recast-navigation 0.18.2 → 0.20.0

package/README.md

@@ -7,7 +7,7 @@
 
 # recast-navigation-js
 
-### [Try the NavMesh Generator Website!](https://navmesh.isaacmason.com/)
+### [Examples](https://recast-navigation-js.isaacmason.com) | [NavMesh Generator Website](https://navmesh.isaacmason.com/)
 
 - 📐 ‎ NavMesh generation
 - 🧭 ‎ Pathfinding
@@ -83,7 +83,7 @@ Documentation for the Recast and Detour c++ libraries can be found here:
 - [Recast Navigation GitHub](https://github.com/recastnavigation/recastnavigation)
 - [Recast Navigation Google Discussions](https://groups.google.com/g/recastnavigation)
 
-The GitHub issues and Google Discussions are a great resources for learning about the library and getting guidance on common issues.
+The GitHub issues and Google Discussions are great resources for learning about the library and getting guidance on common issues.
 
 ## Usage
 
@@ -262,9 +262,9 @@ You can use `addCylinderObstacle`, `addBoxObstacle`, and `removeObstacle` to add
 
 After adding or removing obstacles you can call `tileCache.update(navMesh)` to rebuild navmesh tiles.
 
-Adding or removing an obstacle will internally create an "obstacle request". TileCache supports queuing up to 64 obstacle requests.
+Adding or removing an obstacle will internally create an "obstacle request". TileCache supports queuing up to 64 obstacle requests. If the requests queue is full, calls to `addCylinderObstacle` and `addBoxObstacle` will fail and return a `dtStatus` status code `DT_BUFFER_TOO_SMALL`.
 
-The `tileCache.update` method returns `upToDate`, whether the tile cache is fully up to date with obstacle requests and tile rebuilds. Each update call processes up to 64 tiles touched by added or removed obstacles. If the tile cache isn't up to date another call will continue processing obstacle requests and tile rebuilds; otherwise it will have no effect.
+The `tileCache.update` method returns `upToDate`, whether the tile cache is fully up to date with obstacle requests and tile rebuilds. If the tile cache isn't up to date another call will continue processing obstacle requests and tile rebuilds; otherwise it will have no effect.
 
 If not many obstacle requests occur between updates, an easy pattern is to call `tileCache.update` periodically, such as every game update.
 
@@ -275,20 +275,22 @@ If many obstacle requests have been made and you need to avoid reaching the 64 o
 const position = { x: 0, y: 0, z: 0 };
 const extent = { x: 1, y: 1, z: 1 };
 const angle = 0;
-const boxObstacle = tileCache.addBoxObstacle(position, extent, angle);
+const addBoxObstacleResult = tileCache.addBoxObstacle(position, extent, angle);
+const boxObstacle = addBoxObstacleResult.obstacle;
 
 /* add a Cylinder obstacle to the NavMesh */
 const radius = 1;
 const height = 1;
-const cylinderObstacle = tileCache.addCylinderObstacle(
+const addCylinderObstacleResult = tileCache.addCylinderObstacle(
   position,
   radius,
   height,
   angle
 );
+const cylinderObstacle = addCylinderObstacleResult.obstacle;
 
 /* remove the obstacles from the NavMesh */
-tileCache.removeObstacle(boxObstacle);
+const removeObstacleResult = tileCache.removeObstacle(boxObstacle);
 
 /* update to reflect obstacle changes */
 // if few obstacles are added/removed between updates, you could call tileCache.update every game update
@@ -368,6 +370,8 @@ const { success, navMesh, tileCache } = generateTileCache(
 
 ### Debugging
 
+#### Debug Nav Mesh
+
 You can use `getDebugNavMesh` to get a debug representation of the NavMesh.
 
 ```ts
@@ -380,6 +384,45 @@ If you are using three.js, you can use `NavMeshHelper` and `CrowdHelper` to visu
 
 See the [`@recast-navigation/three` package README](https://github.com/isaac-mason/recast-navigation-js/tree/main/packages/recast-navigation-three/README.md) for usage information.
 
+#### Detour Status Codes
+
+Many Detour APIs return a `status` property. This is a `dtStatus` enum, which is a number representing the status of the operation.
+
+You can use the `statusToReadableString` function to convert a `dtStatus` to a human-readable string.
+
+```ts
+import { statusToReadableString } from 'recast-navigation';
+
+console.log(statusToReadableString(status));
+```
+
+If you need to work with status codes programmatically, you can use these utilities:
+
+```ts
+import { statusSucceed, statusInProgress, statusFailed, statusDetail } from 'recast-navigation';
+
+// returns true if the status is a success
+const succeeded = statusSucceed(status);
+
+// returns true if the status is in progress
+const inProgress = statusInProgress(status);
+
+// returns true if the status is a failure
+const failed = statusFailed(status);
+
+// get the detail of the status
+const detail = statusDetail(status);
+
+// Raw.Detour.WRONG_MAGIC;
+// Raw.Detour.WRONG_VERSION;
+// Raw.Detour.OUT_OF_MEMORY;
+// Raw.Detour.INVALID_PARAM;
+// Raw.Detour.BUFFER_TOO_SMALL;
+// Raw.Detour.OUT_OF_NODES;
+// Raw.Detour.PARTIAL_RESULT;
+// Raw.Detour.ALREADY_OCCUPIED;
+```
+
 ### Importing and Exporting
 
 A NavMesh and TileCache can be imported and exported as a Uint8Array.

package/generators.cjs

@@ -1,2 +1,2 @@
-"use strict";var e=require("@recast-navigation/core");const t=(t,i)=>{const a={x:1/0,y:1/0,z:1/0},l={x:-1/0,y:-1/0,z:-1/0};for(let e=0;e<i.length;e++){const r=i[e],s=t[3*r],o=t[3*r+1],n=t[3*r+2];a.x=Math.min(a.x,s),a.y=Math.min(a.y,o),a.z=Math.min(a.z,n),l.x=Math.max(l.x,s),l.y=Math.max(l.y,o),l.z=Math.max(l.z,n)}return{bbMin:e.vec3.toArray(a),bbMax:e.vec3.toArray(l)}},i=e=>{let t=0,i=0;return t=Number(e>65535)<<4,e>>=t,i=Number(e>255)<<3,e>>=i,t|=i,i=Number(e>15)<<2,e>>=i,t|=i,i=Number(e>3)<<1,t|=i,t|=(e>>=i)>>1,t},a=e=>(e--,e|=e>>1,e|=e>>2,e|=e>>4,e|=e>>8,e|=e>>16,++e),l={...e.recastConfigDefaults},r={...e.recastConfigDefaults,tileSize:32,expectedLayersPerTile:4,maxObstacles:128},s=()=>new e.TileCacheMeshProcess(((e,t,i)=>{for(let a=0;a<e.polyCount();++a)t.set(a,0),i.set(a,1)})),o={...e.recastConfigDefaults};exports.createDefaultTileCacheMeshProcess=s,exports.dtIlog2=i,exports.dtNextPow2=a,exports.generateSoloNavMesh=(i,a,r={},s=!1)=>{const o=new e.RecastBuildContext,n={type:"solo",buildContext:o},d=new e.NavMesh,h=t=>(s||(n.heightfield&&(e.freeHeightfield(n.heightfield),n.heightfield=void 0),n.compactHeightfield&&(e.freeCompactHeightfield(n.compactHeightfield),n.compactHeightfield=void 0),n.contourSet&&(e.freeContourSet(n.contourSet),n.contourSet=void 0)),d.destroy(),{navMesh:void 0,success:!1,intermediates:n,error:t}),c=i,g=a.length,f=new e.Arrays.VertsArray;f.copy(c,c.length);const m=a,u=a.length/3,b=new e.Arrays.TrisArray;b.copy(m,m.length);const{bbMin:w,bbMax:C}=t(i,a),S=e.createRcConfig({...l,...r});S.minRegionArea=S.minRegionArea*S.minRegionArea,S.mergeRegionArea=S.mergeRegionArea*S.mergeRegionArea,S.detailSampleDist=S.detailSampleDist<.9?0:S.cs*S.detailSampleDist,S.detailSampleMaxError=S.ch*S.detailSampleMaxError;const R=e.calcGridSize(w,C,S.cs);S.width=R.width,S.height=R.height;const y=e.allocHeightfield();if(n.heightfield=y,!e.createHeightfield(o,y,S.width,S.height,w,C,S.cs,S.ch))return h("Could not create heightfield");const M=new e.Arrays.TriAreasArray;if(M.resize(u),e.markWalkableTriangles(o,S.walkableSlopeAngle,f,g,b,u,M),!e.rasterizeTriangles(o,f,g,b,M,u,y,S.walkableClimb))return h("Could not rasterize triangles");M.free(),e.filterLowHangingWalkableObstacles(o,S.walkableClimb,y),e.filterLedgeSpans(o,S.walkableHeight,S.walkableClimb,y),e.filterWalkableLowHeightSpans(o,S.walkableHeight,y);const p=e.allocCompactHeightfield();if(n.compactHeightfield=p,!e.buildCompactHeightfield(o,S.walkableHeight,S.walkableClimb,y,p))return h("Failed to build compact data");if(s||(e.freeHeightfield(y),n.heightfield=void 0),!e.erodeWalkableArea(o,S.walkableRadius,p))return h("Failed to erode walkable area");if(!e.buildDistanceField(o,p))return h("Failed to build distance field");if(!e.buildRegions(o,p,S.borderSize,S.minRegionArea,S.mergeRegionArea))return h("Failed to build regions");const x=e.allocContourSet();if(n.contourSet=x,!e.buildContours(o,p,S.maxSimplificationError,S.maxEdgeLen,x,e.Raw.Module.RC_CONTOUR_TESS_WALL_EDGES))return h("Failed to create contours");const A=e.allocPolyMesh();if(!e.buildPolyMesh(o,x,S.maxVertsPerPoly,A))return h("Failed to triangulate contours");const k=e.allocPolyMeshDetail();if(!e.buildPolyMeshDetail(o,A,p,S.detailSampleDist,S.detailSampleMaxError,k))return h("Failed to build detail mesh");s||(e.freeCompactHeightfield(p),n.compactHeightfield=void 0,e.freeContourSet(x),n.contourSet=void 0);for(let t=0;t<A.npolys();t++)A.areas(t)==e.Raw.Recast.WALKABLE_AREA&&A.setAreas(t,0),0==A.areas(t)&&A.setFlags(t,1);const H=new e.NavMeshCreateParams;H.setPolyMeshCreateParams(A),H.setPolyMeshDetailCreateParams(k),H.setWalkableHeight(S.walkableHeight),H.setWalkableRadius(S.walkableRadius),H.setWalkableClimb(S.walkableClimb),H.setCellSize(S.cs),H.setCellHeight(S.ch),H.setBuildBvTree(!0),r.offMeshConnections&&H.setOffMeshConnections(r.offMeshConnections);const T=e.createNavMeshData(H);if(!T.success)return h("Failed to create Detour navmesh data");const{navMeshData:v}=T;return d.initSolo(v)?{success:!0,navMesh:d,intermediates:n}:h("Failed to create Detour navmesh")},exports.generateTileCache=(l,o,n={},d=!1)=>{const h=new e.RecastBuildContext,c={type:"tilecache",buildContext:h,chunkyTriMesh:void 0,tileIntermediates:[]},g=new e.TileCache,f=new e.NavMesh,m=()=>{if(!d)for(let t=0;t<c.tileIntermediates.length;t++){const i=c.tileIntermediates[t];i.heightfield&&(e.freeHeightfield(i.heightfield),i.heightfield=void 0),i.compactHeightfield&&(e.freeCompactHeightfield(i.compactHeightfield),i.compactHeightfield=void 0),i.heightfieldLayerSet&&(e.freeHeightfieldLayerSet(i.heightfieldLayerSet),i.heightfieldLayerSet=void 0)}},u=e=>(m(),g.destroy(),f.destroy(),{success:!1,navMesh:void 0,tileCache:void 0,intermediates:c,error:e}),b=l,w=o.length,C=new e.Arrays.VertsArray;C.copy(b,b.length);const S=o,R=o.length/3,y=new e.Arrays.TrisArray;y.copy(S,S.length);const{bbMin:M,bbMax:p}=t(l,o),{expectedLayersPerTile:x,maxObstacles:A,...k}={...r,...n},H=e.createRcConfig(k),T=e.calcGridSize(M,p,H.cs);H.width=T.width,H.height=T.height,H.minRegionArea=H.minRegionArea*H.minRegionArea,H.mergeRegionArea=H.mergeRegionArea*H.mergeRegionArea,H.detailSampleDist=H.detailSampleDist<.9?0:H.cs*H.detailSampleDist,H.detailSampleMaxError=H.ch*H.detailSampleMaxError;const v=Math.floor(H.tileSize),z=Math.floor((H.width+v-1)/v),_=Math.floor((H.height+v-1)/v);H.borderSize=H.walkableRadius+3,H.width=H.tileSize+2*H.borderSize,H.height=H.tileSize+2*H.borderSize;const L=e.DetourTileCacheParams.create({orig:M,cs:H.cs,ch:H.ch,width:H.tileSize,height:H.tileSize,walkableHeight:H.walkableHeight,walkableRadius:H.walkableRadius,walkableClimb:H.walkableClimb,maxSimplificationError:H.maxSimplificationError,maxTiles:z*_*x,maxObstacles:A}),D=new e.Raw.RecastLinearAllocator(32e3),E=new e.Raw.RecastFastLZCompressor,P=n.tileCacheMeshProcess??s();if(!g.init(L,D,E,P))return u("Failed to initialize tile cache");const F=e.vec3.fromArray(M);let N=Math.min(Math.floor(i(a(z*_*x))),14);N>14&&(N=14);const O=1<<N,W=1<<22-N,G=e.NavMeshParams.create({orig:F,tileWidth:H.tileSize*H.cs,tileHeight:H.tileSize*H.cs,maxTiles:O,maxPolys:W});if(!f.initTiled(G))return u("Failed to initialize tiled navmesh");const I=new e.RecastChunkyTriMesh;if(c.chunkyTriMesh=I,!I.init(C,y,R,256))return u("Failed to build chunky triangle mesh");const $=(t,i)=>{const a={tileX:t,tileY:i},l=H.tileSize*H.cs,r=e.cloneRcConfig(H),s=[M[0]+t*l,M[1],M[2]+i*l],o=[M[0]+(t+1)*l,p[1],M[2]+(i+1)*l];s[0]-=r.borderSize*r.cs,s[2]-=r.borderSize*r.cs,o[0]+=r.borderSize*r.cs,o[2]+=r.borderSize*r.cs,r.set_bmin(0,s[0]),r.set_bmin(1,s[1]),r.set_bmin(2,s[2]),r.set_bmax(0,o[0]),r.set_bmax(1,o[1]),r.set_bmax(2,o[2]);const n=e.allocHeightfield();if(a.heightfield=n,!e.createHeightfield(h,n,r.width,r.height,s,o,r.cs,r.ch))return{n:0};const g=[s[0],s[2]],f=[o[0],o[2]],m=new e.Arrays.ChunkIdsArray;m.resize(512);const u=I.getChunksOverlappingRect(g,f,m,512);if(0===u)return{n:0};for(let t=0;t<u;++t){const i=m.get_data(t),a=I.nodes(i).n,l=I.getNodeTris(i),s=new e.Arrays.TriAreasArray;s.resize(a),e.markWalkableTriangles(h,r.walkableSlopeAngle,C,w,l,a,s);const o=e.rasterizeTriangles(h,C,w,l,s,a,n,r.walkableClimb);if(s.free(),!o)return{n:0}}e.filterLowHangingWalkableObstacles(h,H.walkableClimb,n),e.filterLedgeSpans(h,H.walkableHeight,H.walkableClimb,n),e.filterWalkableLowHeightSpans(h,H.walkableHeight,n);const b=e.allocCompactHeightfield();if(!e.buildCompactHeightfield(h,H.walkableHeight,H.walkableClimb,n,b))return{n:0};if(d||(e.freeHeightfield(a.heightfield),a.heightfield=void 0),!e.erodeWalkableArea(h,H.walkableRadius,b))return{n:0};const S=e.allocHeightfieldLayerSet();if(!e.buildHeightfieldLayers(h,b,H.borderSize,H.walkableHeight,S))return{n:0};d||(e.freeCompactHeightfield(b),a.compactHeightfield=void 0);const R=[];for(let a=0;a<S.nlayers();a++){const l=new e.Arrays.TileCacheData,r=S.layers(a),s=new e.Raw.dtTileCacheLayerHeader;s.magic=e.Raw.Detour.TILECACHE_MAGIC,s.version=e.Raw.Detour.TILECACHE_VERSION,s.tx=t,s.ty=i,s.tlayer=a;const o=r.bmin(),n=r.bmax();s.set_bmin(0,o.x),s.set_bmin(1,o.y),s.set_bmin(2,o.z),s.set_bmax(0,n.x),s.set_bmax(1,n.y),s.set_bmax(2,n.z),s.width=r.width(),s.height=r.height(),s.minx=r.minx(),s.maxx=r.maxx(),s.miny=r.miny(),s.maxy=r.maxy(),s.hmin=r.hmin(),s.hmax=r.hmax();const d=e.getHeightfieldLayerHeights(r),h=e.getHeightfieldLayerAreas(r),c=e.getHeightfieldLayerCons(r),g=e.buildTileCacheLayer(E,s,d,h,c,l);if(e.Raw.Detour.statusFailed(g))return{n:0};R.push(l)}return d||(e.freeHeightfieldLayerSet(S),a.heightfieldLayerSet=void 0),c.tileIntermediates.push(a),{n:R.length,tiles:R}};for(let t=0;t<_;++t)for(let i=0;i<z;++i){const{n:a,tiles:l}=$(i,t);if(a>0&&l)for(let r=0;r<a;r++){const a=l[r],s=g.addTile(a);e.Raw.Detour.statusFailed(s.status)&&h.log(e.Raw.Module.RC_LOG_WARNING,`Failed to add tile to tile cache - tx: ${i}, ty: ${t}`)}}for(let t=0;t<_;t++)for(let i=0;i<z;i++){const a=g.buildNavMeshTilesAt(i,t,f);if(e.Raw.Detour.statusFailed(a))return u(`Failed to build nav mesh tiles at ${i}, ${t}`)}return m(),{success:!0,tileCache:g,navMesh:f,intermediates:c}},exports.generateTiledNavMesh=(l,r,s={},n=!1)=>{const d=new e.RecastBuildContext,h={type:"tiled",buildContext:d,chunkyTriMesh:void 0,tileIntermediates:[]},c=new e.NavMesh,g=()=>{if(!n){for(let t=0;t<h.tileIntermediates.length;t++){const i=h.tileIntermediates[t];i.compactHeightfield&&e.freeCompactHeightfield(i.compactHeightfield),i.heightfield&&e.freeHeightfield(i.heightfield),i.contourSet&&e.freeContourSet(i.contourSet)}h.chunkyTriMesh&&(h.chunkyTriMesh=void 0)}},f=e=>(g(),c.destroy(),{success:!1,navMesh:void 0,intermediates:h,error:e}),m=e.createRcConfig({...o,...s}),{bbMin:u,bbMax:b}=t(l,r),w=e.calcGridSize(u,b,m.cs);m.width=w.width,m.height=w.height,m.minRegionArea=m.minRegionArea*m.minRegionArea,m.mergeRegionArea=m.mergeRegionArea*m.mergeRegionArea,m.tileSize=Math.floor(m.tileSize),m.borderSize=m.walkableRadius+3,m.width=m.tileSize+2*m.borderSize,m.height=m.tileSize+2*m.borderSize,m.detailSampleDist=m.detailSampleDist<.9?0:m.cs*m.detailSampleDist,m.detailSampleMaxError=m.ch*m.detailSampleMaxError;const C=Math.floor(m.tileSize),S=Math.floor((w.width+C-1)/C),R=Math.floor((w.height+C-1)/C),y=m.tileSize*m.cs,M=l,p=r.length,x=new e.Arrays.VertsArray;x.copy(M,M.length);const A=r,k=r.length/3,H=new e.Arrays.TrisArray;H.copy(A,A.length);const T=e.vec3.fromArray(u);let v=Math.min(Math.floor(i(a(S*R))),14);v>14&&(v=14);const z=1<<v,_=1<<22-v,L=e.NavMeshParams.create({orig:T,tileWidth:m.tileSize*m.cs,tileHeight:m.tileSize*m.cs,maxTiles:z,maxPolys:_});if(!c.initTiled(L))return f("Could not init nav mesh for tiled use");const D=new e.RecastChunkyTriMesh;if(h.chunkyTriMesh=D,!D.init(x,H,k,256))return f("Failed to build chunky triangle mesh");const E=(t,i,a,l)=>{const r=t=>(d.log(e.Raw.Module.RC_LOG_ERROR,t),{success:!1,error:t}),o={tileX:t,tileY:i};h.tileIntermediates.push(o);const c=e.cloneRcConfig(m),g=[...a],f=[...l];g[0]-=c.borderSize*c.cs,g[2]-=c.borderSize*c.cs,f[0]+=c.borderSize*c.cs,f[2]+=c.borderSize*c.cs,c.set_bmin(0,g[0]),c.set_bmin(1,g[1]),c.set_bmin(2,g[2]),c.set_bmax(0,f[0]),c.set_bmax(1,f[1]),c.set_bmax(2,f[2]),d.resetTimers(),d.startTimer(e.Raw.Module.RC_TIMER_TOTAL),d.log(e.Raw.Module.RC_LOG_PROGRESS,`Building tile ${h.tileIntermediates.length} at x: ${t}, y: ${i}`),d.log(e.Raw.Module.RC_LOG_PROGRESS,` - ${m.width} x ${m.height} cells`),d.log(e.Raw.Module.RC_LOG_PROGRESS,` - ${p/1e3}fK verts, ${k/1e3}K tris`);const u=e.allocHeightfield();if(o.heightfield=u,!e.createHeightfield(d,u,c.width,c.height,g,f,c.cs,c.ch))return r("Could not create heightfield");(new e.Arrays.TriAreasArray).resize(D.maxTrisPerChunk());const b=[g[0],g[2]],w=[f[0],f[2]],C=new e.Arrays.ChunkIdsArray;C.resize(512);const S=D.getChunksOverlappingRect(b,w,C,512);if(0===S)return{success:!0};for(let t=0;t<S;++t){const i=C.get_data(t),a=D.nodes(i).n,l=D.getNodeTris(i),s=new e.Arrays.TriAreasArray;s.resize(a),e.markWalkableTriangles(d,c.walkableSlopeAngle,x,p,l,a,s);const o=e.rasterizeTriangles(d,x,p,l,s,a,u,c.walkableClimb);if(s.free(),!o)return r("Could not rasterize triangles")}e.filterLowHangingWalkableObstacles(d,c.walkableClimb,u),e.filterLedgeSpans(d,c.walkableHeight,c.walkableClimb,u),e.filterWalkableLowHeightSpans(d,c.walkableHeight,u);const R=e.allocCompactHeightfield();if(o.compactHeightfield=R,!e.buildCompactHeightfield(d,c.walkableHeight,c.walkableClimb,u,R))return r("Could not build compact heightfield");if(n||(e.freeHeightfield(o.heightfield),o.heightfield=void 0),!e.erodeWalkableArea(d,c.walkableRadius,R))return r("Could not erode walkable area");if(!e.buildDistanceField(d,R))return r("Failed to build distance field");if(!e.buildRegions(d,R,c.borderSize,c.minRegionArea,c.mergeRegionArea))return r("Failed to build regions");const y=e.allocContourSet();if(o.contourSet=y,!e.buildContours(d,R,c.maxSimplificationError,c.maxEdgeLen,y,e.Raw.Module.RC_CONTOUR_TESS_WALL_EDGES))return r("Failed to create contours");const M=e.allocPolyMesh();if(!e.buildPolyMesh(d,y,c.maxVertsPerPoly,M))return r("Failed to triangulate contours");const A=e.allocPolyMeshDetail();if(!e.buildPolyMeshDetail(d,M,R,c.detailSampleDist,c.detailSampleMaxError,A))return r("Failed to build detail mesh");n||(e.freeCompactHeightfield(R),o.compactHeightfield=void 0,e.freeContourSet(y),o.contourSet=void 0);for(let t=0;t<M.npolys();t++)M.areas(t)==e.Raw.Recast.WALKABLE_AREA&&M.setAreas(t,0),0==M.areas(t)&&M.setFlags(t,1);const H=new e.NavMeshCreateParams;H.setPolyMeshCreateParams(M),H.setPolyMeshDetailCreateParams(A),H.setWalkableHeight(c.walkableHeight),H.setWalkableRadius(c.walkableRadius),H.setWalkableClimb(c.walkableClimb),H.setCellSize(c.cs),H.setCellHeight(c.ch),H.setBuildBvTree(!0),s.offMeshConnections&&H.setOffMeshConnections(s.offMeshConnections),H.setTileX(t),H.setTileY(i);const T=e.createNavMeshData(H);return T.success?(d.log(e.Raw.Module.RC_LOG_PROGRESS,`>> Polymesh: ${M.nverts()} vertices  ${M.npolys()} polygons`),{success:!0,data:T.navMeshData}):r("Failed to create Detour navmesh data")};d.startTimer(e.Raw.Module.RC_TIMER_TEMP);const P=[0,0,0],F=[0,0,0];for(let t=0;t<R;t++)for(let i=0;i<S;i++){P[0]=u[0]+i*y,P[1]=u[1],P[2]=u[2]+t*y,F[0]=u[0]+(i+1)*y,F[1]=b[1],F[2]=u[2]+(t+1)*y;const a=E(i,t,P,F);if(a.success&&a.data){c.removeTile(c.getTileRefAt(i,t,0));const l=c.addTile(a.data,e.Raw.Module.DT_TILE_FREE_DATA,0);e.Raw.Detour.statusFailed(l.status)&&(d.log(e.Raw.Module.RC_LOG_WARNING,`Failed to add tile to nav mesh\n\ttx: ${i}, ty: ${t},status: ${e.dtStatusToReadableString(l.status)} (${l.status})`),a.data.free())}}return d.stopTimer(e.Raw.Module.RC_TIMER_TEMP),n||g(),{success:!0,navMesh:c,intermediates:h}},exports.getBoundingBox=t,exports.soloNavMeshGeneratorConfigDefaults=l,exports.tileCacheGeneratorConfigDefaults=r,exports.tiledNavMeshGeneratorConfigDefaults=o;
+"use strict";var e=require("@recast-navigation/core");const t=(t,i)=>{const a={x:1/0,y:1/0,z:1/0},l={x:-1/0,y:-1/0,z:-1/0};for(let e=0;e<i.length;e++){const r=i[e],s=t[3*r],o=t[3*r+1],n=t[3*r+2];a.x=Math.min(a.x,s),a.y=Math.min(a.y,o),a.z=Math.min(a.z,n),l.x=Math.max(l.x,s),l.y=Math.max(l.y,o),l.z=Math.max(l.z,n)}return{bbMin:e.vec3.toArray(a),bbMax:e.vec3.toArray(l)}},i=e=>{let t=0,i=0;return t=Number(e>65535)<<4,e>>=t,i=Number(e>255)<<3,e>>=i,t|=i,i=Number(e>15)<<2,e>>=i,t|=i,i=Number(e>3)<<1,t|=i,t|=(e>>=i)>>1,t},a=e=>(e--,e|=e>>1,e|=e>>2,e|=e>>4,e|=e>>8,e|=e>>16,++e),l={...e.recastConfigDefaults},r={...e.recastConfigDefaults,tileSize:32,expectedLayersPerTile:4,maxObstacles:128},s=()=>new e.TileCacheMeshProcess(((e,t,i)=>{for(let a=0;a<e.polyCount();++a)t.set(a,0),i.set(a,1)})),o={...e.recastConfigDefaults};exports.createDefaultTileCacheMeshProcess=s,exports.dtIlog2=i,exports.dtNextPow2=a,exports.generateSoloNavMesh=(i,a,r={},s=!1)=>{const o=new e.RecastBuildContext,n={type:"solo",buildContext:o},d=new e.NavMesh,h=t=>(s||(n.heightfield&&(e.freeHeightfield(n.heightfield),n.heightfield=void 0),n.compactHeightfield&&(e.freeCompactHeightfield(n.compactHeightfield),n.compactHeightfield=void 0),n.contourSet&&(e.freeContourSet(n.contourSet),n.contourSet=void 0)),d.destroy(),{navMesh:void 0,success:!1,intermediates:n,error:t}),c=i,g=a.length,f=new e.Arrays.VertsArray;f.copy(c,c.length);const m=a,u=a.length/3,b=new e.Arrays.TrisArray;b.copy(m,m.length);const{bbMin:w,bbMax:C}=t(i,a),R=e.createRcConfig({...l,...r});R.minRegionArea=R.minRegionArea*R.minRegionArea,R.mergeRegionArea=R.mergeRegionArea*R.mergeRegionArea,R.detailSampleDist=R.detailSampleDist<.9?0:R.cs*R.detailSampleDist,R.detailSampleMaxError=R.ch*R.detailSampleMaxError;const S=e.calcGridSize(w,C,R.cs);R.width=S.width,R.height=S.height;const y=e.allocHeightfield();if(n.heightfield=y,!e.createHeightfield(o,y,R.width,R.height,w,C,R.cs,R.ch))return h("Could not create heightfield");const M=new e.Arrays.TriAreasArray;if(M.resize(u),e.markWalkableTriangles(o,R.walkableSlopeAngle,f,g,b,u,M),!e.rasterizeTriangles(o,f,g,b,M,u,y,R.walkableClimb))return h("Could not rasterize triangles");M.free(),e.filterLowHangingWalkableObstacles(o,R.walkableClimb,y),e.filterLedgeSpans(o,R.walkableHeight,R.walkableClimb,y),e.filterWalkableLowHeightSpans(o,R.walkableHeight,y);const p=e.allocCompactHeightfield();if(n.compactHeightfield=p,!e.buildCompactHeightfield(o,R.walkableHeight,R.walkableClimb,y,p))return h("Failed to build compact data");if(s||(e.freeHeightfield(y),n.heightfield=void 0),!e.erodeWalkableArea(o,R.walkableRadius,p))return h("Failed to erode walkable area");if(!e.buildDistanceField(o,p))return h("Failed to build distance field");if(!e.buildRegions(o,p,R.borderSize,R.minRegionArea,R.mergeRegionArea))return h("Failed to build regions");const x=e.allocContourSet();if(n.contourSet=x,!e.buildContours(o,p,R.maxSimplificationError,R.maxEdgeLen,x,e.Raw.Module.RC_CONTOUR_TESS_WALL_EDGES))return h("Failed to create contours");const A=e.allocPolyMesh();if(!e.buildPolyMesh(o,x,R.maxVertsPerPoly,A))return h("Failed to triangulate contours");const k=e.allocPolyMeshDetail();if(!e.buildPolyMeshDetail(o,A,p,R.detailSampleDist,R.detailSampleMaxError,k))return h("Failed to build detail mesh");s||(e.freeCompactHeightfield(p),n.compactHeightfield=void 0,e.freeContourSet(x),n.contourSet=void 0);for(let t=0;t<A.npolys();t++)A.areas(t)==e.Raw.Recast.WALKABLE_AREA&&A.setAreas(t,0),0==A.areas(t)&&A.setFlags(t,1);const H=new e.NavMeshCreateParams;H.setPolyMeshCreateParams(A),H.setPolyMeshDetailCreateParams(k),H.setWalkableHeight(R.walkableHeight),H.setWalkableRadius(R.walkableRadius),H.setWalkableClimb(R.walkableClimb),H.setCellSize(R.cs),H.setCellHeight(R.ch),H.setBuildBvTree(!0),r.offMeshConnections&&H.setOffMeshConnections(r.offMeshConnections);const T=e.createNavMeshData(H);if(!T.success)return h("Failed to create Detour navmesh data");const{navMeshData:v}=T;return d.initSolo(v)?{success:!0,navMesh:d,intermediates:n}:h("Failed to create Detour navmesh")},exports.generateTileCache=(l,o,n={},d=!1)=>{const h=new e.RecastBuildContext,c={type:"tilecache",buildContext:h,chunkyTriMesh:void 0,tileIntermediates:[]},g=new e.TileCache,f=new e.NavMesh,m=()=>{if(!d)for(let t=0;t<c.tileIntermediates.length;t++){const i=c.tileIntermediates[t];i.heightfield&&(e.freeHeightfield(i.heightfield),i.heightfield=void 0),i.compactHeightfield&&(e.freeCompactHeightfield(i.compactHeightfield),i.compactHeightfield=void 0),i.heightfieldLayerSet&&(e.freeHeightfieldLayerSet(i.heightfieldLayerSet),i.heightfieldLayerSet=void 0)}},u=e=>(m(),g.destroy(),f.destroy(),{success:!1,navMesh:void 0,tileCache:void 0,intermediates:c,error:e}),b=l,w=o.length,C=new e.Arrays.VertsArray;C.copy(b,b.length);const R=o,S=o.length/3,y=new e.Arrays.TrisArray;y.copy(R,R.length);const{bbMin:M,bbMax:p}=t(l,o),{expectedLayersPerTile:x,maxObstacles:A,...k}={...r,...n},H=e.createRcConfig(k),T=e.calcGridSize(M,p,H.cs);H.width=T.width,H.height=T.height,H.minRegionArea=H.minRegionArea*H.minRegionArea,H.mergeRegionArea=H.mergeRegionArea*H.mergeRegionArea,H.detailSampleDist=H.detailSampleDist<.9?0:H.cs*H.detailSampleDist,H.detailSampleMaxError=H.ch*H.detailSampleMaxError;const v=Math.floor(H.tileSize),z=Math.floor((H.width+v-1)/v),_=Math.floor((H.height+v-1)/v);H.borderSize=H.walkableRadius+3,H.width=H.tileSize+2*H.borderSize,H.height=H.tileSize+2*H.borderSize;const L=e.DetourTileCacheParams.create({orig:M,cs:H.cs,ch:H.ch,width:H.tileSize,height:H.tileSize,walkableHeight:H.walkableHeight,walkableRadius:H.walkableRadius,walkableClimb:H.walkableClimb,maxSimplificationError:H.maxSimplificationError,maxTiles:z*_*x,maxObstacles:A}),D=new e.Raw.RecastLinearAllocator(32e3),E=new e.Raw.RecastFastLZCompressor,P=n.tileCacheMeshProcess??s();if(!g.init(L,D,E,P))return u("Failed to initialize tile cache");const F=e.vec3.fromArray(M);let N=Math.min(Math.floor(i(a(z*_*x))),14);N>14&&(N=14);const O=1<<N,W=1<<22-N,G=e.NavMeshParams.create({orig:F,tileWidth:H.tileSize*H.cs,tileHeight:H.tileSize*H.cs,maxTiles:O,maxPolys:W});if(!f.initTiled(G))return u("Failed to initialize tiled navmesh");const I=new e.RecastChunkyTriMesh;if(c.chunkyTriMesh=I,!I.init(C,y,S,256))return u("Failed to build chunky triangle mesh");const $=(t,i)=>{const a={tileX:t,tileY:i},l=H.tileSize*H.cs,r=e.cloneRcConfig(H),s=[M[0]+t*l,M[1],M[2]+i*l],o=[M[0]+(t+1)*l,p[1],M[2]+(i+1)*l];s[0]-=r.borderSize*r.cs,s[2]-=r.borderSize*r.cs,o[0]+=r.borderSize*r.cs,o[2]+=r.borderSize*r.cs,r.set_bmin(0,s[0]),r.set_bmin(1,s[1]),r.set_bmin(2,s[2]),r.set_bmax(0,o[0]),r.set_bmax(1,o[1]),r.set_bmax(2,o[2]);const n=e.allocHeightfield();if(a.heightfield=n,!e.createHeightfield(h,n,r.width,r.height,s,o,r.cs,r.ch))return{n:0};const g=[s[0],s[2]],f=[o[0],o[2]],m=new e.Arrays.ChunkIdsArray;m.resize(512);const u=I.getChunksOverlappingRect(g,f,m,512);if(0===u)return{n:0};for(let t=0;t<u;++t){const i=m.get_data(t),a=I.nodes(i).n,l=I.getNodeTris(i),s=new e.Arrays.TriAreasArray;s.resize(a),e.markWalkableTriangles(h,r.walkableSlopeAngle,C,w,l,a,s);const o=e.rasterizeTriangles(h,C,w,l,s,a,n,r.walkableClimb);if(s.free(),!o)return{n:0}}e.filterLowHangingWalkableObstacles(h,H.walkableClimb,n),e.filterLedgeSpans(h,H.walkableHeight,H.walkableClimb,n),e.filterWalkableLowHeightSpans(h,H.walkableHeight,n);const b=e.allocCompactHeightfield();if(!e.buildCompactHeightfield(h,H.walkableHeight,H.walkableClimb,n,b))return{n:0};if(d||(e.freeHeightfield(a.heightfield),a.heightfield=void 0),!e.erodeWalkableArea(h,H.walkableRadius,b))return{n:0};const R=e.allocHeightfieldLayerSet();if(!e.buildHeightfieldLayers(h,b,H.borderSize,H.walkableHeight,R))return{n:0};d||(e.freeCompactHeightfield(b),a.compactHeightfield=void 0);const S=[];for(let a=0;a<R.nlayers();a++){const l=new e.Arrays.TileCacheData,r=R.layers(a),s=new e.Raw.dtTileCacheLayerHeader;s.magic=e.Raw.Detour.TILECACHE_MAGIC,s.version=e.Raw.Detour.TILECACHE_VERSION,s.tx=t,s.ty=i,s.tlayer=a;const o=r.bmin(),n=r.bmax();s.set_bmin(0,o.x),s.set_bmin(1,o.y),s.set_bmin(2,o.z),s.set_bmax(0,n.x),s.set_bmax(1,n.y),s.set_bmax(2,n.z),s.width=r.width(),s.height=r.height(),s.minx=r.minx(),s.maxx=r.maxx(),s.miny=r.miny(),s.maxy=r.maxy(),s.hmin=r.hmin(),s.hmax=r.hmax();const d=e.getHeightfieldLayerHeights(r),h=e.getHeightfieldLayerAreas(r),c=e.getHeightfieldLayerCons(r),g=e.buildTileCacheLayer(E,s,d,h,c,l);if(e.Raw.Detour.statusFailed(g))return{n:0};S.push(l)}return d||(e.freeHeightfieldLayerSet(R),a.heightfieldLayerSet=void 0),c.tileIntermediates.push(a),{n:S.length,tiles:S}};for(let t=0;t<_;++t)for(let i=0;i<z;++i){const{n:a,tiles:l}=$(i,t);if(a>0&&l)for(let r=0;r<a;r++){const a=l[r],s=g.addTile(a);e.Raw.Detour.statusFailed(s.status)&&h.log(e.Raw.Module.RC_LOG_WARNING,`Failed to add tile to tile cache - tx: ${i}, ty: ${t}`)}}for(let t=0;t<_;t++)for(let i=0;i<z;i++){const a=g.buildNavMeshTilesAt(i,t,f);if(e.Raw.Detour.statusFailed(a))return u(`Failed to build nav mesh tiles at ${i}, ${t}`)}return m(),{success:!0,tileCache:g,navMesh:f,intermediates:c}},exports.generateTiledNavMesh=(l,r,s={},n=!1)=>{const d=new e.RecastBuildContext,h={type:"tiled",buildContext:d,chunkyTriMesh:void 0,tileIntermediates:[]},c=new e.NavMesh,g=()=>{if(!n){for(let t=0;t<h.tileIntermediates.length;t++){const i=h.tileIntermediates[t];i.compactHeightfield&&e.freeCompactHeightfield(i.compactHeightfield),i.heightfield&&e.freeHeightfield(i.heightfield),i.contourSet&&e.freeContourSet(i.contourSet)}h.chunkyTriMesh&&(h.chunkyTriMesh=void 0)}},f=e=>(g(),c.destroy(),{success:!1,navMesh:void 0,intermediates:h,error:e}),m=e.createRcConfig({...o,...s}),{bbMin:u,bbMax:b}=t(l,r),w=e.calcGridSize(u,b,m.cs);m.width=w.width,m.height=w.height,m.minRegionArea=m.minRegionArea*m.minRegionArea,m.mergeRegionArea=m.mergeRegionArea*m.mergeRegionArea,m.tileSize=Math.floor(m.tileSize),m.borderSize=m.walkableRadius+3,m.width=m.tileSize+2*m.borderSize,m.height=m.tileSize+2*m.borderSize,m.detailSampleDist=m.detailSampleDist<.9?0:m.cs*m.detailSampleDist,m.detailSampleMaxError=m.ch*m.detailSampleMaxError;const C=Math.floor(m.tileSize),R=Math.floor((w.width+C-1)/C),S=Math.floor((w.height+C-1)/C),y=m.tileSize*m.cs,M=l,p=r.length,x=new e.Arrays.VertsArray;x.copy(M,M.length);const A=r,k=r.length/3,H=new e.Arrays.TrisArray;H.copy(A,A.length);const T=e.vec3.fromArray(u);let v=Math.min(Math.floor(i(a(R*S))),14);v>14&&(v=14);const z=1<<v,_=1<<22-v,L=e.NavMeshParams.create({orig:T,tileWidth:m.tileSize*m.cs,tileHeight:m.tileSize*m.cs,maxTiles:z,maxPolys:_});if(!c.initTiled(L))return f("Could not init nav mesh for tiled use");const D=new e.RecastChunkyTriMesh;if(h.chunkyTriMesh=D,!D.init(x,H,k,256))return f("Failed to build chunky triangle mesh");const E=(t,i,a,l)=>{const r=t=>(d.log(e.Raw.Module.RC_LOG_ERROR,t),{success:!1,error:t}),o={tileX:t,tileY:i};h.tileIntermediates.push(o);const c=e.cloneRcConfig(m),g=[...a],f=[...l];g[0]-=c.borderSize*c.cs,g[2]-=c.borderSize*c.cs,f[0]+=c.borderSize*c.cs,f[2]+=c.borderSize*c.cs,c.set_bmin(0,g[0]),c.set_bmin(1,g[1]),c.set_bmin(2,g[2]),c.set_bmax(0,f[0]),c.set_bmax(1,f[1]),c.set_bmax(2,f[2]),d.resetTimers(),d.startTimer(e.Raw.Module.RC_TIMER_TOTAL),d.log(e.Raw.Module.RC_LOG_PROGRESS,`Building tile ${h.tileIntermediates.length} at x: ${t}, y: ${i}`),d.log(e.Raw.Module.RC_LOG_PROGRESS,` - ${m.width} x ${m.height} cells`),d.log(e.Raw.Module.RC_LOG_PROGRESS,` - ${p/1e3}fK verts, ${k/1e3}K tris`);const u=e.allocHeightfield();if(o.heightfield=u,!e.createHeightfield(d,u,c.width,c.height,g,f,c.cs,c.ch))return r("Could not create heightfield");(new e.Arrays.TriAreasArray).resize(D.maxTrisPerChunk());const b=[g[0],g[2]],w=[f[0],f[2]],C=new e.Arrays.ChunkIdsArray;C.resize(512);const R=D.getChunksOverlappingRect(b,w,C,512);if(0===R)return{success:!0};for(let t=0;t<R;++t){const i=C.get_data(t),a=D.nodes(i).n,l=D.getNodeTris(i),s=new e.Arrays.TriAreasArray;s.resize(a),e.markWalkableTriangles(d,c.walkableSlopeAngle,x,p,l,a,s);const o=e.rasterizeTriangles(d,x,p,l,s,a,u,c.walkableClimb);if(s.free(),!o)return r("Could not rasterize triangles")}e.filterLowHangingWalkableObstacles(d,c.walkableClimb,u),e.filterLedgeSpans(d,c.walkableHeight,c.walkableClimb,u),e.filterWalkableLowHeightSpans(d,c.walkableHeight,u);const S=e.allocCompactHeightfield();if(o.compactHeightfield=S,!e.buildCompactHeightfield(d,c.walkableHeight,c.walkableClimb,u,S))return r("Could not build compact heightfield");if(n||(e.freeHeightfield(o.heightfield),o.heightfield=void 0),!e.erodeWalkableArea(d,c.walkableRadius,S))return r("Could not erode walkable area");if(!e.buildDistanceField(d,S))return r("Failed to build distance field");if(!e.buildRegions(d,S,c.borderSize,c.minRegionArea,c.mergeRegionArea))return r("Failed to build regions");const y=e.allocContourSet();if(o.contourSet=y,!e.buildContours(d,S,c.maxSimplificationError,c.maxEdgeLen,y,e.Raw.Module.RC_CONTOUR_TESS_WALL_EDGES))return r("Failed to create contours");const M=e.allocPolyMesh();if(!e.buildPolyMesh(d,y,c.maxVertsPerPoly,M))return r("Failed to triangulate contours");const A=e.allocPolyMeshDetail();if(!e.buildPolyMeshDetail(d,M,S,c.detailSampleDist,c.detailSampleMaxError,A))return r("Failed to build detail mesh");n||(e.freeCompactHeightfield(S),o.compactHeightfield=void 0,e.freeContourSet(y),o.contourSet=void 0);for(let t=0;t<M.npolys();t++)M.areas(t)==e.Raw.Recast.WALKABLE_AREA&&M.setAreas(t,0),0==M.areas(t)&&M.setFlags(t,1);const H=new e.NavMeshCreateParams;H.setPolyMeshCreateParams(M),H.setPolyMeshDetailCreateParams(A),H.setWalkableHeight(c.walkableHeight),H.setWalkableRadius(c.walkableRadius),H.setWalkableClimb(c.walkableClimb),H.setCellSize(c.cs),H.setCellHeight(c.ch),H.setBuildBvTree(!0),s.offMeshConnections&&H.setOffMeshConnections(s.offMeshConnections),H.setTileX(t),H.setTileY(i);const T=e.createNavMeshData(H);return T.success?(d.log(e.Raw.Module.RC_LOG_PROGRESS,`>> Polymesh: ${M.nverts()} vertices  ${M.npolys()} polygons`),{success:!0,data:T.navMeshData}):r("Failed to create Detour navmesh data")};d.startTimer(e.Raw.Module.RC_TIMER_TEMP);const P=[0,0,0],F=[0,0,0];for(let t=0;t<S;t++)for(let i=0;i<R;i++){P[0]=u[0]+i*y,P[1]=u[1],P[2]=u[2]+t*y,F[0]=u[0]+(i+1)*y,F[1]=b[1],F[2]=u[2]+(t+1)*y;const a=E(i,t,P,F);if(a.success&&a.data){c.removeTile(c.getTileRefAt(i,t,0));const l=c.addTile(a.data,e.Raw.Module.DT_TILE_FREE_DATA,0);e.Raw.Detour.statusFailed(l.status)&&(d.log(e.Raw.Module.RC_LOG_WARNING,`Failed to add tile to nav mesh\n\ttx: ${i}, ty: ${t},status: ${e.statusToReadableString(l.status)} (${l.status})`),a.data.free())}}return d.stopTimer(e.Raw.Module.RC_TIMER_TEMP),n||g(),{success:!0,navMesh:c,intermediates:h}},exports.getBoundingBox=t,exports.soloNavMeshGeneratorConfigDefaults=l,exports.tileCacheGeneratorConfigDefaults=r,exports.tiledNavMeshGeneratorConfigDefaults=o;
 //# sourceMappingURL=generators.cjs.map

package/generators.mjs

@@ -1,2 +1,2 @@
-import{recastConfigDefaults as e,vec3 as t,RecastBuildContext as i,NavMesh as a,Arrays as l,createRcConfig as r,calcGridSize as s,allocHeightfield as o,createHeightfield as n,markWalkableTriangles as d,rasterizeTriangles as h,filterLowHangingWalkableObstacles as c,filterLedgeSpans as m,filterWalkableLowHeightSpans as g,allocCompactHeightfield as u,buildCompactHeightfield as b,freeHeightfield as f,erodeWalkableArea as S,buildDistanceField as w,buildRegions as M,allocContourSet as C,buildContours as y,Raw as R,allocPolyMesh as x,buildPolyMesh as p,allocPolyMeshDetail as A,buildPolyMeshDetail as k,freeCompactHeightfield as T,freeContourSet as _,NavMeshCreateParams as z,createNavMeshData as v,TileCacheMeshProcess as E,TileCache as H,DetourTileCacheParams as D,NavMeshParams as F,RecastChunkyTriMesh as L,dtStatusToReadableString as P,freeHeightfieldLayerSet as O,cloneRcConfig as I,allocHeightfieldLayerSet as G,buildHeightfieldLayers as N,getHeightfieldLayerHeights as $,getHeightfieldLayerAreas as W,getHeightfieldLayerCons as B,buildTileCacheLayer as V}from"@recast-navigation/core";const K=(e,i)=>{const a={x:1/0,y:1/0,z:1/0},l={x:-1/0,y:-1/0,z:-1/0};for(let t=0;t<i.length;t++){const r=i[t],s=e[3*r],o=e[3*r+1],n=e[3*r+2];a.x=Math.min(a.x,s),a.y=Math.min(a.y,o),a.z=Math.min(a.z,n),l.x=Math.max(l.x,s),l.y=Math.max(l.y,o),l.z=Math.max(l.z,n)}return{bbMin:t.toArray(a),bbMax:t.toArray(l)}},X=e=>{let t=0,i=0;return t=Number(e>65535)<<4,e>>=t,i=Number(e>255)<<3,e>>=i,t|=i,i=Number(e>15)<<2,e>>=i,t|=i,i=Number(e>3)<<1,t|=i,t|=(e>>=i)>>1,t},Y=e=>(e--,e|=e>>1,e|=e>>2,e|=e>>4,e|=e>>8,e|=e>>16,++e),U={...e},Z=(e,t,E={},H=!1)=>{const D=new i,F={type:"solo",buildContext:D},L=new a,P=e=>(H||(F.heightfield&&(f(F.heightfield),F.heightfield=void 0),F.compactHeightfield&&(T(F.compactHeightfield),F.compactHeightfield=void 0),F.contourSet&&(_(F.contourSet),F.contourSet=void 0)),L.destroy(),{navMesh:void 0,success:!1,intermediates:F,error:e}),O=e,I=t.length,G=new l.VertsArray;G.copy(O,O.length);const N=t,$=t.length/3,W=new l.TrisArray;W.copy(N,N.length);const{bbMin:B,bbMax:V}=K(e,t),X=r({...U,...E});X.minRegionArea=X.minRegionArea*X.minRegionArea,X.mergeRegionArea=X.mergeRegionArea*X.mergeRegionArea,X.detailSampleDist=X.detailSampleDist<.9?0:X.cs*X.detailSampleDist,X.detailSampleMaxError=X.ch*X.detailSampleMaxError;const Y=s(B,V,X.cs);X.width=Y.width,X.height=Y.height;const Z=o();if(F.heightfield=Z,!n(D,Z,X.width,X.height,B,V,X.cs,X.ch))return P("Could not create heightfield");const j=new l.TriAreasArray;if(j.resize($),d(D,X.walkableSlopeAngle,G,I,W,$,j),!h(D,G,I,W,j,$,Z,X.walkableClimb))return P("Could not rasterize triangles");j.free(),c(D,X.walkableClimb,Z),m(D,X.walkableHeight,X.walkableClimb,Z),g(D,X.walkableHeight,Z);const q=u();if(F.compactHeightfield=q,!b(D,X.walkableHeight,X.walkableClimb,Z,q))return P("Failed to build compact data");if(H||(f(Z),F.heightfield=void 0),!S(D,X.walkableRadius,q))return P("Failed to erode walkable area");if(!w(D,q))return P("Failed to build distance field");if(!M(D,q,X.borderSize,X.minRegionArea,X.mergeRegionArea))return P("Failed to build regions");const J=C();if(F.contourSet=J,!y(D,q,X.maxSimplificationError,X.maxEdgeLen,J,R.Module.RC_CONTOUR_TESS_WALL_EDGES))return P("Failed to create contours");const Q=x();if(!p(D,J,X.maxVertsPerPoly,Q))return P("Failed to triangulate contours");const ee=A();if(!k(D,Q,q,X.detailSampleDist,X.detailSampleMaxError,ee))return P("Failed to build detail mesh");H||(T(q),F.compactHeightfield=void 0,_(J),F.contourSet=void 0);for(let e=0;e<Q.npolys();e++)Q.areas(e)==R.Recast.WALKABLE_AREA&&Q.setAreas(e,0),0==Q.areas(e)&&Q.setFlags(e,1);const te=new z;te.setPolyMeshCreateParams(Q),te.setPolyMeshDetailCreateParams(ee),te.setWalkableHeight(X.walkableHeight),te.setWalkableRadius(X.walkableRadius),te.setWalkableClimb(X.walkableClimb),te.setCellSize(X.cs),te.setCellHeight(X.ch),te.setBuildBvTree(!0),E.offMeshConnections&&te.setOffMeshConnections(E.offMeshConnections);const ie=v(te);if(!ie.success)return P("Failed to create Detour navmesh data");const{navMeshData:ae}=ie;return L.initSolo(ae)?{success:!0,navMesh:L,intermediates:F}:P("Failed to create Detour navmesh")},j={...e,tileSize:32,expectedLayersPerTile:4,maxObstacles:128},q=()=>new E(((e,t,i)=>{for(let a=0;a<e.polyCount();++a)t.set(a,0),i.set(a,1)})),J=(e,w,M={},C=!1)=>{const y=new i,x={type:"tilecache",buildContext:y,chunkyTriMesh:void 0,tileIntermediates:[]},p=new H,A=new a,k=()=>{if(!C)for(let e=0;e<x.tileIntermediates.length;e++){const t=x.tileIntermediates[e];t.heightfield&&(f(t.heightfield),t.heightfield=void 0),t.compactHeightfield&&(T(t.compactHeightfield),t.compactHeightfield=void 0),t.heightfieldLayerSet&&(O(t.heightfieldLayerSet),t.heightfieldLayerSet=void 0)}},_=e=>(k(),p.destroy(),A.destroy(),{success:!1,navMesh:void 0,tileCache:void 0,intermediates:x,error:e}),z=e,v=w.length,E=new l.VertsArray;E.copy(z,z.length);const P=w,U=w.length/3,Z=new l.TrisArray;Z.copy(P,P.length);const{bbMin:J,bbMax:Q}=K(e,w),{expectedLayersPerTile:ee,maxObstacles:te,...ie}={...j,...M},ae=r(ie),le=s(J,Q,ae.cs);ae.width=le.width,ae.height=le.height,ae.minRegionArea=ae.minRegionArea*ae.minRegionArea,ae.mergeRegionArea=ae.mergeRegionArea*ae.mergeRegionArea,ae.detailSampleDist=ae.detailSampleDist<.9?0:ae.cs*ae.detailSampleDist,ae.detailSampleMaxError=ae.ch*ae.detailSampleMaxError;const re=Math.floor(ae.tileSize),se=Math.floor((ae.width+re-1)/re),oe=Math.floor((ae.height+re-1)/re);ae.borderSize=ae.walkableRadius+3,ae.width=ae.tileSize+2*ae.borderSize,ae.height=ae.tileSize+2*ae.borderSize;const ne=D.create({orig:J,cs:ae.cs,ch:ae.ch,width:ae.tileSize,height:ae.tileSize,walkableHeight:ae.walkableHeight,walkableRadius:ae.walkableRadius,walkableClimb:ae.walkableClimb,maxSimplificationError:ae.maxSimplificationError,maxTiles:se*oe*ee,maxObstacles:te}),de=new R.RecastLinearAllocator(32e3),he=new R.RecastFastLZCompressor,ce=M.tileCacheMeshProcess??q();if(!p.init(ne,de,he,ce))return _("Failed to initialize tile cache");const me=t.fromArray(J);let ge=Math.min(Math.floor(X(Y(se*oe*ee))),14);ge>14&&(ge=14);const ue=1<<ge,be=1<<22-ge,fe=F.create({orig:me,tileWidth:ae.tileSize*ae.cs,tileHeight:ae.tileSize*ae.cs,maxTiles:ue,maxPolys:be});if(!A.initTiled(fe))return _("Failed to initialize tiled navmesh");const Se=new L;if(x.chunkyTriMesh=Se,!Se.init(E,Z,U,256))return _("Failed to build chunky triangle mesh");const we=(e,t)=>{const i={tileX:e,tileY:t},a=ae.tileSize*ae.cs,r=I(ae),s=[J[0]+e*a,J[1],J[2]+t*a],w=[J[0]+(e+1)*a,Q[1],J[2]+(t+1)*a];s[0]-=r.borderSize*r.cs,s[2]-=r.borderSize*r.cs,w[0]+=r.borderSize*r.cs,w[2]+=r.borderSize*r.cs,r.set_bmin(0,s[0]),r.set_bmin(1,s[1]),r.set_bmin(2,s[2]),r.set_bmax(0,w[0]),r.set_bmax(1,w[1]),r.set_bmax(2,w[2]);const M=o();if(i.heightfield=M,!n(y,M,r.width,r.height,s,w,r.cs,r.ch))return{n:0};const p=[s[0],s[2]],A=[w[0],w[2]],k=new l.ChunkIdsArray;k.resize(512);const _=Se.getChunksOverlappingRect(p,A,k,512);if(0===_)return{n:0};for(let e=0;e<_;++e){const t=k.get_data(e),i=Se.nodes(t).n,a=Se.getNodeTris(t),s=new l.TriAreasArray;s.resize(i),d(y,r.walkableSlopeAngle,E,v,a,i,s);const o=h(y,E,v,a,s,i,M,r.walkableClimb);if(s.free(),!o)return{n:0}}c(y,ae.walkableClimb,M),m(y,ae.walkableHeight,ae.walkableClimb,M),g(y,ae.walkableHeight,M);const z=u();if(!b(y,ae.walkableHeight,ae.walkableClimb,M,z))return{n:0};if(C||(f(i.heightfield),i.heightfield=void 0),!S(y,ae.walkableRadius,z))return{n:0};const H=G();if(!N(y,z,ae.borderSize,ae.walkableHeight,H))return{n:0};C||(T(z),i.compactHeightfield=void 0);const D=[];for(let i=0;i<H.nlayers();i++){const a=new l.TileCacheData,r=H.layers(i),s=new R.dtTileCacheLayerHeader;s.magic=R.Detour.TILECACHE_MAGIC,s.version=R.Detour.TILECACHE_VERSION,s.tx=e,s.ty=t,s.tlayer=i;const o=r.bmin(),n=r.bmax();s.set_bmin(0,o.x),s.set_bmin(1,o.y),s.set_bmin(2,o.z),s.set_bmax(0,n.x),s.set_bmax(1,n.y),s.set_bmax(2,n.z),s.width=r.width(),s.height=r.height(),s.minx=r.minx(),s.maxx=r.maxx(),s.miny=r.miny(),s.maxy=r.maxy(),s.hmin=r.hmin(),s.hmax=r.hmax();const d=$(r),h=W(r),c=B(r),m=V(he,s,d,h,c,a);if(R.Detour.statusFailed(m))return{n:0};D.push(a)}return C||(O(H),i.heightfieldLayerSet=void 0),x.tileIntermediates.push(i),{n:D.length,tiles:D}};for(let e=0;e<oe;++e)for(let t=0;t<se;++t){const{n:i,tiles:a}=we(t,e);if(i>0&&a)for(let l=0;l<i;l++){const i=a[l],r=p.addTile(i);R.Detour.statusFailed(r.status)&&y.log(R.Module.RC_LOG_WARNING,`Failed to add tile to tile cache - tx: ${t}, ty: ${e}`)}}for(let e=0;e<oe;e++)for(let t=0;t<se;t++){const i=p.buildNavMeshTilesAt(t,e,A);if(R.Detour.statusFailed(i))return _(`Failed to build nav mesh tiles at ${t}, ${e}`)}return k(),{success:!0,tileCache:p,navMesh:A,intermediates:x}},Q={...e},ee=(e,E,H={},D=!1)=>{const O=new i,G={type:"tiled",buildContext:O,chunkyTriMesh:void 0,tileIntermediates:[]},N=new a,$=()=>{if(!D){for(let e=0;e<G.tileIntermediates.length;e++){const t=G.tileIntermediates[e];t.compactHeightfield&&T(t.compactHeightfield),t.heightfield&&f(t.heightfield),t.contourSet&&_(t.contourSet)}G.chunkyTriMesh&&(G.chunkyTriMesh=void 0)}},W=e=>($(),N.destroy(),{success:!1,navMesh:void 0,intermediates:G,error:e}),B=r({...Q,...H}),{bbMin:V,bbMax:U}=K(e,E),Z=s(V,U,B.cs);B.width=Z.width,B.height=Z.height,B.minRegionArea=B.minRegionArea*B.minRegionArea,B.mergeRegionArea=B.mergeRegionArea*B.mergeRegionArea,B.tileSize=Math.floor(B.tileSize),B.borderSize=B.walkableRadius+3,B.width=B.tileSize+2*B.borderSize,B.height=B.tileSize+2*B.borderSize,B.detailSampleDist=B.detailSampleDist<.9?0:B.cs*B.detailSampleDist,B.detailSampleMaxError=B.ch*B.detailSampleMaxError;const j=Math.floor(B.tileSize),q=Math.floor((Z.width+j-1)/j),J=Math.floor((Z.height+j-1)/j),ee=B.tileSize*B.cs,te=e,ie=E.length,ae=new l.VertsArray;ae.copy(te,te.length);const le=E,re=E.length/3,se=new l.TrisArray;se.copy(le,le.length);const oe=t.fromArray(V);let ne=Math.min(Math.floor(X(Y(q*J))),14);ne>14&&(ne=14);const de=1<<ne,he=1<<22-ne,ce=F.create({orig:oe,tileWidth:B.tileSize*B.cs,tileHeight:B.tileSize*B.cs,maxTiles:de,maxPolys:he});if(!N.initTiled(ce))return W("Could not init nav mesh for tiled use");const me=new L;if(G.chunkyTriMesh=me,!me.init(ae,se,re,256))return W("Failed to build chunky triangle mesh");const ge=(e,t,i,a)=>{const r=e=>(O.log(R.Module.RC_LOG_ERROR,e),{success:!1,error:e}),s={tileX:e,tileY:t};G.tileIntermediates.push(s);const E=I(B),F=[...i],L=[...a];F[0]-=E.borderSize*E.cs,F[2]-=E.borderSize*E.cs,L[0]+=E.borderSize*E.cs,L[2]+=E.borderSize*E.cs,E.set_bmin(0,F[0]),E.set_bmin(1,F[1]),E.set_bmin(2,F[2]),E.set_bmax(0,L[0]),E.set_bmax(1,L[1]),E.set_bmax(2,L[2]),O.resetTimers(),O.startTimer(R.Module.RC_TIMER_TOTAL),O.log(R.Module.RC_LOG_PROGRESS,`Building tile ${G.tileIntermediates.length} at x: ${e}, y: ${t}`),O.log(R.Module.RC_LOG_PROGRESS,` - ${B.width} x ${B.height} cells`),O.log(R.Module.RC_LOG_PROGRESS,` - ${ie/1e3}fK verts, ${re/1e3}K tris`);const P=o();if(s.heightfield=P,!n(O,P,E.width,E.height,F,L,E.cs,E.ch))return r("Could not create heightfield");(new l.TriAreasArray).resize(me.maxTrisPerChunk());const N=[F[0],F[2]],$=[L[0],L[2]],W=new l.ChunkIdsArray;W.resize(512);const V=me.getChunksOverlappingRect(N,$,W,512);if(0===V)return{success:!0};for(let e=0;e<V;++e){const t=W.get_data(e),i=me.nodes(t).n,a=me.getNodeTris(t),s=new l.TriAreasArray;s.resize(i),d(O,E.walkableSlopeAngle,ae,ie,a,i,s);const o=h(O,ae,ie,a,s,i,P,E.walkableClimb);if(s.free(),!o)return r("Could not rasterize triangles")}c(O,E.walkableClimb,P),m(O,E.walkableHeight,E.walkableClimb,P),g(O,E.walkableHeight,P);const K=u();if(s.compactHeightfield=K,!b(O,E.walkableHeight,E.walkableClimb,P,K))return r("Could not build compact heightfield");if(D||(f(s.heightfield),s.heightfield=void 0),!S(O,E.walkableRadius,K))return r("Could not erode walkable area");if(!w(O,K))return r("Failed to build distance field");if(!M(O,K,E.borderSize,E.minRegionArea,E.mergeRegionArea))return r("Failed to build regions");const X=C();if(s.contourSet=X,!y(O,K,E.maxSimplificationError,E.maxEdgeLen,X,R.Module.RC_CONTOUR_TESS_WALL_EDGES))return r("Failed to create contours");const Y=x();if(!p(O,X,E.maxVertsPerPoly,Y))return r("Failed to triangulate contours");const U=A();if(!k(O,Y,K,E.detailSampleDist,E.detailSampleMaxError,U))return r("Failed to build detail mesh");D||(T(K),s.compactHeightfield=void 0,_(X),s.contourSet=void 0);for(let e=0;e<Y.npolys();e++)Y.areas(e)==R.Recast.WALKABLE_AREA&&Y.setAreas(e,0),0==Y.areas(e)&&Y.setFlags(e,1);const Z=new z;Z.setPolyMeshCreateParams(Y),Z.setPolyMeshDetailCreateParams(U),Z.setWalkableHeight(E.walkableHeight),Z.setWalkableRadius(E.walkableRadius),Z.setWalkableClimb(E.walkableClimb),Z.setCellSize(E.cs),Z.setCellHeight(E.ch),Z.setBuildBvTree(!0),H.offMeshConnections&&Z.setOffMeshConnections(H.offMeshConnections),Z.setTileX(e),Z.setTileY(t);const j=v(Z);return j.success?(O.log(R.Module.RC_LOG_PROGRESS,`>> Polymesh: ${Y.nverts()} vertices  ${Y.npolys()} polygons`),{success:!0,data:j.navMeshData}):r("Failed to create Detour navmesh data")};O.startTimer(R.Module.RC_TIMER_TEMP);const ue=[0,0,0],be=[0,0,0];for(let e=0;e<J;e++)for(let t=0;t<q;t++){ue[0]=V[0]+t*ee,ue[1]=V[1],ue[2]=V[2]+e*ee,be[0]=V[0]+(t+1)*ee,be[1]=U[1],be[2]=V[2]+(e+1)*ee;const i=ge(t,e,ue,be);if(i.success&&i.data){N.removeTile(N.getTileRefAt(t,e,0));const a=N.addTile(i.data,R.Module.DT_TILE_FREE_DATA,0);R.Detour.statusFailed(a.status)&&(O.log(R.Module.RC_LOG_WARNING,`Failed to add tile to nav mesh\n\ttx: ${t}, ty: ${e},status: ${P(a.status)} (${a.status})`),i.data.free())}}return O.stopTimer(R.Module.RC_TIMER_TEMP),D||$(),{success:!0,navMesh:N,intermediates:G}};export{q as createDefaultTileCacheMeshProcess,X as dtIlog2,Y as dtNextPow2,Z as generateSoloNavMesh,J as generateTileCache,ee as generateTiledNavMesh,K as getBoundingBox,U as soloNavMeshGeneratorConfigDefaults,j as tileCacheGeneratorConfigDefaults,Q as tiledNavMeshGeneratorConfigDefaults};
+import{recastConfigDefaults as e,vec3 as t,RecastBuildContext as i,NavMesh as a,Arrays as l,createRcConfig as r,calcGridSize as s,allocHeightfield as o,createHeightfield as n,markWalkableTriangles as d,rasterizeTriangles as h,filterLowHangingWalkableObstacles as c,filterLedgeSpans as m,filterWalkableLowHeightSpans as g,allocCompactHeightfield as u,buildCompactHeightfield as b,freeHeightfield as f,erodeWalkableArea as S,buildDistanceField as w,buildRegions as M,allocContourSet as C,buildContours as y,Raw as R,allocPolyMesh as x,buildPolyMesh as p,allocPolyMeshDetail as A,buildPolyMeshDetail as k,freeCompactHeightfield as T,freeContourSet as _,NavMeshCreateParams as z,createNavMeshData as v,TileCacheMeshProcess as E,TileCache as H,DetourTileCacheParams as D,NavMeshParams as F,RecastChunkyTriMesh as L,statusToReadableString as P,freeHeightfieldLayerSet as O,cloneRcConfig as I,allocHeightfieldLayerSet as G,buildHeightfieldLayers as N,getHeightfieldLayerHeights as $,getHeightfieldLayerAreas as W,getHeightfieldLayerCons as B,buildTileCacheLayer as V}from"@recast-navigation/core";const K=(e,i)=>{const a={x:1/0,y:1/0,z:1/0},l={x:-1/0,y:-1/0,z:-1/0};for(let t=0;t<i.length;t++){const r=i[t],s=e[3*r],o=e[3*r+1],n=e[3*r+2];a.x=Math.min(a.x,s),a.y=Math.min(a.y,o),a.z=Math.min(a.z,n),l.x=Math.max(l.x,s),l.y=Math.max(l.y,o),l.z=Math.max(l.z,n)}return{bbMin:t.toArray(a),bbMax:t.toArray(l)}},X=e=>{let t=0,i=0;return t=Number(e>65535)<<4,e>>=t,i=Number(e>255)<<3,e>>=i,t|=i,i=Number(e>15)<<2,e>>=i,t|=i,i=Number(e>3)<<1,t|=i,t|=(e>>=i)>>1,t},Y=e=>(e--,e|=e>>1,e|=e>>2,e|=e>>4,e|=e>>8,e|=e>>16,++e),U={...e},Z=(e,t,E={},H=!1)=>{const D=new i,F={type:"solo",buildContext:D},L=new a,P=e=>(H||(F.heightfield&&(f(F.heightfield),F.heightfield=void 0),F.compactHeightfield&&(T(F.compactHeightfield),F.compactHeightfield=void 0),F.contourSet&&(_(F.contourSet),F.contourSet=void 0)),L.destroy(),{navMesh:void 0,success:!1,intermediates:F,error:e}),O=e,I=t.length,G=new l.VertsArray;G.copy(O,O.length);const N=t,$=t.length/3,W=new l.TrisArray;W.copy(N,N.length);const{bbMin:B,bbMax:V}=K(e,t),X=r({...U,...E});X.minRegionArea=X.minRegionArea*X.minRegionArea,X.mergeRegionArea=X.mergeRegionArea*X.mergeRegionArea,X.detailSampleDist=X.detailSampleDist<.9?0:X.cs*X.detailSampleDist,X.detailSampleMaxError=X.ch*X.detailSampleMaxError;const Y=s(B,V,X.cs);X.width=Y.width,X.height=Y.height;const Z=o();if(F.heightfield=Z,!n(D,Z,X.width,X.height,B,V,X.cs,X.ch))return P("Could not create heightfield");const j=new l.TriAreasArray;if(j.resize($),d(D,X.walkableSlopeAngle,G,I,W,$,j),!h(D,G,I,W,j,$,Z,X.walkableClimb))return P("Could not rasterize triangles");j.free(),c(D,X.walkableClimb,Z),m(D,X.walkableHeight,X.walkableClimb,Z),g(D,X.walkableHeight,Z);const q=u();if(F.compactHeightfield=q,!b(D,X.walkableHeight,X.walkableClimb,Z,q))return P("Failed to build compact data");if(H||(f(Z),F.heightfield=void 0),!S(D,X.walkableRadius,q))return P("Failed to erode walkable area");if(!w(D,q))return P("Failed to build distance field");if(!M(D,q,X.borderSize,X.minRegionArea,X.mergeRegionArea))return P("Failed to build regions");const J=C();if(F.contourSet=J,!y(D,q,X.maxSimplificationError,X.maxEdgeLen,J,R.Module.RC_CONTOUR_TESS_WALL_EDGES))return P("Failed to create contours");const Q=x();if(!p(D,J,X.maxVertsPerPoly,Q))return P("Failed to triangulate contours");const ee=A();if(!k(D,Q,q,X.detailSampleDist,X.detailSampleMaxError,ee))return P("Failed to build detail mesh");H||(T(q),F.compactHeightfield=void 0,_(J),F.contourSet=void 0);for(let e=0;e<Q.npolys();e++)Q.areas(e)==R.Recast.WALKABLE_AREA&&Q.setAreas(e,0),0==Q.areas(e)&&Q.setFlags(e,1);const te=new z;te.setPolyMeshCreateParams(Q),te.setPolyMeshDetailCreateParams(ee),te.setWalkableHeight(X.walkableHeight),te.setWalkableRadius(X.walkableRadius),te.setWalkableClimb(X.walkableClimb),te.setCellSize(X.cs),te.setCellHeight(X.ch),te.setBuildBvTree(!0),E.offMeshConnections&&te.setOffMeshConnections(E.offMeshConnections);const ie=v(te);if(!ie.success)return P("Failed to create Detour navmesh data");const{navMeshData:ae}=ie;return L.initSolo(ae)?{success:!0,navMesh:L,intermediates:F}:P("Failed to create Detour navmesh")},j={...e,tileSize:32,expectedLayersPerTile:4,maxObstacles:128},q=()=>new E(((e,t,i)=>{for(let a=0;a<e.polyCount();++a)t.set(a,0),i.set(a,1)})),J=(e,w,M={},C=!1)=>{const y=new i,x={type:"tilecache",buildContext:y,chunkyTriMesh:void 0,tileIntermediates:[]},p=new H,A=new a,k=()=>{if(!C)for(let e=0;e<x.tileIntermediates.length;e++){const t=x.tileIntermediates[e];t.heightfield&&(f(t.heightfield),t.heightfield=void 0),t.compactHeightfield&&(T(t.compactHeightfield),t.compactHeightfield=void 0),t.heightfieldLayerSet&&(O(t.heightfieldLayerSet),t.heightfieldLayerSet=void 0)}},_=e=>(k(),p.destroy(),A.destroy(),{success:!1,navMesh:void 0,tileCache:void 0,intermediates:x,error:e}),z=e,v=w.length,E=new l.VertsArray;E.copy(z,z.length);const P=w,U=w.length/3,Z=new l.TrisArray;Z.copy(P,P.length);const{bbMin:J,bbMax:Q}=K(e,w),{expectedLayersPerTile:ee,maxObstacles:te,...ie}={...j,...M},ae=r(ie),le=s(J,Q,ae.cs);ae.width=le.width,ae.height=le.height,ae.minRegionArea=ae.minRegionArea*ae.minRegionArea,ae.mergeRegionArea=ae.mergeRegionArea*ae.mergeRegionArea,ae.detailSampleDist=ae.detailSampleDist<.9?0:ae.cs*ae.detailSampleDist,ae.detailSampleMaxError=ae.ch*ae.detailSampleMaxError;const re=Math.floor(ae.tileSize),se=Math.floor((ae.width+re-1)/re),oe=Math.floor((ae.height+re-1)/re);ae.borderSize=ae.walkableRadius+3,ae.width=ae.tileSize+2*ae.borderSize,ae.height=ae.tileSize+2*ae.borderSize;const ne=D.create({orig:J,cs:ae.cs,ch:ae.ch,width:ae.tileSize,height:ae.tileSize,walkableHeight:ae.walkableHeight,walkableRadius:ae.walkableRadius,walkableClimb:ae.walkableClimb,maxSimplificationError:ae.maxSimplificationError,maxTiles:se*oe*ee,maxObstacles:te}),de=new R.RecastLinearAllocator(32e3),he=new R.RecastFastLZCompressor,ce=M.tileCacheMeshProcess??q();if(!p.init(ne,de,he,ce))return _("Failed to initialize tile cache");const me=t.fromArray(J);let ge=Math.min(Math.floor(X(Y(se*oe*ee))),14);ge>14&&(ge=14);const ue=1<<ge,be=1<<22-ge,fe=F.create({orig:me,tileWidth:ae.tileSize*ae.cs,tileHeight:ae.tileSize*ae.cs,maxTiles:ue,maxPolys:be});if(!A.initTiled(fe))return _("Failed to initialize tiled navmesh");const Se=new L;if(x.chunkyTriMesh=Se,!Se.init(E,Z,U,256))return _("Failed to build chunky triangle mesh");const we=(e,t)=>{const i={tileX:e,tileY:t},a=ae.tileSize*ae.cs,r=I(ae),s=[J[0]+e*a,J[1],J[2]+t*a],w=[J[0]+(e+1)*a,Q[1],J[2]+(t+1)*a];s[0]-=r.borderSize*r.cs,s[2]-=r.borderSize*r.cs,w[0]+=r.borderSize*r.cs,w[2]+=r.borderSize*r.cs,r.set_bmin(0,s[0]),r.set_bmin(1,s[1]),r.set_bmin(2,s[2]),r.set_bmax(0,w[0]),r.set_bmax(1,w[1]),r.set_bmax(2,w[2]);const M=o();if(i.heightfield=M,!n(y,M,r.width,r.height,s,w,r.cs,r.ch))return{n:0};const p=[s[0],s[2]],A=[w[0],w[2]],k=new l.ChunkIdsArray;k.resize(512);const _=Se.getChunksOverlappingRect(p,A,k,512);if(0===_)return{n:0};for(let e=0;e<_;++e){const t=k.get_data(e),i=Se.nodes(t).n,a=Se.getNodeTris(t),s=new l.TriAreasArray;s.resize(i),d(y,r.walkableSlopeAngle,E,v,a,i,s);const o=h(y,E,v,a,s,i,M,r.walkableClimb);if(s.free(),!o)return{n:0}}c(y,ae.walkableClimb,M),m(y,ae.walkableHeight,ae.walkableClimb,M),g(y,ae.walkableHeight,M);const z=u();if(!b(y,ae.walkableHeight,ae.walkableClimb,M,z))return{n:0};if(C||(f(i.heightfield),i.heightfield=void 0),!S(y,ae.walkableRadius,z))return{n:0};const H=G();if(!N(y,z,ae.borderSize,ae.walkableHeight,H))return{n:0};C||(T(z),i.compactHeightfield=void 0);const D=[];for(let i=0;i<H.nlayers();i++){const a=new l.TileCacheData,r=H.layers(i),s=new R.dtTileCacheLayerHeader;s.magic=R.Detour.TILECACHE_MAGIC,s.version=R.Detour.TILECACHE_VERSION,s.tx=e,s.ty=t,s.tlayer=i;const o=r.bmin(),n=r.bmax();s.set_bmin(0,o.x),s.set_bmin(1,o.y),s.set_bmin(2,o.z),s.set_bmax(0,n.x),s.set_bmax(1,n.y),s.set_bmax(2,n.z),s.width=r.width(),s.height=r.height(),s.minx=r.minx(),s.maxx=r.maxx(),s.miny=r.miny(),s.maxy=r.maxy(),s.hmin=r.hmin(),s.hmax=r.hmax();const d=$(r),h=W(r),c=B(r),m=V(he,s,d,h,c,a);if(R.Detour.statusFailed(m))return{n:0};D.push(a)}return C||(O(H),i.heightfieldLayerSet=void 0),x.tileIntermediates.push(i),{n:D.length,tiles:D}};for(let e=0;e<oe;++e)for(let t=0;t<se;++t){const{n:i,tiles:a}=we(t,e);if(i>0&&a)for(let l=0;l<i;l++){const i=a[l],r=p.addTile(i);R.Detour.statusFailed(r.status)&&y.log(R.Module.RC_LOG_WARNING,`Failed to add tile to tile cache - tx: ${t}, ty: ${e}`)}}for(let e=0;e<oe;e++)for(let t=0;t<se;t++){const i=p.buildNavMeshTilesAt(t,e,A);if(R.Detour.statusFailed(i))return _(`Failed to build nav mesh tiles at ${t}, ${e}`)}return k(),{success:!0,tileCache:p,navMesh:A,intermediates:x}},Q={...e},ee=(e,E,H={},D=!1)=>{const O=new i,G={type:"tiled",buildContext:O,chunkyTriMesh:void 0,tileIntermediates:[]},N=new a,$=()=>{if(!D){for(let e=0;e<G.tileIntermediates.length;e++){const t=G.tileIntermediates[e];t.compactHeightfield&&T(t.compactHeightfield),t.heightfield&&f(t.heightfield),t.contourSet&&_(t.contourSet)}G.chunkyTriMesh&&(G.chunkyTriMesh=void 0)}},W=e=>($(),N.destroy(),{success:!1,navMesh:void 0,intermediates:G,error:e}),B=r({...Q,...H}),{bbMin:V,bbMax:U}=K(e,E),Z=s(V,U,B.cs);B.width=Z.width,B.height=Z.height,B.minRegionArea=B.minRegionArea*B.minRegionArea,B.mergeRegionArea=B.mergeRegionArea*B.mergeRegionArea,B.tileSize=Math.floor(B.tileSize),B.borderSize=B.walkableRadius+3,B.width=B.tileSize+2*B.borderSize,B.height=B.tileSize+2*B.borderSize,B.detailSampleDist=B.detailSampleDist<.9?0:B.cs*B.detailSampleDist,B.detailSampleMaxError=B.ch*B.detailSampleMaxError;const j=Math.floor(B.tileSize),q=Math.floor((Z.width+j-1)/j),J=Math.floor((Z.height+j-1)/j),ee=B.tileSize*B.cs,te=e,ie=E.length,ae=new l.VertsArray;ae.copy(te,te.length);const le=E,re=E.length/3,se=new l.TrisArray;se.copy(le,le.length);const oe=t.fromArray(V);let ne=Math.min(Math.floor(X(Y(q*J))),14);ne>14&&(ne=14);const de=1<<ne,he=1<<22-ne,ce=F.create({orig:oe,tileWidth:B.tileSize*B.cs,tileHeight:B.tileSize*B.cs,maxTiles:de,maxPolys:he});if(!N.initTiled(ce))return W("Could not init nav mesh for tiled use");const me=new L;if(G.chunkyTriMesh=me,!me.init(ae,se,re,256))return W("Failed to build chunky triangle mesh");const ge=(e,t,i,a)=>{const r=e=>(O.log(R.Module.RC_LOG_ERROR,e),{success:!1,error:e}),s={tileX:e,tileY:t};G.tileIntermediates.push(s);const E=I(B),F=[...i],L=[...a];F[0]-=E.borderSize*E.cs,F[2]-=E.borderSize*E.cs,L[0]+=E.borderSize*E.cs,L[2]+=E.borderSize*E.cs,E.set_bmin(0,F[0]),E.set_bmin(1,F[1]),E.set_bmin(2,F[2]),E.set_bmax(0,L[0]),E.set_bmax(1,L[1]),E.set_bmax(2,L[2]),O.resetTimers(),O.startTimer(R.Module.RC_TIMER_TOTAL),O.log(R.Module.RC_LOG_PROGRESS,`Building tile ${G.tileIntermediates.length} at x: ${e}, y: ${t}`),O.log(R.Module.RC_LOG_PROGRESS,` - ${B.width} x ${B.height} cells`),O.log(R.Module.RC_LOG_PROGRESS,` - ${ie/1e3}fK verts, ${re/1e3}K tris`);const P=o();if(s.heightfield=P,!n(O,P,E.width,E.height,F,L,E.cs,E.ch))return r("Could not create heightfield");(new l.TriAreasArray).resize(me.maxTrisPerChunk());const N=[F[0],F[2]],$=[L[0],L[2]],W=new l.ChunkIdsArray;W.resize(512);const V=me.getChunksOverlappingRect(N,$,W,512);if(0===V)return{success:!0};for(let e=0;e<V;++e){const t=W.get_data(e),i=me.nodes(t).n,a=me.getNodeTris(t),s=new l.TriAreasArray;s.resize(i),d(O,E.walkableSlopeAngle,ae,ie,a,i,s);const o=h(O,ae,ie,a,s,i,P,E.walkableClimb);if(s.free(),!o)return r("Could not rasterize triangles")}c(O,E.walkableClimb,P),m(O,E.walkableHeight,E.walkableClimb,P),g(O,E.walkableHeight,P);const K=u();if(s.compactHeightfield=K,!b(O,E.walkableHeight,E.walkableClimb,P,K))return r("Could not build compact heightfield");if(D||(f(s.heightfield),s.heightfield=void 0),!S(O,E.walkableRadius,K))return r("Could not erode walkable area");if(!w(O,K))return r("Failed to build distance field");if(!M(O,K,E.borderSize,E.minRegionArea,E.mergeRegionArea))return r("Failed to build regions");const X=C();if(s.contourSet=X,!y(O,K,E.maxSimplificationError,E.maxEdgeLen,X,R.Module.RC_CONTOUR_TESS_WALL_EDGES))return r("Failed to create contours");const Y=x();if(!p(O,X,E.maxVertsPerPoly,Y))return r("Failed to triangulate contours");const U=A();if(!k(O,Y,K,E.detailSampleDist,E.detailSampleMaxError,U))return r("Failed to build detail mesh");D||(T(K),s.compactHeightfield=void 0,_(X),s.contourSet=void 0);for(let e=0;e<Y.npolys();e++)Y.areas(e)==R.Recast.WALKABLE_AREA&&Y.setAreas(e,0),0==Y.areas(e)&&Y.setFlags(e,1);const Z=new z;Z.setPolyMeshCreateParams(Y),Z.setPolyMeshDetailCreateParams(U),Z.setWalkableHeight(E.walkableHeight),Z.setWalkableRadius(E.walkableRadius),Z.setWalkableClimb(E.walkableClimb),Z.setCellSize(E.cs),Z.setCellHeight(E.ch),Z.setBuildBvTree(!0),H.offMeshConnections&&Z.setOffMeshConnections(H.offMeshConnections),Z.setTileX(e),Z.setTileY(t);const j=v(Z);return j.success?(O.log(R.Module.RC_LOG_PROGRESS,`>> Polymesh: ${Y.nverts()} vertices  ${Y.npolys()} polygons`),{success:!0,data:j.navMeshData}):r("Failed to create Detour navmesh data")};O.startTimer(R.Module.RC_TIMER_TEMP);const ue=[0,0,0],be=[0,0,0];for(let e=0;e<J;e++)for(let t=0;t<q;t++){ue[0]=V[0]+t*ee,ue[1]=V[1],ue[2]=V[2]+e*ee,be[0]=V[0]+(t+1)*ee,be[1]=U[1],be[2]=V[2]+(e+1)*ee;const i=ge(t,e,ue,be);if(i.success&&i.data){N.removeTile(N.getTileRefAt(t,e,0));const a=N.addTile(i.data,R.Module.DT_TILE_FREE_DATA,0);R.Detour.statusFailed(a.status)&&(O.log(R.Module.RC_LOG_WARNING,`Failed to add tile to nav mesh\n\ttx: ${t}, ty: ${e},status: ${P(a.status)} (${a.status})`),i.data.free())}}return O.stopTimer(R.Module.RC_TIMER_TEMP),D||$(),{success:!0,navMesh:N,intermediates:G}};export{q as createDefaultTileCacheMeshProcess,X as dtIlog2,Y as dtNextPow2,Z as generateSoloNavMesh,J as generateTileCache,ee as generateTiledNavMesh,K as getBoundingBox,U as soloNavMeshGeneratorConfigDefaults,j as tileCacheGeneratorConfigDefaults,Q as tiledNavMeshGeneratorConfigDefaults};
 //# sourceMappingURL=generators.mjs.map

package/package.json

@@ -18,7 +18,7 @@
     "email": "isaac@isaacmason.com",
     "url": "https://isaacmason.com/"
   },
-  "version": "0.18.2",
+  "version": "0.20.0",
   "license": "MIT",
   "homepage": "https://github.com/isaac-mason/recast-navigation-js",
   "bugs": {
@@ -66,9 +66,9 @@
     "lint": "eslint --ext .ts src"
   },
   "dependencies": {
-    "@recast-navigation/core": "0.18.2",
-    "@recast-navigation/generators": "0.18.2",
-    "@recast-navigation/three": "0.18.2"
+    "@recast-navigation/core": "0.20.0",
+    "@recast-navigation/generators": "0.20.0",
+    "@recast-navigation/three": "0.20.0"
   },
   "devDependencies": {
     "@babel/core": "^7.23.9",
@@ -103,7 +103,7 @@
     "three": "^0.160.0",
     "three-pathfinding": "^1.2.0",
     "typescript": "^5.4.3",
-    "vitest": "^1.2.0"
+    "vitest": "^1.4.0"
   },
   "packageManager": "yarn@3.2.2"
 }