone only where the ground is cut on the same */\n\tprivate grid: ReturnType<typeof tileGridOf> | undefined\n\t/** Columns of the grid obstacles were put down or taken up on, while tiles are made alone: made again from theirs */\n\tprivate readonly requested = new Set<number>()\n\n\tprivate constructor(\n\t\tprivate readonly terrain: Terrain,\n\t\tprivate navMesh: NavMesh,\n\t\tprivate tileCache: TileCache,\n\t\tprivate crowd: Crowd,\n\t\tprivate query: NavMeshQuery,\n\t\tprivate readonly agentRadius: number,\n\t\t/** How many agents the crowd has room for now: twice as many each time it is full */\n\t\tprivate maxAgents: number,\n\t\t/** How many obstacles the tile cache was made with room for */\n\t\tprivate readonly maxObstacles: number,\n\t\t/** How many steps a path search takes at most */\n\t\tprivate readonly maxNodes: number,\n\t\t/** What Recast's import made besides the navmesh and the tile cache, which the tile cache uses as long as it lives */\n\t\tprivate owned: readonly unknown[],\n\t\t/** How its agents steer around each other, and how hard they push apart (`RecastNavigationOptions`) */\n\t\treadonly avoidance: Readonly<AvoidanceParams>,\n\t\treadonly separation: number,\n\t\t/** How its agents mind the walls (`RecastNavigationOptions.walls`) */\n\t\treadonly walls: 'soft' | 'detour',\n\t\t/** Where its tiles are: to make again those a slowing layer changed on, and to know which an obstacle touches */\n\t\tprivate tiles: TileGrid,\n\t\t/** The height of what it is a navigation of, at a point: the ground, or the water's surface */\n\t\tprivate readonly heightAt: (x: number, z: number) => number = (x, z) => terrain.heightAt(x, z),\n\t\t/** What a path weighs (`speedAt`), and how the ground was cut (`config`): to cut a part of it again (`groundChanged`) */\n\t\tprivate readonly ground?: { speedAt: (x: number, z: number) => number; config: NavigationBuildConfig },\n\t\t/** What it is cut from, the ground as it is now, the way it was first cut: to cut it again (`reshape`) */\n\t\tprivate readonly cut?: () => { build: NavigationBuild; tiles: TileGrid }\n\t) {\n\t\tthis.firstMaxAgents = maxAgents\n\t}\n\n\tstatic async create(terrain: Terrain, options: RecastNavigationOptions = {}): Promise<RecastNavigation> {\n\t\t// built in a worker: asked side by side, each read here as it comes. Built on this thread, one after another, each\n\t\t// read before the next is built: Recast's WebAssembly broke (memory out of bounds, a tile cache that would not be\n\t\t// let go of) where one navigation was built between another's build and its reading (a world's ground's and its\n\t\t// water's, asked at once)\n\t\tconst builder = options.builds?.builder\n\t\tif (builder && builder !== buildNavigationData) return RecastNavigation.made(terrain, options)\n\t\treturn inTurn(() => RecastNavigation.made(terrain, options))\n\t}\n\n\tprivate static async made(terrain: Terrain, options: RecastNavigationOptions): Promise<RecastNavigation> {\n\t\tawait initRecast()\n\n\t\tconst cells = terrain.width * terrain.depth\n\t\tconst {\n\t\t\tagentRadius = 0.5,\n\t\t\tmaxSlope = 38,\n\t\t\tmaxAgents = 512,\n\t\t\t// as many as there are cells: a map can be wooded all over (a tree a cell), and a refused one blocks nothing\n\t\t\tmaxObstacles = limitFor(cells, 8192),\n\t\t\tmaxNodes = limitFor(cells / 4, 4096),\n\t\t\tcellSize = 0.25,\n\t\t\tsurface = 'ground',\n\t\t\tseparation = 0.5,\n\t\t\twalls = 'soft'\n\t\t} = options\n\t\tconst avoidance: Readonly<AvoidanceParams> = Object.freeze({\n\t\t\t...DEFAULT_AVOIDANCE,\n\t\t\t...(walls === 'soft' && SOFT_WALLS),\n\t\t\t...AVOIDANCE_LEVELS[typeof options.avoidance === 'string' ? options.avoidance : 'medium'],\n\t\t\t...(typeof options.avoidance === 'object' && options.avoidance)\n\t\t})\n\t\tconst cellHeight = 0.2\n\t\tconst water = surface === 'water'\n\t\tconst config: NavigationBuildConfig = {\n\t\t\tcs: cellSize,\n\t\t\tch: cellHeight,\n\t\t\ttileSize: 48,\n\t\t\twalkableSlopeAngle: maxSlope,\n\t\t\twalkableHeight: Math.ceil(2 / cellHeight),\n\t\t\twalkableClimb: Math.ceil(0.6 / cellHeight),\n\t\t\twalkableRadius: Math.ceil(agentRadius / cellSize),\n\t\t\tmaxSimplificationError: 1.1,\n\t\t\tmergeRegionArea: 20,\n\t\t\tmaxVertsPerPoly: 6,\n\t\t\tdetailSampleDist: 4,\n\t\t\tdetailSampleMaxError: 0.5,\n\t\t\texpectedLayersPerTile: 1,\n\t\t\tmaxObstacles\n\t\t}\n\t\t// slow ground, weighed by paths (EN2): the water is sailed at one speed\n\t\tconst speedAt = water ? undefined : options.speedAt\n\t\t// what it is cut from, the ground as it is: now, and again as it is reshaped\n\t\tconst cut = () => {\n\t\t\tconst { positions, indices } = water ? terrain.buildWaterMesh() : terrain.buildMesh(true)\n\t\t\tconst speeds = speedAt && speedsOf(terrain, speedAt)\n\t\t\treturn {\n\t\t\t\tbuild: { positions, indices, config, ...(speeds && { speeds }) },\n\t\t\t\ttiles: { size: config.tileSize * cellSize, originX: minOf(positions, indices, 0), originZ: minOf(positions, indices, 2) }\n\t\t\t}\n\t\t}\n\t\tconst first = cut()\n\t\t// built here or in a worker, or kept from a build of the same ground before (S37): read from what was built\n\t\t// either way, so the two are the same navigation\n\t\tconst data = await navigationData(first.build, options.builds)\n\t\t// what makes a tile again when an obstacle comes or goes: as the build made it, each polygon's area the speed\n\t\t// under it as the ground is now\n\t\tconst process = speedAt ? groundMeshProcess(speedAt) : createDefaultTileCacheMeshProcess()\n\t\tconst { navMesh, tileCache, allocator, compressor } = importTileCache(data, process)\n\t\tconst query = new NavMeshQuery(navMesh, { maxNodes })\n\t\tquery.defaultQueryHalfExtents = { x: 2, y: 6, z: 2 }\n\t\tif (speedAt) setAreaCosts(query.defaultFilter)\n\t\tconst crowd = crowdOf(navMesh, maxAgents, agentRadius, avoidance, !!speedAt)\n\t\tconst navigation = new RecastNavigation(\n\t\t\tterrain,\n\t\t\tnavMesh,\n\t\t\ttileCache,\n\t\t\tcrowd,\n\t\t\tquery,\n\t\t\tagentRadius,\n\t\t\tmaxAgents,\n\t\t\tmaxObstacles,\n\t\t\tmaxNodes,\n\t\t\t[process, allocator, compressor],\n\t\t\tavoidance,\n\t\t\tseparation,\n\t\t\twalls,\n\t\t\tfirst.tiles,\n\t\t\twater ? (x, z) => terrain.waterHeightAt(x, z) : undefined,\n\t\t\tspeedAt && { speedAt, config },\n\t\t\tcut\n\t\t)\n\t\t// the grid it is cut on, for a part reshaped to be cut again alone on it\n\t\tif (first.build.indices.length) navigation.grid = tileGridOf(first.build)\n\t\treturn navigation\n\t}\n\n\t/** One more each time walkable space changes: what the ground's changes asked of it done first (`settleGround`) */\n\tget version(): number {\n\t\tif (this.asked) this.settleGround()\n\t\treturn this.changes\n\t}\n\n\t/**\n\t * The ground it is a navigation of was reshaped (`World.reshapeGround`): cut again from the ground as it is now, on\n\t * this thread, as it was cut first (its options, its slow ground); what is in the way put down again where it was, in\n\t * the order it was, and every agent moved over as it stood, as a crowd that grows is. Every machine cuts it the same.\n\t *\n\t * Told the part that changed (`area`, in cells), only the tiles it reaches are cut again (`reshapeTiles`), where the\n\t * ground is still cut on the same grid and that is under half of the tiles: the rest of the navmesh, what is in the\n\t * way and every agent stay as they are, and an agent whose way went over a tile cut again finds it again, as when a\n\t * building goes up on it.\n\t *\n\t * Not at once: at the first thing asked of it after, or as the tick ends (`settleGround`), with what the other\n\t * changes of the ground asked before then (a slowing layer painted on the same part, `groundChanged`), each tile once.\n\t * Nothing asked of it sees the ground as it was. True where it has a ground to cut again; one that cannot be cut as it\n\t * is now (no water left) is left as it was when the time comes\n\t */\n\treshape(area?: CellArea): boolean {\n\t\tif (!this.cut) return false\n\t\tconst asked = this.ask()\n\t\tconst grid = this.grid\n\t\tif (!area || !grid || asked.whole) {\n\t\t\tasked.whole = true\n\t\t\treturn true\n\t\t}\n\t\t// the tiles the part reaches: its cells grown by two (a vertex moved changes the cells round it, and the climb and\n\t\t// the slope look a little further) and by a tile's border\n\t\tconst reach = 2 + grid.border\n\t\tconst column = (x: number, origin: number, count: number) => Math.min(count - 1, Math.max(0, Math.floor((x - origin) / grid.tileSize)))\n\t\tconst tx0 = column(area.x - reach, grid.bbMin[0], grid.tileWidth)\n\t\tconst tx1 = column(area.x + area.width + reach, grid.bbMin[0], grid.tileWidth)\n\t\tconst ty0 = column(area.z - reach, grid.bbMin[2], grid.tileHeight)\n\t\tconst ty1 = column(area.z + area.depth + reach, grid.bbMin[2], grid.tileHeight)\n\t\tif ((tx1 - tx0 + 1) * (ty1 - ty0 + 1) > grid.tileWidth * grid.tileHeight * MOST_TILES) asked.whole = true\n\t\telse for (let tx = tx0; tx <= tx1; tx++) for (let ty = ty0; ty <= ty1; ty++) asked.reshaped.add(tileKey(tx, ty))\n\t\treturn true\n\t}\n\n\t/** What the ground's changes ask of it, one more ask */\n\tprivate ask(): GroundAsked {\n\t\tconst asked = (this.asked ??= { asks: 0, whole: false, reshaped: new Set(), painted: new Set() })\n\t\tasked.asks++\n\t\treturn asked\n\t}\n\n\t/**\n\t * Does what the ground's changes asked of it and it has not done yet (`reshape`, `groundChanged`), all together: a\n\t * tile reached by several once, from the ground as it is now. Each ask was weighed as it came (cut whole, or its\n\t * tiles), so that what comes out is what doing them one by one makes, tile for tile: where a part of the ground was\n\t * reshaped, the tiles it reaches cut again of the whole ground as it is now, with those a layer was painted on; a\n\t * layer painted alone, of the ground about its tiles (`groundPart`). The version goes up once for each ask, as it\n\t * would have. Asked before anything else is asked of it, and by the world as each tick ends\n\t */\n\tsettleGround(): void {\n\t\tconst asked = this.asked\n\t\tif (!asked) return\n\t\t// let go of first: what is done below asks things of the navigation itself\n\t\tthis.asked = undefined\n\t\tconst grid = this.grid\n\t\tif (!asked.whole && grid) {\n\t\t\tif (asked.reshaped.size) {\n\t\t\t\tconst { build } = this.cut!()\n\t\t\t\tif (this.reshapeTiles(build, [...asked.reshaped, ...asked.painted])) {\n\t\t\t\t\tthis.changes += asked.asks\n\t\t\t\t\treturn\n\t\t\t\t}\n\t\t\t} else {\n\t\t\t\t// in order, so that every machine makes them the same way\n\t\t\t\tconst keys = [...asked.painted].sort((a, b) => a - b)\n\t\t\t\tconst { build, speedOf } = groundPart(this.terrain, this.ground!.config, this.ground!.speedAt, keys, grid)\n\t\t\t\tif (this.retile(build, keys, grid.cut, speedOf)) {\n\t\t\t\t\tthis.changes += asked.asks\n\t\t\t\t\treturn\n\t\t\t\t}\n\t\t\t}\n\t\t}\n\t\tif (this.cutWhole()) this.changes += asked.asks\n\t}\n\n\t/** Cut again whole, of the ground as it is now, what is in the way and every agent put back as they were: false where it cannot be */\n\tprivate cutWhole(): boolean {\n\t\tif (!this.cut) return false\n\t\tthis.drain()\n\t\tconst { build, tiles } = this.cut()\n\t\tlet made: ReturnType<typeof importTileCache>\n\t\ttry {\n\t\t\tmade = importTileCache(buildNavigationNow(build), this.owned[0] as Parameters<typeof importTileCache>[1])\n\t\t} catch {\n\t\t\treturn false\n\t\t}\n\t\tconst boxes = [...this.obstacles].flatMap(([key, obstacle]) =>\n\t\t\tobstacle.type === 'box'\n\t\t\t\t? [\n\t\t\t\t\t\t[\n\t\t\t\t\t\t\tkey,\n\t\t\t\t\t\t\t{\n\t\t\t\t\t\t\t\tx: obstacle.position.x,\n\t\t\t\t\t\t\t\tz: obstacle.position.z,\n\t\t\t\t\t\t\t\thw: obstacle.halfExtents.x - this.agentRadius,\n\t\t\t\t\t\t\t\thd: obstacle.halfExtents.z - this.agentRadius\n\t\t\t\t\t\t\t}\n\t\t\t\t\t\t] as const\n\t\t\t\t\t]\n\t\t\t\t: []\n\t\t)\n\t\tconst agents = [...this.agents.keys()].map((id) => [id, this.saveAgent(id)!] as const)\n\t\t// cut whole: nothing kept apart\n\t\tthis.dropOverridden()\n\t\tthis.grid = build.indices.length ? tileGridOf(build) : undefined\n\t\tconst old = [this.crowd, this.query, this.tileCache, this.navMesh]\n\t\tthis.navMesh = made.navMesh\n\t\tthis.tileCache = made.tileCache\n\t\tthis.owned = [this.owned[0], made.allocator, made.compressor]\n\t\tthis.tiles = tiles\n\t\tthis.query = new NavMeshQuery(made.navMesh, { maxNodes: this.maxNodes })\n\t\tthis.query.defaultQueryHalfExtents = { x: 2, y: 6, z: 2 }\n\t\tif (this.ground) setAreaCosts(this.query.defaultFilter)\n\t\tthis.crowd = crowdOf(made.navMesh, this.maxAgents, this.agentRadius, this.avoidance, !!this.ground)\n\t\tthis.obstacles.clear()\n\t\tthis.agents.clear()\n\t\t// those that phase walk the old navmesh too: their crowd let go of before it, and made anew on the new one as the\n\t\t// first comes back\n\t\tthis.phasers?.destroy()\n\t\tthis.phasers = undefined\n\t\tfor (const each of old) each.destroy()\n\t\t// put down together, a tile made once however many are on it, as a world being made puts them down\n\t\tthis.holding = false\n\t\tthis.held = 0\n\t\tthis.heldColumns.clear()\n\t\tthis.obstaclesDirty = false\n\t\tthis.holdObstacles(true)\n\t\tfor (const [key, rect] of boxes) this.addObstacle(key, rect)\n\t\tthis.holdObstacles(false)\n\t\tfor (const [id, save] of agents) this.restoreAgent(id, save)\n\t\tthis.remakeMirrors()\n\t\treturn true\n\t}\n\n\t/**\n\t * A slowing layer of cells changed on these cells (`World.setCells`): the tiles they are in are cut again alone from\n\t * the ground as it is now (`retile`), its triangles marked with their cells' speeds as a whole\n\t * cut marks them, so that the polygons part where the speed does now and the navmesh is the one a world made or\n\t * loaded now cuts whole, tile for tile and area for area: a game saved after it plays out the same loaded. Only the\n\t * ground about those tiles is read (`groundPart`). Where the change may have made cells walkable or not\n\t * (`walkability`, a thicket), the tiles whose border reaches them too: the ground kept from them by the agents' radius\n\t * reaches over the tile's edge. Never cut whole, however many tiles: cutting them alone is quicker, even all of them\n\t * (half the time of a whole cut on a 128 x 128 map, which also puts every obstacle and agent back). Not at once: with\n\t * what the other changes of the ground asked, before the next thing asked of it or as the tick ends (`settleGround`)\n\t */\n\tgroundChanged(cells: readonly number[], walkability = false): void {\n\t\tif (!this.ground || !cells.length) return\n\t\t// a ground with no tiles yet may have some once a reshape asked before is done: that first, as it would have been\n\t\tif (!this.grid && this.asked) this.settleGround()\n\t\tconst grid = this.grid\n\t\tif (!grid) return\n\t\tconst { width } = this.terrain\n\t\tconst column = (x: number, origin: number, count: number) => Math.min(count - 1, Math.max(0, Math.floor((x - origin) / grid.tileSize)))\n\t\t// the tiles the cells are in: a cell's speed is only an area of its ground's spans, which a tile's layers keep of\n\t\t// its own cells and none of its border's (what is walked, and so the layers' shape, is not the speed's). Where it is\n\t\t// what is walked, every tile whose border (what it is rasterised with) the cell is in\n\t\tconst reach = walkability ? grid.border : 0\n\t\tconst tiles = new Set<number>()\n\t\tfor (const cell of cells) {\n\t\t\tconst x = cell % width\n\t\t\tconst z = (cell - x) / width\n\t\t\tif (!reach) {\n\t\t\t\ttiles.add(tileKey(column(x + 0.5, grid.bbMin[0], grid.tileWidth), column(z + 0.5, grid.bbMin[2], grid.tileHeight)))\n\t\t\t\tcontinue\n\t\t\t}\n\t\t\tconst tx1 = column(x + 1 + reach, grid.bbMin[0], grid.tileWidth)\n\t\t\tconst ty1 = column(z + 1 + reach, grid.bbMin[2], grid.tileHeight)\n\t\t\tfor (let tx = column(x - reach, grid.bbMin[0], grid.tileWidth); tx <= tx1; tx++) {\n\t\t\t\tfor (let ty = column(z - reach, grid.bbMin[2], grid.tileHeight); ty <= ty1; ty++) tiles.add(tileKey(tx, ty))\n\t\t\t}\n\t\t}\n\t\tconst asked = this.ask()\n\t\tif (asked.whole) return\n\t\tfor (const key of tiles) asked.painted.add(key)\n\t}\n\n\t/** The navmesh's tiles of a column of the grid made again: from its layers made alone where it is one of them */\n\tprivate buildTilesAt(key: number): void {\n\t\tconst layers = this.overridden?.get(key)\n\t\tif (layers) this.buildColumn(key, layers)\n\t\telse this.tileCache.buildNavMeshTilesAt(Math.floor(key / 65536), key % 65536, this.navMesh)\n\t}\n\n\t/** Takes every layer of a column out of the navmesh */\n\tprivate removeTilesAt(tx: number, ty: number): void {\n\t\tfor (let layer = 0; layer < 32; layer++) {\n\t\t\tconst ref = this.navMesh.getTileRefAt(tx, ty, layer)\n\t\t\tif (ref) this.navMesh.removeTile(ref)\n\t\t}\n\t}\n\n\t/**\n\t * Cuts again only these tiles (their keys: those a part of the ground reshaped reaches, `reshape`, and those a slowing\n\t * layer was painted on, `groundChanged`) of the whole ground as it is now (`retile`). False, with nothing changed,\n\t * where it cannot be (the ground cut on another grid now): it is cut whole\n\t */\n\tprivate reshapeTiles(build: NavigationBuild, tiles: readonly number[]): boolean {\n\t\tconst grid = this.grid\n\t\tif (!grid || !build.indices.length) return false\n\t\tconst now = tileGridOf(build)\n\t\tconst same = (a: readonly number[], b: readonly number[]) => a.every((value, i) => value === b[i])\n\t\tif (now.tileWidth !== grid.tileWidth || now.tileHeight !== grid.tileHeight || !same(now.bbMin, grid.bbMin) || !same(now.bbMax, grid.bbMax)) return false\n\t\t// each once, in order, so that every machine makes them the same way\n\t\tconst keys = [...new Set(tiles)].sort((a, b) => a - b)\n\t\treturn this.retile(build, keys, now.cut)\n\t}\n\n\t/**\n\t * Cuts these columns of the grid again alone (their keys, in order), each from the build as a whole cut of it would\n\t * make it (`groundTileLayers`; `speedOf` where the build is a part of the ground), and keeps their layers apart from\n\t * the whole's tile cache (`overridden`, which Recast cannot take a tile out of): the navmesh's tiles there made again\n\t * from them with the obstacles on them, in order (`buildColumn`). Only what these columns need is done, however many\n\t * were made alone before. False, with nothing changed, where they could not be made: it is cut whole\n\t */\n\tprivate retile(build: NavigationBuild, keys: readonly number[], cut: TileCut, speedOf?: (x: number, z: number) => number): boolean {\n\t\tconst made = groundTileLayers(build, keys, cut, speedOf)\n\t\tif (!made) return false\n\t\t// what was asked of the whole's tile cache is in its tiles first\n\t\tthis.drain()\n\t\tfor (let i = 0; this.obstaclesDirty; i++) {\n\t\t\tif (i > 100000) throw new Error('Navigation: the obstacles never settled')\n\t\t\tthis.obstaclesDirty = !this.updateTiles()\n\t\t}\n\t\tif (!this.overridden) {\n\t\t\tthis.overridden = new Map()\n\t\t\t// the obstacles about each column, from now on followed as they come and go\n\t\t\tthis.byColumn = new Map()\n\t\t\tfor (const [key, obstacle] of this.obstacles) if (obstacle.type === 'box') this.indexObstacle(key, obstacle, true)\n\t\t}\n\t\tfor (const key of keys) {\n\t\t\tthis.overridden.set(key, made.get(key)!)\n\t\t\tthis.buildColumn(key, made.get(key)!)\n\t\t}\n\t\treturn true\n\t}\n\n\t/**\n\t * The navmesh's tiles of a column made alone (`retile`) made again from its layers, as the whole's tile cache makes a\n\t * tile: through a tile cache of that column alone, in the whole's allocator and compressor, with every obstacle about\n\t * it put down on it (Detour carves an obstacle into the tiles it touches as it is put down, so the layers go in\n\t * first), a batch at a time as Detour queues them. Every layer of the column taken out of the navmesh first: the\n\t * ground as it is now may have fewer than it had. Every layer is made again, each once: those an obstacle touches by\n\t * Detour as it puts it down, the rest after (an obstacle `columnsOf` puts about a column may touch none of it)\n\t */\n\tprivate buildColumn(key: number, layers: readonly Uint8Array[]): void {\n\t\tconst tx = Math.floor(key / 65536)\n\t\tconst ty = key % 65536\n\t\tthis.removeTilesAt(tx, ty)\n\t\tif (!layers.length) return\n\t\tconst near = [...(this.byColumn?.get(key) ?? [])]\n\t\tconst tileCache = columnTileCache(\n\t\t\tthis.grid!.cut,\n\t\t\tthis.owned[0] as TileCacheMeshProcess,\n\t\t\t{ tiles: layers.length, obstacles: Math.max(1, near.length) },\n\t\t\tthis.owned[1] as InstanceType<typeof Raw.RecastLinearAllocator>,\n\t\t\tthis.owned[2] as InstanceType<typeof Raw.RecastFastLZCompressor>\n\t\t)\n\t\tif (!tileCache) throw new Error(`Navigation: a tile cache for the tiles at ${tx}, ${ty} could not be made`)\n\t\tconst copies: { destroy(): void }[] = []\n\t\ttry {\n\t\t\tfor (const bytes of layers) {\n\t\t\t\tconst data = addTileLayer(tileCache, bytes)\n\t\t\t\tif (!data) throw new Error(`Navigation: the tiles at ${tx}, ${ty} could not be made again`)\n\t\t\t\tcopies.push(data)\n\t\t\t}\n\t\t\tif (!near.length) {\n\t\t\t\ttileCache.buildNavMeshTilesAt(tx, ty, this.navMesh)\n\t\t\t\treturn\n\t\t\t}\n\t\t\tconst settle = () => {\n\t\t\t\tfor (let i = 0; !tileCache.update(this.navMesh).upToDate; i++) {\n\t\t\t\t\tif (i > 100000) throw new Error('Navigation: the obstacles never settled')\n\t\t\t\t}\n\t\t\t}\n\t\t\tlet queued = 0\n\t\t\tfor (const each of near) {\n\t\t\t\t// only boxes are kept by column\n\t\t\t\tconst obstacle = this.obstacles.get(each) as BoxObstacle\n\t\t\t\tif (queued === MAX_REQUESTS) {\n\t\t\t\t\tsettle()\n\t\t\t\t\tqueued = 0\n\t\t\t\t}\n\t\t\t\ttileCache.addBoxObstacle(obstacle.position, obstacle.halfExtents, obstacle.angle)\n\t\t\t\tqueued++\n\t\t\t}\n\t\t\t// Detour makes the tiles an obstacle touches as it judges it, which is less than `columnsOf` says may be: the\n\t\t\t// obstacle's own bounds (1.41 of its half side) against the columns they fall in, and then against the layers'\n\t\t\t// ground (their walkable cells and heights), so one about a column may touch none of it. A layer left out is\n\t\t\t// made here, whatever the obstacles about it: with those Detour carves into it (the ones it judged touch it),\n\t\t\t// as the whole's tile cache makes it\n\t\t\tsettle()\n\t\t\tif (layers.some((bytes) => !this.navMesh.getTileRefAt(tx, ty, layerOf(bytes)))) tileCache.buildNavMeshTilesAt(tx, ty, this.navMesh)\n\t\t} finally {\n\t\t\ttileCache.destroy()\n\t\t\tfor (const each of copies) each.destroy()\n\t\t}\n\t}\n\n\t/** An obstacle put in the columns it is about (`byColumn`), or taken out of them */\n\tprivate indexObstacle(key: number, obstacle: Obstacle, add: boolean): void {\n\t\tconst byColumn = this.byColumn\n\t\tif (!byColumn || obstacle.type !== 'box') return\n\t\tconst { position, halfExtents } = obstacle\n\t\tfor (const column of this.columnsOf(position.x, position.z, halfExtents.x, halfExtents.z)) {\n\t\t\tlet keys = byColumn.get(column)\n\t\t\tif (add) {\n\t\t\t\tif (!keys) byColumn.set(column, (keys = new Set()))\n\t\t\t\tkeys.add(key)\n\t\t\t} else {\n\t\t\t\tkeys?.delete(key)\n\t\t\t\tif (keys?.size === 0) byColumn.delete(column)\n\t\t\t}\n\t\t}\n\t}\n\n\t/** The tiles made alone let go of: the whole's tile cache is the navmesh's again */\n\tprivate dropOverridden(): void {\n\t\tthis.overridden = undefined\n\t\tthis.byColumn = undefined\n\t\tthis.requested.clear()\n\t}\n\n\t/**\n\t * A step of the whole's tile cache's work on what was put down or taken up. Once it is done, the columns made alone\n\t * that it made again from its own layers, or that an obstacle came to or went from (`requested`), are made again from\n\t * theirs. Whether the whole's is done\n\t */\n\tprivate updateTiles(): boolean {\n\t\tconst upToDate = this.tileCache.update(this.navMesh).upToDate\n\t\tconst overridden = this.overridden\n\t\tif (!overridden) return upToDate\n\t\tif (upToDate && this.requested.size) {\n\t\t\tconst columns = [...this.requested].filter((key) => overridden.has(key)).sort((a, b) => a - b)\n\t\t\tthis.requested.clear()\n\t\t\tfor (const key of columns) this.buildTilesAt(key)\n\t\t}\n\t\treturn upToDate\n\t}\n\n\t/** The limits it was made with, from the map's size or the options: obstacles, and the steps of a path search */\n\tget limits(): { maxObstacles: number; maxNodes: number } {\n\t\treturn { maxObstacles: this.maxObstacles, maxNodes: this.maxNodes }\n\t}\n\n\t/** How many agents the crowd has room for before it has to make more */\n\tget capacity(): number {\n\t\treturn this.maxAgents\n\t}\n\n\t/**\n\t * Makes room for twice as many agents. A crowd (Detour's) is made for a number of agents and cannot grow, so a new\n\t * one is made and every agent moved over as it is: where it is, how fast it goes, where to\n\t */\n\tprivate grow(): void {\n\t\t// those that phase walk on a crowd of their own, which stays as it is: kept in their place among the others\n\t\tconst entries = [...this.agents]\n\t\tconst saves = entries.map(([id, entry]) => [id, entry.phasing ? entry : this.saveAgent(id)!] as const)\n\t\tconst old = this.crowd\n\t\tthis.maxAgents *= 2\n\t\tthis.crowd = crowdOf(this.navMesh, this.maxAgents, this.agentRadius, this.avoidance, !!this.ground)\n\t\tthis.agents.clear()\n\t\tfor (const [id, kept] of saves) {\n\t\t\tif ('agent' in kept) this.agents.set(id, kept)\n\t\t\telse this.restoreAgent(id, kept)\n\t\t}\n\t\tthis.remakeMirrors()\n\t\told.destroy()\n\t}\n\n\t/** Makes room for twice as many agents that phase, as `grow` does for the others: their crowd made anew */\n\tprivate growPhasers(): void {\n\t\tconst saves = [...this.agents].map(([id, entry]) => [id, entry.phasing ? this.saveAgent(id)! : entry] as const)\n\t\tconst old = this.phasers!\n\t\tthis.phasersRoom *= 2\n\t\tthis.phasers = crowdOf(this.navMesh, this.phasersRoom, this.agentRadius, this.avoidance, !!this.ground)\n\t\tthis.agents.clear()\n\t\tfor (const [id, kept] of saves) {\n\t\t\tif ('agent' in kept) this.agents.set(id, kept)\n\t\t\telse this.restoreAgent(id, kept)\n\t\t}\n\t\told.destroy()\n\t}\n\n\t/** The crowd an agent walks on: the one of those that phase, or everyone's */\n\tprivate crowdFor(entry: AgentEntry): Crowd {\n\t\treturn entry.phasing ? this.phasers! : this.crowd\n\t}\n\n\tprivate toVec3(p: Vec2, into = this.scratch) {\n\t\tinto.x = p.x\n\t\tinto.y = this.heightAt(p.x, p.z)\n\t\tinto.z = p.z\n\t\treturn into\n\t}\n\n\taddAgent(id: number, position: Vec2, params: AgentParams): void {\n\t\tif (this.asked) this.settleGround()\n\t\tthis.place(id, position, params, false)\n\t}\n\n\t/** An agent put on the crowd, or on the crowd of those that phase (`setPhasing`) */\n\tprivate place(id: number, position: Vec2, params: AgentParams, phasing: boolean): void {\n\t\tif (this.agents.has(id)) this.removeAgent(id)\n\t\tconst start = this.closestPoint(position, 8) ?? position\n\t\tconst agentParams = {\n\t\t\tradius: params.radius,\n\t\t\theight: 2,\n\t\t\tmaxSpeed: params.speed,\n\t\t\tmaxAcceleration: params.speed * 10,\n\t\t\tcollisionQueryRange: params.radius * 8,\n\t\t\tpathOptimizationRange: params.radius * 30,\n\t\t\tseparationWeight: this.separation,\n\t\t\tupdateFlags: phasing ? GHOST_FLAGS : RESTING_FLAGS,\n\t\t\tobstacleAvoidanceType: AVOIDANCE_SLOT\n\t\t}\n\t\tif (phasing) agentParams.collisionQueryRange = 0.01\n\t\tconst agent = phasing ? this.seatPhasing(start, agentParams) : this.seat(start, agentParams)\n\t\tthis.agents.set(id, {\n\t\t\tagent,\n\t\t\tradius: params.radius,\n\t\t\tanchored: false,\n\t\t\tanchorX: start.x,\n\t\t\tanchorZ: start.z,\n\t\t\tghost: false,\n\t\t\t...(phasing && { phasing: true }),\n\t\t\ttarget: null,\n\t\t\tflags: phasing ? GHOST_FLAGS : RESTING_FLAGS\n\t\t})\n\t}\n\n\t/** An agent put on the crowd of those that phase: made as the first comes, and made bigger as it fills, as `seat` does */\n\tprivate seatPhasing(at: Vec2, params: Parameters<Crowd['addAgent']>[1]): CrowdAgent {\n\t\tif (!this.phasers) {\n\t\t\tthis.phasersRoom = Math.min(this.firstMaxAgents, 64)\n\t\t\tthis.phasers = crowdOf(this.navMesh, this.phasersRoom, this.agentRadius, this.avoidance, !!this.ground)\n\t\t}\n\t\tconst agent = this.phasers.addAgent(this.toVec3(at), params)\n\t\tif (agent.agentIndex >= 0) return agent\n\t\tthis.growPhasers()\n\t\tconst again = this.phasers.addAgent(this.toVec3(at), params)\n\t\tif (again.agentIndex < 0) throw new Error(`Navigation: the crowd of those that phase has room for ${this.phasersRoom} agents and takes no more`)\n\t\treturn again\n\t}\n\n\t/**\n\t * An agent walks through every other and every other through it (`BuffDef.phasing`), or no longer does: moved over to\n\t * the crowd of those that phase, or back, as it stands (where, how fast, where to)\n\t */\n\tsetPhasing(id: number, phasing: boolean): void {\n\t\tif (this.asked) this.settleGround()\n\t\tconst entry = this.agents.get(id)\n\t\tif (!entry || !!entry.phasing === phasing) return\n\t\tconst save = this.saveAgent(id)!\n\t\tthis.restoreAgent(id, { ...save, phasing: phasing || undefined })\n\t}\n\n\t/** An agent put on the crowd. A full crowd says so with an index of -1, and an agent like that never moves: room is made, and it goes in again */\n\tprivate seat(at: Vec2, params: Parameters<Crowd['addAgent']>[1]): CrowdAgent {\n\t\tconst agent = this.crowd.addAgent(this.toVec3(at), params)\n\t\tif (agent.agentIndex >= 0) return agent\n\t\tthis.grow()\n\t\tconst again = this.crowd.addAgent(this.toVec3(at), params)\n\t\tif (again.agentIndex < 0) throw new Error(`Navigation: the crowd has room for ${this.maxAgents} agents and takes no more`)\n\t\treturn again\n\t}\n\n\tremoveAgent(id: number): void {\n\t\tif (this.asked) this.settleGround()\n\t\tconst entry = this.agents.get(id)\n\t\tif (!entry) return\n\t\tthis.crowdFor(entry).removeAgent(entry.agent)\n\t\tthis.agents.delete(id)\n\t}\n\n\treadMotion(id: number, out: AgentMotion): boolean {\n\t\tif (this.asked) this.settleGround()\n\t\tconst entry = this.agents.get(id)\n\t\tif (!entry) return false\n\t\tconst { raw } = entry.agent\n\t\tout.x = raw.get_npos(0)\n\t\tout.y = raw.get_npos(1)\n\t\tout.z = raw.get_npos(2)\n\t\tout.vx = raw.get_vel(0)\n\t\tout.vz = raw.get_vel(2)\n\t\treturn true\n\t}\n\n\taddMirror(id: number, motion: AgentMotion, radius: number, ghost: boolean): void {\n\t\tif (this.asked) this.settleGround()\n\t\tthis.removeMirror(id)\n\t\tconst mirror = this.mirrorAt({ x: motion.x, z: motion.z }, radius, ghost)\n\t\tthis.mirrors.set(id, mirror)\n\t\tthis.moveMirrorTo(mirror, motion)\n\t}\n\n\t/** Asleep from the first (Detour's `INVALID`, as an anchored agent is): of the crowd's step it is only ever a neighbour */\n\tprivate mirrorAt(at: Vec2, radius: number, ghost: boolean): Mirror {\n\t\tconst agent = this.seat(at, {\n\t\t\tradius,\n\t\t\theight: 2,\n\t\t\tmaxSpeed: 0,\n\t\t\tmaxAcceleration: 0,\n\t\t\tcollisionQueryRange: 0.01,\n\t\t\tpathOptimizationRange: 0.01,\n\t\t\tseparationWeight: 0,\n\t\t\tupdateFlags: 0,\n\t\t\tobstacleAvoidanceType: AVOIDANCE_SLOT\n\t\t})\n\t\tagent.raw.state = INVALID\n\t\treturn {\n\t\t\tagent,\n\t\t\tradius,\n\t\t\tanchored: true,\n\t\t\tanchorX: Number.NaN,\n\t\t\tanchorZ: Number.NaN,\n\t\t\tghost,\n\t\t\ttarget: null,\n\t\t\tflags: 0,\n\t\t\ty: Number.NaN,\n\t\t\tvx: Number.NaN,\n\t\t\tvz: Number.NaN\n\t\t}\n\t}\n\n\tmoveMirror(id: number, motion: AgentMotion): void {\n\t\tif (this.asked) this.settleGround()\n\t\tconst mirror = this.mirrors.get(id)\n\t\tif (mirror) this.moveMirrorTo(mirror, motion)\n\t}\n\n\t/** Written only where it changed, each number a call into WebAssembly: one standing still costs nothing */\n\tprivate moveMirrorTo(mirror: Mirror, { x, y, z, vx, vz }: AgentMotion): void {\n\t\tconst { raw } = mirror.agent\n\t\tif (x !== mirror.anchorX || y !== mirror.y || z !== mirror.anchorZ) {\n\t\t\tmirror.anchorX = x\n\t\t\tmirror.y = y\n\t\t\tmirror.anchorZ = z\n\t\t\t// one that phases is kept where it is parked, and put back where it is once it no longer does\n\t\t\tif (!mirror.phasing) {\n\t\t\t\traw.set_npos(0, x)\n\t\t\t\traw.set_npos(1, y)\n\t\t\t\traw.set_npos(2, z)\n\t\t\t}\n\t\t}\n\t\tif (vx !== mirror.vx || vz !== mirror.vz) {\n\t\t\tmirror.vx = vx\n\t\t\tmirror.vz = vz\n\t\t\traw.set_vel(0, vx)\n\t\t\traw.set_vel(2, vz)\n\t\t\traw.set_dvel(0, vx)\n\t\t\traw.set_dvel(2, vz)\n\t\t}\n\t}\n\n\tsetMirrorGhost(id: number, ghost: boolean): void {\n\t\tif (this.asked) this.settleGround()\n\t\tconst mirror = this.mirrors.get(id)\n\t\tif (mirror) mirror.ghost = ghost\n\t}\n\n\tsetMirrorPhasing(id: number, phasing: boolean): void {\n\t\tif (this.asked) this.settleGround()\n\t\tconst mirror = this.mirrors.get(id)\n\t\tif (!mirror || !!mirror.phasing === phasing) return\n\t\tif (phasing) mirror.phasing = true\n\t\telse delete mirror.phasing\n\t\tconst { raw } = mirror.agent\n\t\traw.set_npos(0, phasing ? PARKED : mirror.anchorX)\n\t\traw.set_npos(1, mirror.y)\n\t\traw.set_npos(2, phasing ? PARKED : mirror.anchorZ)\n\t}\n\n\tremoveMirror(id: number): void {\n\t\tif (this.asked) this.settleGround()\n\t\tconst mirror = this.mirrors.get(id)\n\t\tif (!mirror) return\n\t\tthis.crowd.removeAgent(mirror.agent)\n\t\tthis.mirrors.delete(id)\n\t}\n\n\t/** The mirrors put on a crowd made anew, after its agents and in the order they were, as they stood */\n\tprivate remakeMirrors(): void {\n\t\tconst mirrors = [...this.mirrors]\n\t\tthis.mirrors.clear()\n\t\tfor (const [id, { anchorX: x, y, anchorZ: z, vx, vz, radius, ghost, phasing }] of mirrors) {\n\t\t\tconst mirror = this.mirrorAt({ x, z }, radius, ghost)\n\t\t\tthis.mirrors.set(id, mirror)\n\t\t\tthis.moveMirrorTo(mirror, { x, y, z, vx, vz })\n\t\t\tif (phasing) this.setMirrorPhasing(id, true)\n\t\t}\n\t}\n\n\thasAgent(id: number): boolean {\n\t\treturn this.agents.has(id)\n\t}\n\n\tsetDestination(id: number, target: Vec2): boolean {\n\t\tif (this.asked) this.settleGround()\n\t\tconst entry = this.agents.get(id)\n\t\tif (!entry) return false\n\t\tconst snapped = this.closestPoint(target, 6)\n\t\tif (!snapped) return false\n\t\tthis.wake(entry)\n\t\tif (!entry.target && !entry.ghost && !entry.phasing) this.setFlags(entry, DEFAULT_FLAGS)\n\t\tentry.target = snapped\n\t\treturn entry.agent.requestMoveTarget(this.toVec3(snapped))\n\t}\n\n\tclearDestination(id: number): void {\n\t\tif (this.asked) this.settleGround()\n\t\tconst entry = this.agents.get(id)\n\t\tif (!entry) return\n\t\tif (entry.target && !entry.ghost && !entry.phasing) this.setFlags(entry, RESTING_FLAGS)\n\t\tentry.target = null\n\t\tentry.agent.resetMoveTarget()\n\t}\n\n\tteleport(id: number, position: Vec2): void {\n\t\tif (this.asked) this.settleGround()\n\t\tconst entry = this.agents.get(id)\n\t\tif (!entry) return\n\t\tconst snapped = this.closestPoint(position, 8) ?? position\n\t\tentry.agent.teleport(this.toVec3(snapped))\n\t\tentry.anchorX = snapped.x\n\t\tentry.anchorZ = snapped.z\n\t\t// a teleport wakes the agent in Detour's eyes: an anchored one goes on sleeping where it was put\n\t\tif (entry.anchored) entry.agent.raw.state = INVALID\n\t}\n\n\tsetAnchored(id: number, anchored: boolean): void {\n\t\tif (this.asked) this.settleGround()\n\t\tconst entry = this.agents.get(id)\n\t\tif (!entry || entry.anchored === anchored) return\n\t\tif (!anchored) {\n\t\t\tthis.wake(entry)\n\t\t\treturn\n\t\t}\n\t\tconst { agent } = entry\n\t\tconst { raw } = agent\n\t\tentry.anchored = true\n\t\tentry.anchorX = raw.get_npos(0)\n\t\tentry.anchorZ = raw.get_npos(2)\n\t\tif (entry.target && !entry.ghost && !entry.phasing) this.setFlags(entry, RESTING_FLAGS)\n\t\tentry.target = null\n\t\tagent.resetMoveTarget()\n\t\t// it stops dead: the velocity others steer around, and the one read back, are both nothing\n\t\tfor (let i = 0; i < 3; i++) raw.set_vel(i, 0)\n\t\traw.state = INVALID\n\t}\n\n\t/** Lets an anchored agent go: walking again, from where it stood. Detour checks the ground under it on its next step */\n\tprivate wake(entry: AgentEntry): void {\n\t\tif (!entry.anchored) return\n\t\tentry.anchored = false\n\t\tentry.agent.raw.state = WALKING\n\t}\n\n\tsetGhost(id: number, ghost: boolean): void {\n\t\tif (this.asked) this.settleGround()\n\t\tconst entry = this.agents.get(id)\n\t\tif (!entry || entry.ghost === ghost) return\n\t\tentry.ghost = ghost\n\t\t// one that phases has nobody near it either way\n\t\tif (entry.phasing) return\n\t\tentry.flags = ghost ? GHOST_FLAGS : entry.target ? DEFAULT_FLAGS : RESTING_FLAGS\n\t\tentry.agent.updateParameters({\n\t\t\tupdateFlags: entry.flags,\n\t\t\t// with no neighbours in range, a ghost is neither steered nor pushed by anyone\n\t\t\tcollisionQueryRange: ghost ? 0.01 : entry.radius * 8\n\t\t})\n\t}\n\n\tsetSpeed(id: number, speed: number): void {\n\t\tif (this.asked) this.settleGround()\n\t\t// what is held in place has to be able to brake: with nothing to change its pace by, it would glide on as it was\n\t\tthis.agents.get(id)?.agent.updateParameters({ maxSpeed: speed, maxAcceleration: Math.max(speed * 10, BRAKING) })\n\t}\n\n\tsaveAgent(id: number): AgentSave | undefined {\n\t\tif (this.asked) this.settleGround()\n\t\tconst entry = this.agents.get(id)\n\t\tif (!entry) return undefined\n\t\tconst { agent, radius, target, anchored, ghost } = entry\n\t\tconst p = agent.position()\n\t\tconst v = agent.velocity()\n\t\treturn {\n\t\t\tx: p.x,\n\t\t\tz: p.z,\n\t\t\tvx: v.x,\n\t\t\tvz: v.z,\n\t\t\tradius,\n\t\t\tspeed: agent.maxSpeed,\n\t\t\tacceleration: agent.maxAcceleration,\n\t\t\ttarget: target && { x: target.x, z: target.z },\n\t\t\tanchored,\n\t\t\tanchor: anchored ? { x: entry.anchorX, z: entry.anchorZ } : undefined,\n\t\t\tghost,\n\t\t\t...(entry.phasing && { phasing: true })\n\t\t}\n\t}\n\n\treseat(agents: readonly (readonly [id: number, save: AgentSave])[]): void {\n\t\tif (this.asked) this.settleGround()\n\t\t// a crowd as a world just loaded has: the room it starts with, nobody in it, then each agent as the save has it\n\t\tconst old = this.crowd\n\t\tthis.maxAgents = this.firstMaxAgents\n\t\tthis.crowd = crowdOf(this.navMesh, this.maxAgents, this.agentRadius, this.avoidance, !!this.ground)\n\t\tthis.agents.clear()\n\t\t// (the mirrors come back from their own navigations' seats: `SizedNavigation.reseat`)\n\t\tthis.mirrors.clear()\n\t\told.destroy()\n\t\t// and those that phase on a crowd of theirs made anew as the first comes back, as a loaded world's is\n\t\tthis.phasers?.destroy()\n\t\tthis.phasers = undefined\n\t\tfor (const [id, save] of agents) this.restoreAgent(id, save)\n\t}\n\n\trestoreAgent(id: number, save: AgentSave): void {\n\t\tif (this.asked) this.settleGround()\n\t\t// made the way any agent is, then given back what it had: on the crowd of those that phase, where it does\n\t\tthis.place(id, { x: save.x, z: save.z }, { radius: save.radius, speed: save.speed }, !!save.phasing)\n\t\tconst entry = this.agents.get(id)!\n\t\tconst { agent } = entry\n\t\t// it is added on the nearest walkable spot: put it where it was, to the last bit. An anchored one goes where it\n\t\t// holds its ground: that is where it stood, but for a hair in a save from before anchored agents slept\n\t\tconst at = save.anchored ? (save.anchor ?? save) : save\n\t\tagent.teleport({ x: at.x, y: this.heightAt(at.x, at.z), z: at.z })\n\t\tentry.anchorX = at.x\n\t\tentry.anchorZ = at.z\n\t\tif (save.acceleration !== undefined) agent.updateParameters({ maxAcceleration: save.acceleration })\n\t\tthis.setGhost(id, save.ghost)\n\t\tif (save.target) this.setDestination(id, save.target)\n\t\tif (save.anchored) {\n\t\t\tthis.setAnchored(id, true)\n\t\t\treturn\n\t\t}\n\t\t// the crowd keeps velocity as three numbers: x, y and z\n\t\tagent.raw.set_vel(0, save.vx)\n\t\tagent.raw.set_vel(2, save.vz)\n\t}\n\n\tsettle(version: number): void {\n\t\tthis.drain()\n\t\tfor (let i = 0; this.obstaclesDirty; i++) {\n\t\t\tif (i > 100000) throw new Error('Navigation: the obstacles never settled')\n\t\t\tthis.obstaclesDirty = !this.updateTiles()\n\t\t}\n\t\tthis.changes = version\n\t\t// an agent that was given somewhere to go heads straight there until its path has been looked for, which the\n\t\t// crowd does a few at a time: look for all of them now, with no time going by, so nothing moves meanwhile\n\t\tfor (let i = 0; i < 1000 && [...this.agents.values()].some(({ agent }) => PLANNING.has(agent.raw.targetState)); i++) {\n\t\t\tthis.crowd.update(0)\n\t\t\tthis.phasers?.update(0)\n\t\t}\n\t}\n\n\treadAgent(id: number, out: AgentState): boolean {\n\t\tif (this.asked) this.settleGround()\n\t\tconst entry = this.agents.get(id)\n\t\tif (!entry) return false\n\t\t// an anchored agent is asleep where it was anchored, and is answered from here: nothing of it is read from the crowd\n\t\tif (entry.anchored) {\n\t\t\tout.x = entry.anchorX\n\t\t\tout.z = entry.anchorZ\n\t\t\tout.vx = 0\n\t\t\tout.vz = 0\n\t\t\tout.cx = out.nx = entry.anchorX\n\t\t\tout.cz = out.nz = entry.anchorZ\n\t\t\treturn true\n\t\t}\n\t\t// each read is a call into WebAssembly: only what is used, on the ground (x and z, never the height)\n\t\tconst raw = entry.agent.raw\n\t\tout.x = raw.get_npos(0)\n\t\tout.z = raw.get_npos(2)\n\t\tout.vx = raw.get_vel(0)\n\t\tout.vz = raw.get_vel(2)\n\t\t// the corridor has no corners once the agent is nearly there\n\t\tconst corners = raw.ncorners\n\t\tif (corners > 0) {\n\t\t\tout.cx = raw.get_cornerVerts(0)\n\t\t\tout.cz = raw.get_cornerVerts(2)\n\t\t} else {\n\t\t\tout.cx = raw.get_targetPos(0)\n\t\t\tout.cz = raw.get_targetPos(2)\n\t\t}\n\t\tif (corners > 1) {\n\t\t\tout.nx = raw.get_cornerVerts(3)\n\t\t\tout.nz = raw.get_cornerVerts(5)\n\t\t} else {\n\t\t\tout.nx = out.cx\n\t\t\tout.nz = out.cz\n\t\t}\n\t\treturn true\n\t}\n\n\tupdate(dt: number): void {\n\t\tthis.drain()\n\t\tif (this.obstaclesDirty) {\n\t\t\tfor (let i = 0; i < 32; i++) {\n\t\t\t\tif (this.updateTiles()) {\n\t\t\t\t\tthis.obstaclesDirty = false\n\t\t\t\t\tbreak\n\t\t\t\t}\n\t\t\t}\n\t\t\tthis.changes++\n\t\t}\n\n\t\tif (this.walls === 'soft') this.steer()\n\t\t// anchored agents are asleep (INVALID), so Detour, which resolves overlaps symmetrically, does not move them: an\n\t\t// agent that walks into one is pushed off by half the overlap each pass, as ever, and the one that stands its\n\t\t// ground is not moved at all\n\t\tthis.crowd.update(dt)\n\t\t// those that phase, after: on their own, where nobody is in their way and they in nobody's\n\t\tthis.phasers?.update(dt)\n\t}\n\n\t/** The flags an agent steers by, set on the crowd only where they change: one call into WebAssembly */\n\tprivate setFlags(entry: AgentEntry, flags: number): void {\n\t\tif (entry.flags === flags) return\n\t\tentry.flags = flags\n\t\tentry.agent.raw.params.updateFlags = flags\n\t}\n\n\t/**\n\t * `walls: 'soft'`: an agent walking somewhere steers among velocities (obstacle avoidance) only while another agent\n\t * (walking or standing, anchored too, not a ghost) is within its reach, its collision query range (eight of its\n\t * radii); otherwise it follows its path, pushed apart from those near it (separation) but never slowed by a wall it\n\t * touches. Read from where every agent is as the tick starts, in a grid of cells as large as the longest reach, so\n\t * that a game loaded from a save steers as the game it was saved from (Detour's own lists of neighbours are of the\n\t * tick before, and a crowd made anew has none)\n\t */\n\tprivate steer(): void {\n\t\t// written over and cut to length, not emptied and pushed onto: emptied, an array gives up its room\n\t\tconst near = this.near\n\t\tlet count = 0\n\t\tlet walking = 0\n\t\tlet cell = 0\n\t\tfor (const entry of this.agents.values()) {\n\t\t\tif (entry.ghost || entry.phasing) continue\n\t\t\tnear[count++] = entry\n\t\t\tif (entry.target && !entry.anchored) {\n\t\t\t\twalking++\n\t\t\t\tcell = Math.max(cell, entry.radius * 8)\n\t\t\t}\n\t\t}\n\t\t// and those of the other sizes, read as anchored ones are: from where they are kept\n\t\tif (walking > 0) for (const mirror of this.mirrors.values()) if (!mirror.ghost) near[count++] = mirror\n\t\tnear.length = count\n\t\tif (walking === 0) return\n\t\tif (this.nearX.length < count) {\n\t\t\tthis.nearX = new Float64Array(count * 2)\n\t\t\tthis.nearZ = new Float64Array(count * 2)\n\t\t\tthis.nearNext = new Int32Array(count * 2)\n\t\t}\n\t\tconst xs = this.nearX\n\t\tconst zs = this.nearZ\n\t\tconst next = this.nearNext\n\t\tconst heads = this.nearHeads\n\t\theads.clear()\n\t\tfor (let i = 0; i < count; i++) {\n\t\t\tconst entry = near[i]\n\t\t\tif (entry.anchored) {\n\t\t\t\txs[i] = entry.anchorX\n\t\t\t\tzs[i] = entry.anchorZ\n\t\t\t} else {\n\t\t\t\txs[i] = entry.agent.raw.get_npos(0)\n\t\t\t\tzs[i] = entry.agent.raw.get_npos(2)\n\t\t\t}\n\t\t\tconst key = Math.floor(xs[i] / cell) * 65536 + Math.floor(zs[i] / cell)\n\t\t\tnext[i] = heads.get(key) ?? -1\n\t\t\theads.set(key, i)\n\t\t}\n\t\tfor (let i = 0; i < count; i++) {\n\t\t\tconst entry = near[i]\n\t\t\tif (!entry.target || entry.anchored) continue\n\t\t\tconst reach = entry.radius * 8\n\t\t\tconst cx = Math.floor(xs[i] / cell)\n\t\t\tconst cz = Math.floor(zs[i] / cell)\n\t\t\tlet steers = false\n\t\t\tfor (let dx = -1; dx <= 1 && !steers; dx++) {\n\t\t\t\tfor (let dz = -1; dz <= 1 && !steers; dz++) {\n\t\t\t\t\tfor (let j = heads.get((cx + dx) * 65536 + cz + dz) ?? -1; j >= 0; j = next[j]) {\n\t\t\t\t\t\tif (j === i) continue\n\t\t\t\t\t\tconst ox = xs[j] - xs[i]\n\t\t\t\t\t\tconst oz = zs[j] - zs[i]\n\t\t\t\t\t\tif (ox * ox + oz * oz < reach * reach) {\n\t\t\t\t\t\t\tsteers = true\n\t\t\t\t\t\t\tbreak\n\t\t\t\t\t\t}\n\t\t\t\t\t}\n\t\t\t\t}\n\t\t\t}\n\t\t\tthis.setFlags(entry, steers ? DEFAULT_FLAGS : RESTING_FLAGS)\n\t\t}\n\t}\n\n\taddObstacle(key: number, rect: Rect): boolean {\n\t\tif (this.asked) this.settleGround()\n\t\tthis.removeObstacle(key)\n\t\tif (this.obstacles.size >= this.maxObstacles) return false\n\t\tconst y = this.terrain.heightAt(rect.x, rect.z)\n\t\t// obstacles carve their exact shape, so grow them by the agent radius like the rest of the navmesh\n\t\tconst half = { x: rect.hw + this.agentRadius, y: 4, z: rect.hd + this.agentRadius }\n\t\tthis.makeRoom(rect.x, rect.z, half.x, half.z)\n\t\tconst result = this.tileCache.addBoxObstacle({ x: rect.x, y, z: rect.z }, half, 0)\n\t\t// out of room, or of requests queued: not in the way, and said by the false, never thrown in the middle of a tick\n\t\tif (!result.success) return false\n\t\tthis.obstacles.set(key, result.obstacle)\n\t\t// the columns made alone it is about are made again from their layers, with it, once the whole's is done\n\t\tif (this.overridden) {\n\t\t\tthis.indexObstacle(key, result.obstacle, true)\n\t\t\tfor (const column of this.columnsOf(rect.x, rect.z, half.x, half.z)) this.requested.add(column)\n\t\t}\n\t\tthis.flushObstacles()\n\t\treturn true\n\t}\n\n\t/**\n\t * Holds obstacles back (true) or lets them go (false): while held, a request to put one down or take one up waits in\n\t * the tile cache, and they are made into tiles together when let go or at the first thing asked of the navigation\n\t * before that, each tile once however many obstacles are on it. The same tiles come of it as of making them one by\n\t * one: a wooded tile is made once, not once a tree (RV42). The version goes up for each obstacle all the same\n\t */\n\tholdObstacles(hold: boolean): void {\n\t\tif (this.asked) this.settleGround()\n\t\tif (this.holding === hold) return\n\t\tthis.holding = hold\n\t\tif (!hold) return this.drain()\n\t\t// a batch starts from a tile cache with nothing queued: what was asked before is made first, and the next update\n\t\t// still says the ground changed, as it would have\n\t\tif (this.obstaclesDirty) {\n\t\t\tthis.held = 1\n\t\t\tthis.drain()\n\t\t\tthis.obstaclesDirty = true\n\t\t}\n\t}\n\n\t/**\n\t * Makes room for one more held request, of an obstacle at (x, z) of these half sizes: the ones held are made into\n\t * tiles first when the tile cache would take no more of them (Detour queues 64), or when their tiles together would\n\t * be more than it makes again from one batch (64, past which it leaves the rest as they were)\n\t */\n\tprivate makeRoom(x: number, z: number, hw: number, hd: number): void {\n\t\tif (!this.holding) return\n\t\tconst columns = this.columnsOf(x, z, hw, hd)\n\t\tlet more = 0\n\t\tfor (const column of columns) if (!this.heldColumns.has(column)) more++\n\t\tif (this.held + 1 > MAX_REQUESTS || this.heldColumns.size + more > MAX_HELD_COLUMNS) this.drain()\n\t\tfor (const column of columns) this.heldColumns.add(column)\n\t}\n\n\t/**\n\t * The columns of the tile grid an obstacle touches, or more: Detour takes a box obstacle's bounds as a square 1.41 times\n\t * its longer half side about its middle, here 1.5 times, so that rounding never leaves one out. More, then, and not\n\t * Detour's own test (which also weighs each layer's walkable cells and heights): what is done with a column here holds\n\t * for one the obstacle does not touch (`buildColumn` makes every layer of it however that falls out)\n\t */\n\tprivate columnsOf(x: number, z: number, hw: number, hd: number): number[] {\n\t\tconst { size, originX, originZ } = this.tiles\n\t\tconst reach = 1.5 * Math.max(hw, hd)\n\t\tconst x0 = Math.floor((x - reach - originX) / size)\n\t\tconst x1 = Math.floor((x + reach - originX) / size)\n\t\tconst z0 = Math.floor((z - reach - originZ) / size)\n\t\tconst z1 = Math.floor((z + reach - originZ) / size)\n\t\tconst columns: number[] = []\n\t\tfor (let tx = x0; tx <= x1; tx++) for (let tz = z0; tz <= z1; tz++) columns.push(tx * 65536 + tz)\n\t\treturn columns\n\t}\n\n\t/** Every held request made into tiles: the tile cache up to date */\n\tprivate drain(): void {\n\t\t// what the ground's changes asked first, as it would have been done before anything after them\n\t\tif (this.asked) this.settleGround()\n\t\tif (!this.held) return\n\t\tthis.held = 0\n\t\tthis.heldColumns.clear()\n\t\tfor (let i = 0; !this.updateTiles(); i++) {\n\t\t\tif (i > 100000) throw new Error('Navigation: the obstacles never settled')\n\t\t}\n\t\tthis.obstaclesDirty = false\n\t}\n\n\tobstacleRoom(): number {\n\t\treturn this.maxObstacles - this.obstacles.size\n\t}\n\n\tremoveObstacle(key: number): void {\n\t\tif (this.asked) this.settleGround()\n\t\tconst obstacle = this.obstacles.get(key)\n\t\tif (!obstacle) return\n\t\tif (this.holding && obstacle.type === 'box') {\n\t\t\tconst { position, halfExtents } = obstacle\n\t\t\tthis.makeRoom(position.x, position.z, halfExtents.x, halfExtents.z)\n\t\t}\n\t\tthis.tileCache.removeObstacle(obstacle)\n\t\tthis.obstacles.delete(key)\n\t\t// the columns made alone it was about are made again from their layers, without it, once the whole's is done\n\t\tif (this.overridden && obstacle.type === 'box') {\n\t\t\tthis.indexObstacle(key, obstacle, false)\n\t\t\tconst { position, halfExtents } = obstacle\n\t\t\tfor (const column of this.columnsOf(position.x, position.z, halfExtents.x, halfExtents.z)) this.requested.add(column)\n\t\t}\n\t\tthis.flushObstacles()\n\t}\n\n\t/**\n\t * The tile cache only queues a limited number of requests, so process them as they come: but while they are held\n\t * (`holdObstacles`), when they wait to be made into tiles together\n\t */\n\tprivate flushObstacles(): void {\n\t\tif (this.holding) this.held++\n\t\telse this.obstaclesDirty = !this.updateTiles()\n\t\tthis.changes++\n\t}\n\n\tclosestPoint(point: Vec2, searchRadius = 4): Vec2 | null {\n\t\tthis.drain()\n\t\tconst query = this.closestQuery\n\t\tquery.halfExtents.x = searchRadius\n\t\tquery.halfExtents.z = searchRadius\n\t\tconst result = this.query.findClosestPoint(this.toVec3(point), query)\n\t\tif (!result.success || result.polyRef === 0) return null\n\t\treturn { x: result.point.x, z: result.point.z }\n\t}\n\n\tfindPath(from: Vec2, to: Vec2): Vec2[] | null {\n\t\tthis.drain()\n\t\tconst result = this.query.computePath(this.toVec3(from), this.toVec3(to, this.scratchEnd))\n\t\tif (!result.success || result.path.length === 0) return null\n\t\treturn result.path.map((p) => ({ x: p.x, z: p.z }))\n\t}\n\n\tdebugGeometry(): NavDebugGeometry {\n\t\tthis.drain()\n\t\tconst drawer = new DebugDrawerUtils()\n\t\tconst primitives = drawer.drawNavMesh(this.navMesh)\n\t\tconst triangles: number[] = []\n\t\tconst lines: number[] = []\n\t\tfor (const primitive of primitives) {\n\t\t\tconst target = primitive.type === 'tris' ? triangles : primitive.type === 'lines' ? lines : null\n\t\t\tif (!target) continue\n\t\t\tfor (const v of primitive.vertices) target.push(v[0], v[1], v[2])\n\t\t}\n\t\tdrawer.dispose()\n\t\treturn { triangles: new Float32Array(triangles), lines: new Float32Array(lines) }\n\t}\n\n\tdispose(): void {\n\t\tthis.asked = undefined\n\t\tthis.dropOverridden()\n\t\tthis.crowd.destroy()\n\t\tthis.phasers?.destroy()\n\t\tthis.query.destroy()\n\t\tthis.tileCache.destroy()\n\t\tthis.navMesh.destroy()\n\t\t// what the tile cache made its tiles with: the module keeps every one of its objects until it is destroyed, and\n\t\t// the process with its slow ground (`speedAt`), the world's registry and through it the world that ended\n\t\tfor (const each of this.owned) {\n\t\t\tconst raw = each instanceof TileCacheMeshProcess ? each.raw : each\n\t\t\tif (raw) Raw.destroy(raw)\n\t\t}\n\t\tthis.owned = 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package/dist/navigation/sidePaths.d.ts

@@ -4,6 +4,7 @@ import type { System } from '#engine/registry';
 import type { Terrain } from '#engine/terrain';
 import type { World } from '#engine/world';
 import { type RecastNavigationOptions } from './recast';
+import type { CellArea } from './navigation';
 /**
  * A building a side learned of by sight, where it saw it: its id and its rectangle
  *
@@ -36,6 +37,7 @@ export declare class SidePaths {
     has(team: number): boolean;
     /** One more each time what a team knows changes */
     version(team: number): number;
+    /** Whether the team knows the building by its id */
     knows(team: number, id: number): boolean;
     /** The buildings a team knows, by id */
     known(team: number): ReadonlyMap<number, Rect>;
@@ -56,13 +58,16 @@ export declare class SidePaths {
     /** The buildings a team learned of by sight */
     seen(team: number): ReadonlyMap<number, Rect>;
     /** A slowing layer of cells changed on these cells: each side's navigation weighs them again, as the world's does (EN2) */
-    groundChanged(cells: readonly number[]): void;
+    groundChanged(cells: readonly number[], walkability?: boolean): void;
     /** The ground was reshaped: each side's navigation cut again of it, as the world's is */
-    reshape(): void;
+    reshape(area?: CellArea): void;
+    /** What the ground's changes asked of each side's navigation done now, as the world's is as each tick ends */
+    settleGround(): void;
+    /** Frees what the object holds, such as its subscriptions and each side's navigation */
     dispose(): void;
 }
 /**
- * What each side learns by sight, after the fog is lit (`GameModule.paths: 'seen'`): another side's buildings once a
+ * What each side learns by sight, after the fog is lit (`Rules.paths: 'seen'`): another side's buildings once a
  * cell of one is in sight, and that one gone once its place is. What it knows without seeing is the world's to tell
  * as it happens (`SidePaths.attach`). Kept in the world (`sideKnowledge`) as it changes
  */

package/dist/navigation/sidePaths.js

@@ -0,0 +1,241 @@
+import { defineComponent } from "../components.js";
+import { entityDied, entityRemoved, entitySpawned } from "../engineEvents.js";
+import { allOrFreed } from "./builds.js";
+import { RecastNavigation } from "./recast.js";
+//#region src/navigation/sidePaths.ts
+/**
+* Paths that know only what a side has seen (determinism plan F2, `Rules.paths: 'seen'`). The world's navigation
+* has every building in it, as it must: nobody walks through a wall. But a route planned on it goes around buildings
+* nobody on the side has seen, and the way a unit goes in the dark says they are there. So each side has a navigation
+* of its own, of the ground and the buildings it knows, to plan its routes on; its units walk them a stretch at a time
+* on the world's (`systems/movement.ts`), a stretch no longer than they can see.
+*
+* What a side knows: what is the map's (the neutral's and the creeps', trees and mines among them), its own and its
+* allies', as they are put down and gone; another side's once a cell of it was in sight, and that one gone once its
+* place is in sight again. The first is the world's to say again at any time; the second is the simulation's, kept in
+* the world (`sideKnowledge`), so a save has it and a load makes the navigations again from both
+*/
+/**
+* What each side learned of other sides' buildings by sight, by team: the simulation's (so a save keeps it), not a
+* screen's (`teamMemory` is the screens')
+*
+* @internal
+*/
+var sideKnowledge = defineComponent({
+	id: "core.sideKnowledge",
+	default: () => ({})
+});
+/**
+* The navigations of the sides, to plan routes on
+*
+* @beta
+*/
+var SidePaths = class SidePaths {
+	sides;
+	stop;
+	constructor(sides) {
+		this.sides = sides;
+	}
+	/** A navigation for each team, of the terrain alone, cut for `options` (the world's smallest unit) */
+	static async create(terrain, teams, options = {}) {
+		const sides = /* @__PURE__ */ new Map();
+		const navigations = await allOrFreed(teams.map(() => () => RecastNavigation.create(terrain, options)));
+		teams.forEach((team, i) => {
+			const navigation = navigations[i];
+			navigation.holdObstacles(true);
+			sides.set(team, {
+				navigation,
+				known: /* @__PURE__ */ new Map(),
+				seen: /* @__PURE__ */ new Map(),
+				version: 0,
+				dirty: false
+			});
+		});
+		return new SidePaths(sides);
+	}
+	/**
+	* Listens to the world for what every side knows as it happens: the map's, and each side's own and its allies'
+	* buildings, put down and gone. Given what the world has now, in its order, first: what a load starts from
+	*/
+	attach(world) {
+		this.stop?.();
+		for (const entity of world.entities.values()) this.put(world, entity);
+		const offs = [
+			world.events.on(entitySpawned, (entity) => this.put(world, entity)),
+			world.events.on(entityDied, ({ entity }) => this.gone(entity)),
+			world.events.on(entityRemoved, (entity) => this.gone(entity))
+		];
+		this.stop = () => offs.forEach((off) => off());
+	}
+	/** Whether a team knows a building of `owner`'s without seeing it: the map's, its own, its allies' */
+	always(world, team, owner) {
+		const player = world.players.get(owner);
+		if (!player) return false;
+		if (player.neutral || player.creeps || player.team === team) return true;
+		for (const other of world.players.values()) if (other.team === team) return world.areAllies(other.id, owner);
+		return false;
+	}
+	/** A building put down: what every side knows of it at once */
+	put(world, entity) {
+		if (!entity.isStructure || !entity.alive || !entity.cell) return;
+		for (const team of this.sides.keys()) if (this.always(world, team, entity.owner)) this.learn(team, entity.id, entity.rect);
+	}
+	/** A building gone: forgotten at once where it was known without being seen */
+	gone(entity) {
+		if (!entity.isStructure) return;
+		for (const [team, side] of this.sides) if (side.known.has(entity.id) && !side.seen.has(entity.id)) this.forget(team, entity.id);
+	}
+	/** Whether a team plans with what it knows */
+	has(team) {
+		return this.sides.has(team);
+	}
+	/** One more each time what a team knows changes */
+	version(team) {
+		return this.sides.get(team)?.version ?? 0;
+	}
+	/** Whether the team knows the building by its id */
+	knows(team, id) {
+		return !!this.sides.get(team)?.known.has(id);
+	}
+	/** The buildings a team knows, by id */
+	known(team) {
+		return this.sides.get(team)?.known ?? /* @__PURE__ */ new Map();
+	}
+	/** A team knows a building from now: it is in the way of its routes. `seen` for one it learned of by sight */
+	learn(team, id, rect, seen = false) {
+		const side = this.sides.get(team);
+		if (!side || side.known.has(id)) return;
+		const kept = {
+			x: rect.x,
+			z: rect.z,
+			hw: rect.hw,
+			hd: rect.hd
+		};
+		side.known.set(id, kept);
+		if (seen) side.seen.set(id, kept);
+		side.navigation.addObstacle(id, rect);
+		side.version++;
+		side.dirty = true;
+	}
+	/** A team knows a building is gone */
+	forget(team, id) {
+		const side = this.sides.get(team);
+		if (!side?.known.delete(id)) return;
+		side.seen.delete(id);
+		side.navigation.removeObstacle(id);
+		side.version++;
+		side.dirty = true;
+	}
+	/** Brings each navigation up to date with what was learned and forgotten: before a route is planned on it */
+	settle() {
+		for (const side of this.sides.values()) {
+			if (!side.dirty) continue;
+			side.navigation.settle(side.navigation.version);
+			side.dirty = false;
+		}
+	}
+	/** The corners of a route from one point to another, as the team knows the ground. Null where it knows no way */
+	route(team, from, to) {
+		const side = this.sides.get(team);
+		if (!side) return null;
+		if (side.dirty) this.settle();
+		return side.navigation.findPath(from, to);
+	}
+	/** What the world keeps of it (`sideKnowledge`): what each side learned by sight */
+	save() {
+		const saved = {};
+		for (const [team, side] of this.sides) saved[team] = [...side.seen].map(([id, rect]) => [
+			id,
+			rect.x,
+			rect.z,
+			rect.hw,
+			rect.hd
+		]);
+		return saved;
+	}
+	/** After a load: what every side knows of the world as it is (`attach`), then what each learned by sight */
+	restore(world, saved) {
+		this.attach(world);
+		for (const [team, buildings] of Object.entries(saved)) for (const [id, x, z, hw, hd] of buildings) this.learn(Number(team), id, {
+			x,
+			z,
+			hw,
+			hd
+		}, true);
+		this.settle();
+	}
+	/** Every enemy building of `team`'s, in the order they were put there: the ones it can come to know by sight */
+	*strangers(world, team) {
+		for (const owner of world.players.values()) {
+			if (this.always(world, team, owner.id)) continue;
+			for (const entity of world.index.ownedBy(owner.id)) if (entity.isStructure && entity.alive && entity.cell) yield entity;
+		}
+	}
+	/** The buildings a team learned of by sight */
+	seen(team) {
+		return this.sides.get(team)?.seen ?? /* @__PURE__ */ new Map();
+	}
+	/** A slowing layer of cells changed on these cells: each side's navigation weighs them again, as the world's does (EN2) */
+	groundChanged(cells, walkability) {
+		for (const side of this.sides.values()) side.navigation.groundChanged(cells, walkability);
+	}
+	/** The ground was reshaped: each side's navigation cut again of it, as the world's is */
+	reshape(area) {
+		for (const side of this.sides.values()) side.navigation.reshape?.(area);
+	}
+	/** What the ground's changes asked of each side's navigation done now, as the world's is as each tick ends */
+	settleGround() {
+		for (const side of this.sides.values()) side.navigation.settleGround?.();
+	}
+	/** Frees what the object holds, such as its subscriptions and each side's navigation */
+	dispose() {
+		this.stop?.();
+		for (const side of this.sides.values()) side.navigation.dispose();
+		this.sides.clear();
+	}
+};
+/** Whether any cell of a rectangle is in a team's sight */
+function inSight(world, team, rect) {
+	const x0 = Math.floor(rect.x - rect.hw);
+	const x1 = Math.ceil(rect.x + rect.hw) - 1;
+	const z0 = Math.floor(rect.z - rect.hd);
+	const z1 = Math.ceil(rect.z + rect.hd) - 1;
+	for (let z = z0; z <= z1; z++) for (let x = x0; x <= x1; x++) if (world.fog.isVisible(team, x + .5, z + .5)) return true;
+	return false;
+}
+/**
+* What each side learns by sight, after the fog is lit (`Rules.paths: 'seen'`): another side's buildings once a
+* cell of one is in sight, and that one gone once its place is. What it knows without seeing is the world's to tell
+* as it happens (`SidePaths.attach`). Kept in the world (`sideKnowledge`) as it changes
+*/
+var sideKnowledgeSystem = {
+	name: "sideKnowledge",
+	phase: "cleanup",
+	every: 3,
+	update(world) {
+		const paths = world.sidePaths;
+		if (!paths) return;
+		let changed = false;
+		const teams = [...new Set([...world.players.values()].map((player) => player.team))].filter((team) => paths.has(team));
+		for (const team of teams) {
+			for (const entity of paths.strangers(world, team)) {
+				if (paths.knows(team, entity.id) || !inSight(world, team, entity.rect)) continue;
+				paths.learn(team, entity.id, entity.rect, true);
+				changed = true;
+			}
+			for (const [id, rect] of [...paths.seen(team)]) {
+				const entity = world.entities.get(id);
+				if (entity?.alive && entity.cell || !inSight(world, team, rect)) continue;
+				paths.forget(team, id);
+				changed = true;
+			}
+		}
+		if (!changed) return;
+		paths.settle();
+		world.setState(sideKnowledge, paths.save());
+	}
+};
+//#endregion
+export { SidePaths, sideKnowledge, sideKnowledgeSystem };
+
+//# sourceMappingURL=sidePaths.js.map

package/dist/navigation/sidePaths.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"sidePaths.js","names":[],"sources":["../../src/navigation/sidePaths.ts"],"sourcesContent":["/**\n * Paths that know only what a side has seen (determinism plan F2, `Rules.paths: 'seen'`). The world's navigation\n * has every building in it, as it must: nobody walks through a wall. But a route planned on it goes around buildings\n * nobody on the side has seen, and the way a unit goes in the dark says they are there. So each side has a navigation\n * of its own, of the ground and the buildings it knows, to plan its routes on; its units walk them a stretch at a time\n * on the world's (`systems/movement.ts`), a stretch no longer than they can see.\n *\n * What a side knows: what is the map's (the neutral's and the creeps', trees and mines among them), its own and its\n * allies', as they are put down and gone; another side's once a cell of it was in sight, and that one gone once its\n * place is in sight again. The first is the world's to say again at any time; the second is the simulation's, kept in\n * the world (`sideKnowledge`), so a save has it and a load makes the navigations again from both\n */\nimport { entityDied, entityRemoved, entitySpawned } from '#engine/engineEvents'\nimport { defineComponent } from '#engine/components'\nimport type { Entity, PlayerId } from '#engine/entity'\nimport type { Rect, Vec2 } from '#engine/math'\nimport type { System } from '#engine/registry'\nimport type { Terrain } from '#engine/terrain'\nimport type { World } from '#engine/world'\nimport { allOrFreed } from './builds'\nimport { RecastNavigation, type RecastNavigationOptions } from './recast'\nimport type { CellArea } from './navigation'\n\n/**\n * A building a side learned of by sight, where it saw it: its id and its rectangle\n *\n * @beta\n */\nexport type KnownBuilding = [id: number, x: number, z: number, hw: number, hd: number]\n\n/**\n * What each side learned of other sides' buildings by sight, by team: the simulation's (so a save keeps it), not a\n * screen's (`teamMemory` is the screens')\n *\n * @internal\n */\nexport const sideKnowledge = defineComponent<Record<number, KnownBuilding[]>>({ id: 'core.sideKnowledge', default: () => ({}) })\n\n/** One side's navigation, and what is in it */\ninterface Side {\n\tnavigation: RecastNavigation\n\t/** Every building in its navigation */\n\tknown: Map<number, Rect>\n\t/** Those of them it learned of by sight: another side's, which it forgets only once it sees they are gone */\n\tseen: Map<number, Rect>\n\t/** One more each time what the side knows changes: routes planned before are planned again */\n\tversion: number\n\t/** Learned or forgotten since its navigation was last brought up to date */\n\tdirty: boolean\n}\n\n/**\n * The navigations of the sides, to plan routes on\n *\n * @beta\n */\nexport class SidePaths {\n\tprivate stop?: () => void\n\n\tprivate constructor(private readonly sides: Map<number, Side>) {}\n\n\t/** A navigation for each team, of the terrain alone, cut for `options` (the world's smallest unit) */\n\tstatic async create(terrain: Terrain, teams: readonly number[], options: RecastNavigationOptions = {}): Promise<SidePaths> {\n\t\tconst sides = new Map<number, Side>()\n\t\t// asked side by side: the same ground, built once (`navigationData`) and read for each\n\t\tconst navigations = await allOrFreed(teams.map(() => () => RecastNavigation.create(terrain, options)))\n\t\tteams.forEach((team, i) => {\n\t\t\tconst navigation = navigations[i]\n\t\t\t// asked of only once settled (`route`): what is learned and forgotten meanwhile is made into tiles together,\n\t\t\t// a wooded tile once, not once a tree (RV42)\n\t\t\tnavigation.holdObstacles(true)\n\t\t\tsides.set(team, { navigation, known: new Map(), seen: new Map(), version: 0, dirty: false })\n\t\t})\n\t\treturn new SidePaths(sides)\n\t}\n\n\t/**\n\t * Listens to the world for what every side knows as it happens: the map's, and each side's own and its allies'\n\t * buildings, put down and gone. Given what the world has now, in its order, first: what a load starts from\n\t */\n\tattach(world: World): void {\n\t\tthis.stop?.()\n\t\tfor (const entity of world.entities.values()) this.put(world, entity)\n\t\tconst offs = [\n\t\t\tworld.events.on(entitySpawned, (entity) => this.put(world, entity)),\n\t\t\tworld.events.on(entityDied, ({ entity }) => this.gone(entity)),\n\t\t\tworld.events.on(entityRemoved, (entity) => this.gone(entity))\n\t\t]\n\t\tthis.stop = () => offs.forEach((off) => off())\n\t}\n\n\t/** Whether a team knows a building of `owner`'s without seeing it: the map's, its own, its allies' */\n\tprivate always(world: World, team: number, owner: PlayerId): boolean {\n\t\tconst player = world.players.get(owner)\n\t\tif (!player) return false\n\t\tif (player.neutral || player.creeps || player.team === team) return true\n\t\tfor (const other of world.players.values()) if (other.team === team) return world.areAllies(other.id, owner)\n\t\treturn false\n\t}\n\n\t/** A building put down: what every side knows of it at once */\n\tprivate put(world: World, entity: Entity): void {\n\t\tif (!entity.isStructure || !entity.alive || !entity.cell) return\n\t\tfor (const team of this.sides.keys()) if (this.always(world, team, entity.owner)) this.learn(team, entity.id, entity.rect)\n\t}\n\n\t/** A building gone: forgotten at once where it was known without being seen */\n\tprivate gone(entity: Entity): void {\n\t\tif (!entity.isStructure) return\n\t\tfor (const [team, side] of this.sides) if (side.known.has(entity.id) && !side.seen.has(entity.id)) this.forget(team, entity.id)\n\t}\n\n\t/** Whether a team plans with what it knows */\n\thas(team: number): boolean {\n\t\treturn this.sides.has(team)\n\t}\n\n\t/** One more each time what a team knows changes */\n\tversion(team: number): number {\n\t\treturn this.sides.get(team)?.version ?? 0\n\t}\n\n\t/** Whether the team knows the building by its id */\n\tknows(team: number, id: number): boolean {\n\t\treturn !!this.sides.get(team)?.known.has(id)\n\t}\n\n\t/** The buildings a team knows, by id */\n\tknown(team: number): ReadonlyMap<number, Rect> {\n\t\treturn this.sides.get(team)?.known ?? new Map()\n\t}\n\n\t/** A team knows a building from now: it is in the way of its routes. `seen` for one it learned of by sight */\n\tlearn(team: number, id: number, rect: Rect, seen = false): void {\n\t\tconst side = this.sides.get(team)\n\t\tif (!side || side.known.has(id)) return\n\t\tconst kept = { x: rect.x, z: rect.z, hw: rect.hw, hd: rect.hd }\n\t\tside.known.set(id, kept)\n\t\tif (seen) side.seen.set(id, kept)\n\t\tside.navigation.addObstacle(id, rect)\n\t\tside.version++\n\t\tside.dirty = true\n\t}\n\n\t/** A team knows a building is gone */\n\tforget(team: number, id: number): void {\n\t\tconst side = this.sides.get(team)\n\t\tif (!side?.known.delete(id)) return\n\t\tside.seen.delete(id)\n\t\tside.navigation.removeObstacle(id)\n\t\tside.version++\n\t\tside.dirty = true\n\t}\n\n\t/** Brings each navigation up to date with what was learned and forgotten: before a route is planned on it */\n\tsettle(): void {\n\t\tfor (const side of this.sides.values()) {\n\t\t\tif (!side.dirty) continue\n\t\t\tside.navigation.settle(side.navigation.version)\n\t\t\tside.dirty = false\n\t\t}\n\t}\n\n\t/** The corners of a route from one point to another, as the team knows the ground. Null where it knows no way */\n\troute(team: number, from: Vec2, to: Vec2): Vec2[] | null {\n\t\tconst side = this.sides.get(team)\n\t\tif (!side) return null\n\t\tif (side.dirty) this.settle()\n\t\treturn side.navigation.findPath(from, to)\n\t}\n\n\t/** What the world keeps of it (`sideKnowledge`): what each side learned by sight */\n\tsave(): Record<number, KnownBuilding[]> {\n\t\tconst saved: Record<number, KnownBuilding[]> = {}\n\t\tfor (const [team, side] of this.sides) saved[team] = [...side.seen].map(([id, rect]) => [id, rect.x, rect.z, rect.hw, rect.hd])\n\t\treturn saved\n\t}\n\n\t/** After a load: what every side knows of the world as it is (`attach`), then what each learned by sight */\n\trestore(world: World, saved: Record<number, KnownBuilding[]>): void {\n\t\tthis.attach(world)\n\t\tfor (const [team, buildings] of Object.entries(saved)) {\n\t\t\tfor (const [id, x, z, hw, hd] of buildings) this.learn(Number(team), id, { x, z, hw, hd }, true)\n\t\t}\n\t\tthis.settle()\n\t}\n\n\t/** Every enemy building of `team`'s, in the order they were put there: the ones it can come to know by sight */\n\t*strangers(world: World, team: number): Generator<Entity> {\n\t\tfor (const owner of world.players.values()) {\n\t\t\tif (this.always(world, team, owner.id)) continue\n\t\t\tfor (const entity of world.index.ownedBy(owner.id)) if (entity.isStructure && entity.alive && entity.cell) yield entity\n\t\t}\n\t}\n\n\t/** The buildings a team learned of by sight */\n\tseen(team: number): ReadonlyMap<number, Rect> {\n\t\treturn this.sides.get(team)?.seen ?? new Map()\n\t}\n\n\t/** A slowing layer of cells changed on these cells: each side's navigation weighs them again, as the world's does (EN2) */\n\tgroundChanged(cells: readonly number[], walkability?: boolean): void {\n\t\tfor (const side of this.sides.values()) side.navigation.groundChanged(cells, walkability)\n\t}\n\n\t/** The ground was reshaped: each side's navigation cut again of it, as the world's is */\n\treshape(area?: CellArea): void {\n\t\tfor (const side of this.sides.values()) side.navigation.reshape?.(area)\n\t}\n\n\t/** What the ground's changes asked of each side's navigation done now, as the world's is as each tick ends */\n\tsettleGround(): void {\n\t\tfor (const side of this.sides.values()) side.navigation.settleGround?.()\n\t}\n\n\t/** Frees what the object holds, such as its subscriptions and each side's navigation */\n\tdispose(): void {\n\t\tthis.stop?.()\n\t\tfor (const side of this.sides.values()) side.navigation.dispose()\n\t\tthis.sides.clear()\n\t}\n}\n\n/** Whether any cell of a rectangle is in a team's sight */\nfunction inSight(world: World, team: number, rect: Rect): boolean {\n\tconst x0 = Math.floor(rect.x - rect.hw)\n\tconst x1 = Math.ceil(rect.x + rect.hw) - 1\n\tconst z0 = Math.floor(rect.z - rect.hd)\n\tconst z1 = Math.ceil(rect.z + rect.hd) - 1\n\tfor (let z = z0; z <= z1; z++) for (let x = x0; x <= x1; x++) if (world.fog.isVisible(team, x + 0.5, z + 0.5)) return true\n\treturn false\n}\n\n/**\n * What each side learns by sight, after the fog is lit (`Rules.paths: 'seen'`): another side's buildings once a\n * cell of one is in sight, and that one gone once its place is. What it knows without seeing is the world's to tell\n * as it happens (`SidePaths.attach`). Kept in the world (`sideKnowledge`) as it changes\n */\nexport const sideKnowledgeSystem: System = {\n\tname: 'sideKnowledge',\n\tphase: 'cleanup',\n\tevery: 3,\n\tupdate(world) {\n\t\tconst paths = world.sidePaths\n\t\tif (!paths) return\n\t\tlet changed = false\n\t\tconst teams = [...new Set([...world.players.values()].map((player) => player.team))].filter((team) => paths.has(team))\n\t\tfor (const team of teams) {\n\t\t\tfor (const entity of paths.strangers(world, team)) {\n\t\t\t\tif (paths.knows(team, entity.id) || !inSight(world, team, entity.rect)) continue\n\t\t\t\tpaths.learn(team, entity.id, entity.rect, true)\n\t\t\t\tchanged = true\n\t\t\t}\n\t\t\tfor (const [id, rect] of [...paths.seen(team)]) {\n\t\t\t\tconst entity = world.entities.get(id)\n\t\t\t\tif ((entity?.alive && entity.cell) || !inSight(world, team, rect)) continue\n\t\t\t\tpaths.forget(team, id)\n\t\t\t\tchanged = true\n\t\t\t}\n\t\t}\n\t\tif (!changed) return\n\t\tpaths.settle()\n\t\tworld.setState(sideKnowledge, paths.save())\n\t}\n}\n"],"mappings":";;;;;;;;;;;;;;;;;;;;;;;AAoCA,IAAa,gBAAgB,gBAAiD;CAAE,IAAI;CAAsB,gBAAgB,CAAC;AAAG,CAAC;;;;;;AAoB/H,IAAa,YAAb,MAAa,UAAU;CAGe;CAFrC;CAEA,YAAoB,OAA2C;EAA1B,KAAA,QAAA;CAA2B;;CAGhE,aAAa,OAAO,SAAkB,OAA0B,UAAmC,CAAC,GAAuB;EAC1H,MAAM,wBAAQ,IAAI,IAAkB;EAEpC,MAAM,cAAc,MAAM,WAAW,MAAM,gBAAgB,iBAAiB,OAAO,SAAS,OAAO,CAAC,CAAC;EACrG,MAAM,SAAS,MAAM,MAAM;GAC1B,MAAM,aAAa,YAAY;GAG/B,WAAW,cAAc,IAAI;GAC7B,MAAM,IAAI,MAAM;IAAE;IAAY,uBAAO,IAAI,IAAI;IAAG,sBAAM,IAAI,IAAI;IAAG,SAAS;IAAG,OAAO;GAAM,CAAC;EAC5F,CAAC;EACD,OAAO,IAAI,UAAU,KAAK;CAC3B;;;;;CAMA,OAAO,OAAoB;EAC1B,KAAK,OAAO;EACZ,KAAK,MAAM,UAAU,MAAM,SAAS,OAAO,GAAG,KAAK,IAAI,OAAO,MAAM;EACpE,MAAM,OAAO;GACZ,MAAM,OAAO,GAAG,gBAAgB,WAAW,KAAK,IAAI,OAAO,MAAM,CAAC;GAClE,MAAM,OAAO,GAAG,aAAa,EAAE,aAAa,KAAK,KAAK,MAAM,CAAC;GAC7D,MAAM,OAAO,GAAG,gBAAgB,WAAW,KAAK,KAAK,MAAM,CAAC;EAC7D;EACA,KAAK,aAAa,KAAK,SAAS,QAAQ,IAAI,CAAC;CAC9C;;CAGA,OAAe,OAAc,MAAc,OAA0B;EACpE,MAAM,SAAS,MAAM,QAAQ,IAAI,KAAK;EACtC,IAAI,CAAC,QAAQ,OAAO;EACpB,IAAI,OAAO,WAAW,OAAO,UAAU,OAAO,SAAS,MAAM,OAAO;EACpE,KAAK,MAAM,SAAS,MAAM,QAAQ,OAAO,GAAG,IAAI,MAAM,SAAS,MAAM,OAAO,MAAM,UAAU,MAAM,IAAI,KAAK;EAC3G,OAAO;CACR;;CAGA,IAAY,OAAc,QAAsB;EAC/C,IAAI,CAAC,OAAO,eAAe,CAAC,OAAO,SAAS,CAAC,OAAO,MAAM;EAC1D,KAAK,MAAM,QAAQ,KAAK,MAAM,KAAK,GAAG,IAAI,KAAK,OAAO,OAAO,MAAM,OAAO,KAAK,GAAG,KAAK,MAAM,MAAM,OAAO,IAAI,OAAO,IAAI;CAC1H;;CAGA,KAAa,QAAsB;EAClC,IAAI,CAAC,OAAO,aAAa;EACzB,KAAK,MAAM,CAAC,MAAM,SAAS,KAAK,OAAO,IAAI,KAAK,MAAM,IAAI,OAAO,EAAE,KAAK,CAAC,KAAK,KAAK,IAAI,OAAO,EAAE,GAAG,KAAK,OAAO,MAAM,OAAO,EAAE;CAC/H;;CAGA,IAAI,MAAuB;EAC1B,OAAO,KAAK,MAAM,IAAI,IAAI;CAC3B;;CAGA,QAAQ,MAAsB;EAC7B,OAAO,KAAK,MAAM,IAAI,IAAI,CAAC,EAAE,WAAW;CACzC;;CAGA,MAAM,MAAc,IAAqB;EACxC,OAAO,CAAC,CAAC,KAAK,MAAM,IAAI,IAAI,CAAC,EAAE,MAAM,IAAI,EAAE;CAC5C;;CAGA,MAAM,MAAyC;EAC9C,OAAO,KAAK,MAAM,IAAI,IAAI,CAAC,EAAE,yBAAS,IAAI,IAAI;CAC/C;;CAGA,MAAM,MAAc,IAAY,MAAY,OAAO,OAAa;EAC/D,MAAM,OAAO,KAAK,MAAM,IAAI,IAAI;EAChC,IAAI,CAAC,QAAQ,KAAK,MAAM,IAAI,EAAE,GAAG;EACjC,MAAM,OAAO;GAAE,GAAG,KAAK;GAAG,GAAG,KAAK;GAAG,IAAI,KAAK;GAAI,IAAI,KAAK;EAAG;EAC9D,KAAK,MAAM,IAAI,IAAI,IAAI;EACvB,IAAI,MAAM,KAAK,KAAK,IAAI,IAAI,IAAI;EAChC,KAAK,WAAW,YAAY,IAAI,IAAI;EACpC,KAAK;EACL,KAAK,QAAQ;CACd;;CAGA,OAAO,MAAc,IAAkB;EACtC,MAAM,OAAO,KAAK,MAAM,IAAI,IAAI;EAChC,IAAI,CAAC,MAAM,MAAM,OAAO,EAAE,GAAG;EAC7B,KAAK,KAAK,OAAO,EAAE;EACnB,KAAK,WAAW,eAAe,EAAE;EACjC,KAAK;EACL,KAAK,QAAQ;CACd;;CAGA,SAAe;EACd,KAAK,MAAM,QAAQ,KAAK,MAAM,OAAO,GAAG;GACvC,IAAI,CAAC,KAAK,OAAO;GACjB,KAAK,WAAW,OAAO,KAAK,WAAW,OAAO;GAC9C,KAAK,QAAQ;EACd;CACD;;CAGA,MAAM,MAAc,MAAY,IAAyB;EACxD,MAAM,OAAO,KAAK,MAAM,IAAI,IAAI;EAChC,IAAI,CAAC,MAAM,OAAO;EAClB,IAAI,KAAK,OAAO,KAAK,OAAO;EAC5B,OAAO,KAAK,WAAW,SAAS,MAAM,EAAE;CACzC;;CAGA,OAAwC;EACvC,MAAM,QAAyC,CAAC;EAChD,KAAK,MAAM,CAAC,MAAM,SAAS,KAAK,OAAO,MAAM,QAAQ,CAAC,GAAG,KAAK,IAAI,CAAC,CAAC,KAAK,CAAC,IAAI,UAAU;GAAC;GAAI,KAAK;GAAG,KAAK;GAAG,KAAK;GAAI,KAAK;EAAE,CAAC;EAC9H,OAAO;CACR;;CAGA,QAAQ,OAAc,OAA8C;EACnE,KAAK,OAAO,KAAK;EACjB,KAAK,MAAM,CAAC,MAAM,cAAc,OAAO,QAAQ,KAAK,GACnD,KAAK,MAAM,CAAC,IAAI,GAAG,GAAG,IAAI,OAAO,WAAW,KAAK,MAAM,OAAO,IAAI,GAAG,IAAI;GAAE;GAAG;GAAG;GAAI;EAAG,GAAG,IAAI;EAEhG,KAAK,OAAO;CACb;;CAGA,CAAC,UAAU,OAAc,MAAiC;EACzD,KAAK,MAAM,SAAS,MAAM,QAAQ,OAAO,GAAG;GAC3C,IAAI,KAAK,OAAO,OAAO,MAAM,MAAM,EAAE,GAAG;GACxC,KAAK,MAAM,UAAU,MAAM,MAAM,QAAQ,MAAM,EAAE,GAAG,IAAI,OAAO,eAAe,OAAO,SAAS,OAAO,MAAM,MAAM;EAClH;CACD;;CAGA,KAAK,MAAyC;EAC7C,OAAO,KAAK,MAAM,IAAI,IAAI,CAAC,EAAE,wBAAQ,IAAI,IAAI;CAC9C;;CAGA,cAAc,OAA0B,aAA6B;EACpE,KAAK,MAAM,QAAQ,KAAK,MAAM,OAAO,GAAG,KAAK,WAAW,cAAc,OAAO,WAAW;CACzF;;CAGA,QAAQ,MAAuB;EAC9B,KAAK,MAAM,QAAQ,KAAK,MAAM,OAAO,GAAG,KAAK,WAAW,UAAU,IAAI;CACvE;;CAGA,eAAqB;EACpB,KAAK,MAAM,QAAQ,KAAK,MAAM,OAAO,GAAG,KAAK,WAAW,eAAe;CACxE;;CAGA,UAAgB;EACf,KAAK,OAAO;EACZ,KAAK,MAAM,QAAQ,KAAK,MAAM,OAAO,GAAG,KAAK,WAAW,QAAQ;EAChE,KAAK,MAAM,MAAM;CAClB;AACD;;AAGA,SAAS,QAAQ,OAAc,MAAc,MAAqB;CACjE,MAAM,KAAK,KAAK,MAAM,KAAK,IAAI,KAAK,EAAE;CACtC,MAAM,KAAK,KAAK,KAAK,KAAK,IAAI,KAAK,EAAE,IAAI;CACzC,MAAM,KAAK,KAAK,MAAM,KAAK,IAAI,KAAK,EAAE;CACtC,MAAM,KAAK,KAAK,KAAK,KAAK,IAAI,KAAK,EAAE,IAAI;CACzC,KAAK,IAAI,IAAI,IAAI,KAAK,IAAI,KAAK,KAAK,IAAI,IAAI,IAAI,KAAK,IAAI,KAAK,IAAI,MAAM,IAAI,UAAU,MAAM,IAAI,IAAK,IAAI,EAAG,GAAG,OAAO;CACtH,OAAO;AACR;;;;;;AAOA,IAAa,sBAA8B;CAC1C,MAAM;CACN,OAAO;CACP,OAAO;CACP,OAAO,OAAO;EACb,MAAM,QAAQ,MAAM;EACpB,IAAI,CAAC,OAAO;EACZ,IAAI,UAAU;EACd,MAAM,QAAQ,CAAC,GAAG,IAAI,IAAI,CAAC,GAAG,MAAM,QAAQ,OAAO,CAAC,CAAC,CAAC,KAAK,WAAW,OAAO,IAAI,CAAC,CAAC,CAAC,CAAC,QAAQ,SAAS,MAAM,IAAI,IAAI,CAAC;EACrH,KAAK,MAAM,QAAQ,OAAO;GACzB,KAAK,MAAM,UAAU,MAAM,UAAU,OAAO,IAAI,GAAG;IAClD,IAAI,MAAM,MAAM,MAAM,OAAO,EAAE,KAAK,CAAC,QAAQ,OAAO,MAAM,OAAO,IAAI,GAAG;IACxE,MAAM,MAAM,MAAM,OAAO,IAAI,OAAO,MAAM,IAAI;IAC9C,UAAU;GACX;GACA,KAAK,MAAM,CAAC,IAAI,SAAS,CAAC,GAAG,MAAM,KAAK,IAAI,CAAC,GAAG;IAC/C,MAAM,SAAS,MAAM,SAAS,IAAI,EAAE;IACpC,IAAK,QAAQ,SAAS,OAAO,QAAS,CAAC,QAAQ,OAAO,MAAM,IAAI,GAAG;IACnE,MAAM,OAAO,MAAM,EAAE;IACrB,UAAU;GACX;EACD;EACA,IAAI,CAAC,SAAS;EACd,MAAM,OAAO;EACb,MAAM,SAAS,eAAe,MAAM,KAAK,CAAC;CAC3C;AACD"}