├── .changeset ├── README.md └── config.json ├── .editorconfig ├── .github ├── dependabot.yml └── workflows │ ├── preview.yml │ └── release.yml ├── .gitignore ├── .nvmrc ├── .prettierrc.json ├── .yarn └── releases │ └── yarn-4.1.1.cjs ├── .yarnrc.yml ├── DEVELOPMENT.md ├── LICENSE ├── README.md ├── apps ├── docs │ ├── .gitignore │ ├── .prettierrc │ ├── README.md │ ├── build.sh │ ├── docs-style.css │ ├── package.json │ └── typedoc.json └── navmesh-website │ ├── .gitignore │ ├── .prettierrc.json │ ├── index.html │ ├── package.json │ ├── src │ ├── app.tsx │ ├── assets │ │ └── dungeon.gltf │ ├── features │ │ ├── controls │ │ │ ├── controls.ts │ │ │ ├── index.ts │ │ │ └── leva-text.tsx │ │ ├── download │ │ │ ├── download.ts │ │ │ └── index.ts │ │ ├── error-handling │ │ │ ├── error-boundary.tsx │ │ │ ├── error-message.ts │ │ │ └── index.ts │ │ ├── recast │ │ │ ├── crowd │ │ │ │ └── recast-agent.tsx │ │ │ ├── export │ │ │ │ └── nav-mesh-to-gltf.ts │ │ │ ├── helpers │ │ │ │ ├── nav-mesh-debug-drawer.tsx │ │ │ │ └── nav-mesh-generator-input-helper.tsx │ │ │ └── index.ts │ │ ├── ui │ │ │ ├── index.ts │ │ │ └── loading-spinner.tsx │ │ └── upload │ │ │ ├── index.ts │ │ │ ├── loaders.ts │ │ │ ├── model-drop-zone.tsx │ │ │ └── read-file.ts │ ├── google-analytics.d.ts │ ├── index.css │ ├── main.tsx │ ├── pages │ │ ├── editor-page.tsx │ │ ├── index.ts │ │ └── upload-page.tsx │ ├── state │ │ └── editor-state.ts │ ├── tunnels.tsx │ ├── types.d.ts │ └── vite-env.d.ts │ ├── tsconfig.json │ ├── tsconfig.node.json │ ├── vercel.json │ └── vite.config.ts ├── ci ├── build-all.sh ├── build-packages.sh └── install-emsdk.sh ├── examples ├── playcanvas-vite-example │ ├── .gitignore │ ├── .prettierrc.json │ ├── index.html │ ├── package.json │ ├── src │ │ ├── index.css │ │ └── index.ts │ ├── tsconfig.json │ ├── tsconfig.node.json │ └── vite.config.ts ├── three-node-cjs-example │ ├── index.cjs │ └── package.json ├── three-node-esm-example │ ├── index.mjs │ └── package.json ├── three-parcel-example │ ├── index.html │ ├── index.js │ ├── package.json │ └── styles.css ├── three-vanilla-example │ └── index.html ├── three-vite-example │ ├── .gitignore │ ├── .prettierrc.json │ ├── index.html │ ├── package.json │ ├── src │ │ ├── index.css │ │ ├── index.ts │ │ └── vite-env.d.ts │ ├── tsconfig.json │ ├── tsconfig.node.json │ └── vite.config.ts └── three-vite-worker-example │ ├── .gitignore │ ├── .prettierrc.json │ ├── index.html │ ├── package.json │ ├── src │ ├── index.css │ ├── index.ts │ ├── navmesh-worker.ts │ └── vite-env.d.ts │ ├── tsconfig.json │ ├── tsconfig.node.json │ └── vite.config.ts ├── package.json ├── packages ├── recast-navigation-core │ ├── .gitignore │ ├── .prettierrc.json │ ├── CHANGELOG.md │ ├── LICENSE │ ├── README.md │ ├── eslint.config.mjs │ ├── package.json │ ├── rollup.config.js │ ├── src │ │ ├── arrays.ts │ │ ├── crowd.ts │ │ ├── debug-drawer-utils.ts │ │ ├── detour.ts │ │ ├── index.ts │ │ ├── nav-mesh-query.ts │ │ ├── nav-mesh.ts │ │ ├── random.ts │ │ ├── raw-module.ts │ │ ├── raw.ts │ │ ├── recast.ts │ │ ├── serdes │ │ │ ├── export.ts │ │ │ ├── import.ts │ │ │ └── index.ts │ │ ├── tile-cache.ts │ │ ├── types.ts │ │ └── utils.ts │ └── tsconfig.json ├── recast-navigation-generators │ ├── .gitignore │ ├── .prettierrc.json │ ├── CHANGELOG.md │ ├── LICENSE │ ├── README.md │ ├── eslint.config.mjs │ ├── package.json │ ├── rollup.config.js │ ├── src │ │ ├── generators │ │ │ ├── common.ts │ │ │ ├── generate-solo-nav-mesh.ts │ │ │ ├── generate-tile-cache.ts │ │ │ ├── generate-tiled-nav-mesh.ts │ │ │ ├── index.ts │ │ │ └── merge-positions-and-indices.ts │ │ ├── index.ts │ │ └── types.ts │ └── tsconfig.json ├── recast-navigation-playcanvas │ ├── .gitignore │ ├── .prettierrc.json │ ├── CHANGELOG.md │ ├── LICENSE │ ├── README.md │ ├── eslint.config.mjs │ ├── package.json │ ├── rollup.config.js │ ├── src │ │ ├── debug │ │ │ ├── debug-drawer.ts │ │ │ └── index.ts │ │ ├── helpers │ │ │ ├── crowd-helper.ts │ │ │ ├── index.ts │ │ │ ├── nav-mesh-helper.ts │ │ │ └── tile-cache-helper.ts │ │ ├── index.ts │ │ └── utils │ │ │ ├── generators.ts │ │ │ ├── get-positions-and-indices.ts │ │ │ └── index.ts │ └── tsconfig.json ├── recast-navigation-three │ ├── .gitignore │ ├── .prettierrc.json │ ├── CHANGELOG.md │ ├── LICENSE │ ├── README.md │ ├── eslint.config.mjs │ ├── package.json │ ├── rollup.config.js │ ├── src │ │ ├── debug │ │ │ ├── debug-drawer.ts │ │ │ └── index.ts │ │ ├── helpers │ │ │ ├── crowd-helper.ts │ │ │ ├── index.ts │ │ │ ├── nav-mesh-helper.ts │ │ │ └── tile-cache-helper.ts │ │ ├── index.ts │ │ └── utils │ │ │ ├── generators.ts │ │ │ ├── get-positions-and-indices.ts │ │ │ └── index.ts │ └── tsconfig.json ├── recast-navigation-wasm │ ├── .gitignore │ ├── CHANGELOG.md │ ├── CMakeLists.txt │ ├── LICENSE │ ├── README.md │ ├── build.sh │ ├── example.html │ ├── front-matter.js │ ├── package.json │ ├── recast-navigation.idl │ └── src │ │ ├── Arrays.h │ │ ├── ChunkyTriMesh.cpp │ │ ├── ChunkyTriMesh.h │ │ ├── Crowd.cpp │ │ ├── Crowd.h │ │ ├── DebugDraw │ │ ├── DebugDraw.cpp │ │ ├── DebugDraw.h │ │ ├── DetourDebugDraw.cpp │ │ ├── DetourDebugDraw.h │ │ ├── RecastDebugDraw.cpp │ │ └── RecastDebugDraw.h │ │ ├── Detour.cpp │ │ ├── Detour.h │ │ ├── NavMesh.cpp │ │ ├── NavMesh.h │ │ ├── NavMeshQuery.cpp │ │ ├── NavMeshQuery.h │ │ ├── NavMeshSerdes.cpp │ │ ├── NavMeshSerdes.h │ │ ├── Recast.h │ │ ├── Refs.h │ │ ├── TileCache.cpp │ │ ├── TileCache.h │ │ ├── Vec.h │ │ └── recast-navigation.h └── recast-navigation │ ├── .gitignore │ ├── .prettierrc.json │ ├── .storybook │ ├── common │ │ ├── agent-path.tsx │ │ ├── debug.tsx │ │ ├── dungeon-environment.tsx │ │ ├── nav-test-environment.tsx │ │ └── use-nav-mesh-config.ts │ ├── decorators.tsx │ ├── main.ts │ ├── manager.ts │ ├── parameters.ts │ ├── preview.ts │ ├── public │ │ ├── dungeon.gltf │ │ └── nav_test.glb │ ├── stories │ │ ├── advanced │ │ │ ├── custom-areas-generator.ts │ │ │ ├── custom-areas.stories.tsx │ │ │ └── flood-fill-pruning.stories.tsx │ │ ├── crowd │ │ │ ├── fixed-stepping-with-interpolation.stories.tsx │ │ │ ├── multiple-agents.stories.tsx │ │ │ └── single-agent.stories.tsx │ │ ├── debug │ │ │ └── debug-drawer.stories.tsx │ │ ├── external-use │ │ │ └── three-pathfinding.stories.tsx │ │ ├── importing-and-exporting.stories.tsx │ │ ├── nav-mesh-query │ │ │ ├── compute-path.stories.tsx │ │ │ ├── compute-smooth-path.stories.tsx │ │ │ ├── find-random-point.stories.tsx │ │ │ ├── move-along-surface.stories.tsx │ │ │ ├── nearby-polygons.stories.tsx │ │ │ └── raycast.stories.tsx │ │ ├── nav-mesh │ │ │ ├── custom-bounds.stories.tsx │ │ │ ├── models.stories.tsx │ │ │ ├── non-indexed-geometry.stories.tsx │ │ │ └── walkable-slope-angle.stories.tsx │ │ ├── obstacles │ │ │ ├── many-obstacles.stories.tsx │ │ │ ├── obstacles-crowd.stories.tsx │ │ │ └── obstacles-path.stories.tsx │ │ ├── off-mesh-connections │ │ │ └── off-mesh-connections.stories.tsx │ │ └── vite-env.d.ts │ └── styles.css │ ├── CHANGELOG.md │ ├── LICENSE │ ├── README.md │ ├── cover.png │ ├── eslint.config.mjs │ ├── package.json │ ├── rollup.config.js │ ├── src │ ├── generators.ts │ ├── index.ts │ └── types.d.ts │ ├── tsconfig.json │ ├── tst │ ├── crowd.spec.ts │ ├── nav-mesh-query.spec.ts │ └── utils.ts │ ├── vite.config.mts │ └── vitest.config.mts └── yarn.lock /.changeset/README.md: -------------------------------------------------------------------------------- 1 | # Changesets 2 | 3 | Hello and welcome! This folder has been automatically generated by `@changesets/cli`, a build tool that works 4 | with multi-package repos, or single-package repos to help you version and publish your code. You can 5 | find the full documentation for it [in our repository](https://github.com/changesets/changesets) 6 | 7 | We have a quick list of common questions to get you started engaging with this project in 8 | [our documentation](https://github.com/changesets/changesets/blob/main/docs/common-questions.md) 9 | -------------------------------------------------------------------------------- /.changeset/config.json: -------------------------------------------------------------------------------- 1 | { 2 | "$schema": "https://unpkg.com/@changesets/config@2.0.0/schema.json", 3 | "changelog": "@changesets/cli/changelog", 4 | "commit": false, 5 | "fixed": [["recast-navigation", "@recast-navigation/*"]], 6 | "linked": [], 7 | "access": "public", 8 | "baseBranch": "main", 9 | "updateInternalDependencies": "patch", 10 | "ignore": [ 11 | "navmesh-website", 12 | "three-node-cjs-example", 13 | "three-node-esm-example", 14 | "three-vite-example", 15 | "three-vite-worker-example", 16 | "playcanvas-vite-example" 17 | ], 18 | "___experimentalUnsafeOptions_WILL_CHANGE_IN_PATCH": { 19 | "onlyUpdatePeerDependentsWhenOutOfRange": true 20 | } 21 | } 22 | -------------------------------------------------------------------------------- /.editorconfig: -------------------------------------------------------------------------------- 1 | root = true 2 | 3 | [*] 4 | end_of_line = lf 5 | insert_final_newline = true 6 | 7 | [*.{js,json,yml}] 8 | charset = utf-8 9 | indent_style = space 10 | indent_size = 2 11 | -------------------------------------------------------------------------------- /.github/dependabot.yml: -------------------------------------------------------------------------------- 1 | # To get started with Dependabot version updates, you'll need to specify which 2 | # package ecosystems to update and where the package manifests are located. 3 | # Please see the documentation for all configuration options: 4 | # https://docs.github.com/github/administering-a-repository/configuration-options-for-dependency-updates 5 | 6 | version: 2 7 | updates: 8 | - package-ecosystem: 'npm' # See documentation for possible values 9 | directory: '/' # Location of package manifests 10 | schedule: 11 | interval: 'weekly' 12 | -------------------------------------------------------------------------------- /.gitignore: -------------------------------------------------------------------------------- 1 | .yarn/* 2 | !.yarn/patches 3 | !.yarn/plugins 4 | !.yarn/releases 5 | !.yarn/sdks 6 | !.yarn/versions 7 | .pnp.* 8 | node_modules 9 | .emsdk-cache 10 | build 11 | dist 12 | .vscode 13 | .vercel 14 | emsdk 15 | .parcel-cache 16 | -------------------------------------------------------------------------------- /.nvmrc: -------------------------------------------------------------------------------- 1 | v22.0.0 2 | -------------------------------------------------------------------------------- /.prettierrc.json: -------------------------------------------------------------------------------- 1 | { 2 | "trailingComma": "es5", 3 | "tabWidth": 2, 4 | "semi": true, 5 | "singleQuote": true 6 | } 7 | -------------------------------------------------------------------------------- /.yarnrc.yml: -------------------------------------------------------------------------------- 1 | compressionLevel: mixed 2 | 3 | enableGlobalCache: false 4 | 5 | nodeLinker: node-modules 6 | 7 | yarnPath: .yarn/releases/yarn-4.1.1.cjs 8 | 9 | npmRegistryServer: "https://registry.npmjs.org" 10 | -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | The MIT License 2 | 3 | Copyright © 2025 Isaac Mason 4 | 5 | Permission is hereby granted, free of charge, to any person obtaining a copy 6 | of this software and associated documentation files (the "Software"), to deal 7 | in the Software without restriction, including without limitation the rights 8 | to use, copy, modify, merge, publish, distribute, sublicense, and/or sell 9 | copies of the Software, and to permit persons to whom the Software is 10 | furnished to do so, subject to the following conditions: 11 | 12 | The above copyright notice and this permission notice shall be included in 13 | all copies or substantial portions of the Software. 14 | 15 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 16 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 17 | FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE 18 | AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER 19 | LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 20 | OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN 21 | THE SOFTWARE. 22 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | packages/recast-navigation/README.md -------------------------------------------------------------------------------- /apps/docs/.gitignore: -------------------------------------------------------------------------------- 1 | tmp 2 | -------------------------------------------------------------------------------- /apps/docs/.prettierrc: -------------------------------------------------------------------------------- 1 | { 2 | "trailingComma": "es5", 3 | "tabWidth": 2, 4 | "semi": true, 5 | "singleQuote": true 6 | } 7 | -------------------------------------------------------------------------------- /apps/docs/README.md: -------------------------------------------------------------------------------- 1 | # recast-navigation-docs 2 | 3 | Documentation for recast-navigation-js. 4 | 5 | ## Building 6 | 7 | As a prerequisite, you will need to have `node` and `yarn` installed. 8 | 9 | ```bash 10 | # install dependencies 11 | yarn 12 | 13 | # build the docs 14 | yarn build 15 | 16 | # (optional) serve the docs locally 17 | npx http-server ./dist 18 | ``` 19 | -------------------------------------------------------------------------------- /apps/docs/build.sh: -------------------------------------------------------------------------------- 1 | #!/bin/sh 2 | 3 | mkdir -p ./tmp 4 | 5 | remove_start_marker="" 6 | remove_end_marker="" 7 | sed "/$remove_start_marker/,/$remove_end_marker/d" "./../../packages/recast-navigation/README.md" > "./tmp/README.md" 8 | 9 | typedoc --tsconfig ../../packages/recast-navigation/tsconfig.json 10 | 11 | cp ../../packages/recast-navigation/cover.png ./dist/cover.png -------------------------------------------------------------------------------- /apps/docs/docs-style.css: -------------------------------------------------------------------------------- 1 | @import url('https://fonts.googleapis.com/css2?family=Inter:wght@300;400;600;800&display=swap'); 2 | 3 | body { 4 | font-family: 'Inter', sans-serif; 5 | } 6 | 7 | /* Hide unnecessary member visibility filter */ 8 | #tsd-filter-visibility { 9 | display: none !important; 10 | } 11 | 12 | /* Easier to read line-height */ 13 | .tsd-typography p { 14 | line-height: 1.7; 15 | } 16 | 17 | /* GitHub styles for 
 blocks */
18 | :root {
19 |   --light-hl-0: #d73a49; /* declarations */
20 |   --light-hl-1: #000000;
21 |   --light-hl-2: #0070c1;
22 |   --light-hl-3: #6442c1; /* names */
23 |   --light-hl-4: #24292e; /* variable names */
24 |   --light-hl-5: #098658;
25 |   --light-hl-6: #6a737d; /* comments */
26 |   --light-hl-7: #af00db;
27 |   --light-hl-8: #267f99;
28 |   --light-hl-9: #a31515;
29 |   --light-hl-10: #000000ff;
30 | 
31 |   --light-code-background: #f6f8fa;
32 | 
33 |   --light-color-link: #0366d6;
34 | }
35 | 


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/apps/docs/package.json:
--------------------------------------------------------------------------------
 1 | {
 2 |     "name": "docs",
 3 |     "packageManager": "yarn@3.5.0",
 4 |     "version": "0.0.0",
 5 |     "private": true,
 6 |     "scripts": {
 7 |         "build": "sh build.sh"
 8 |     },
 9 |     "devDependencies": {
10 |         "typedoc": "^0.25.7",
11 |         "typescript": "^5.4.3"
12 |     }
13 | }
14 | 


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/apps/docs/typedoc.json:
--------------------------------------------------------------------------------
 1 | {
 2 |   "name": "recast-navigation-js",
 3 |   "entryPoints": [
 4 |     "../../packages/recast-navigation/src/index.ts",
 5 |     "../../packages/recast-navigation/src/generators.ts"
 6 |   ],
 7 |   "entryPointStrategy": "expand",
 8 |   "out": "dist/",
 9 |   "readme": "./tmp/README.md",
10 |   "customCss": "./docs-style.css",
11 |   "cleanOutputDir": true,
12 |   "excludePrivate": true,
13 |   "excludeProtected": true,
14 |   "excludeExternals": false,
15 |   "excludeInternal": true,
16 |   "hideGenerator": true
17 | }
18 | 


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/apps/navmesh-website/.gitignore:
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 1 | # Logs
 2 | logs
 3 | *.log
 4 | npm-debug.log*
 5 | yarn-debug.log*
 6 | yarn-error.log*
 7 | pnpm-debug.log*
 8 | lerna-debug.log*
 9 | 
10 | node_modules
11 | dist
12 | dist-ssr
13 | *.local
14 | 
15 | # Editor directories and files
16 | .vscode/*
17 | !.vscode/extensions.json
18 | .idea
19 | .DS_Store
20 | *.suo
21 | *.ntvs*
22 | *.njsproj
23 | *.sln
24 | *.sw?
25 | 


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/apps/navmesh-website/.prettierrc.json:
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1 | {
2 |   "trailingComma": "es5",
3 |   "tabWidth": 2,
4 |   "semi": true,
5 |   "singleQuote": true
6 | }
7 | 


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/apps/navmesh-website/index.html:
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 1 | 
 2 | 
 3 |   
 4 |     
 5 |     
 6 |     
 7 |     NavMesh Generator - recast-navigation
 8 |     
12 |     <%- analyticsScript %>
13 |   
14 |   
15 |     

16 |     
17 |   
18 | 
19 | 


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/apps/navmesh-website/package.json:
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 1 | {
 2 |   "name": "navmesh-website",
 3 |   "private": true,
 4 |   "type": "module",
 5 |   "scripts": {
 6 |     "dev": "vite",
 7 |     "build": "tsc && vite build",
 8 |     "preview": "vite preview"
 9 |   },
10 |   "dependencies": {
11 |     "@pmndrs/assets": "^1.7.0",
12 |     "@react-three/drei": "^9.114.3",
13 |     "@react-three/fiber": "^8.17.10",
14 |     "leva": "^0.9.35",
15 |     "react": "^18.3.1",
16 |     "react-dom": "^18.2.0",
17 |     "react-dropzone": "^14.2.9",
18 |     "react-router-dom": "^6.27.0",
19 |     "recast-navigation": "workspace:*",
20 |     "styled-components": "^6.1.13",
21 |     "suspend-react": "^0.1.3",
22 |     "three": "^0.172.0",
23 |     "tunnel-rat": "^0.1.2",
24 |     "zustand": "^5.0.0"
25 |   },
26 |   "devDependencies": {
27 |     "@types/react": "^18.3.11",
28 |     "@types/react-dom": "^18.3.1",
29 |     "@types/three": "^0.172.0",
30 |     "@vitejs/plugin-react": "^4.3.2",
31 |     "typescript": "^5.6.3",
32 |     "vite": "^5.4.9",
33 |     "vite-plugin-html": "^3.2.2"
34 |   }
35 | }
36 | 


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/apps/navmesh-website/src/app.tsx:
--------------------------------------------------------------------------------
 1 | import {
 2 |   RouterProvider,
 3 |   createBrowserRouter,
 4 |   redirect,
 5 | } from 'react-router-dom';
 6 | import { EditorPage, UploadPage } from './pages';
 7 | 
 8 | export const RouterPaths = {
 9 |   upload: '/',
10 |   editor: '/editor',
11 | };
12 | 
13 | const router = createBrowserRouter([
14 |   {
15 |     path: RouterPaths.upload,
16 |     Component: UploadPage,
17 |   },
18 |   {
19 |     path: RouterPaths.editor,
20 |     Component: EditorPage,
21 |   },
22 |   {
23 |     path: '*',
24 |     loader: () => {
25 |       return redirect(RouterPaths.upload);
26 |     },
27 |   },
28 | ]);
29 | 
30 | export default () => ;
31 | 


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/apps/navmesh-website/src/features/controls/index.ts:
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1 | export * from './controls';
2 | export * from './leva-text';
3 | 


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/apps/navmesh-website/src/features/controls/leva-text.tsx:
--------------------------------------------------------------------------------
 1 | import { createPlugin, useInputContext, styled } from 'leva/plugin';
 2 | 
 3 | const Text = styled('div', {
 4 |   color: '#ccc',
 5 |   lineHeight: '1.5em',
 6 |   paddingTop: '5px',
 7 |   whiteSpace: 'pre-line',
 8 | });
 9 | 
10 | export const textPlugin = createPlugin({
11 |   component: () => {
12 |     const { label } = useInputContext();
13 | 
14 |     return {label};
15 |   },
16 | });
17 | 
18 | export const levaText = (text: string) => textPlugin({ label: text });
19 | 


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/apps/navmesh-website/src/features/download/download.ts:
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 1 | export const download = (data: BlobPart, type: string, filename: string) => {
 2 |   const blob = new Blob([data], { type });
 3 | 
 4 |   const url = URL.createObjectURL(blob);
 5 | 
 6 |   const link = document.createElement('a');
 7 |   link.href = url;
 8 |   link.download = filename;
 9 | 
10 |   link.click();
11 | };
12 | 


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/apps/navmesh-website/src/features/download/index.ts:
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1 | export * from './download';
2 | 


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/apps/navmesh-website/src/features/error-handling/error-boundary.tsx:
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 1 | import { Component } from 'react';
 2 | import { ErrorMessage } from './error-message';
 3 | 
 4 | export type ErrorBoundaryState = {
 5 |   hasError: boolean;
 6 |   errorMessage?: string;
 7 | };
 8 | 
 9 | export type ErrorBoundaryProps = {
10 |   children: React.ReactNode;
11 | };
12 | 
13 | export class ErrorBoundary extends Component<
14 |   ErrorBoundaryProps,
15 |   ErrorBoundaryState
16 | > {
17 |   constructor(props: ErrorBoundaryProps) {
18 |     super(props);
19 |     this.state = { hasError: false, errorMessage: undefined };
20 |   }
21 | 
22 |   static getDerivedStateFromError(error: Error) {
23 |     return { hasError: true, errorMessage: error.message };
24 |   }
25 | 
26 |   render() {
27 |     if (this.state.hasError) {
28 |       return Uncaught exception: {this.state.errorMessage};
29 |     }
30 | 
31 |     return this.props.children;
32 |   }
33 | }
34 | 


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/apps/navmesh-website/src/features/error-handling/error-message.ts:
--------------------------------------------------------------------------------
 1 | import styled from 'styled-components';
 2 | 
 3 | export const ErrorMessage = styled.div`
 4 |   position: absolute;
 5 |   bottom: 0px;
 6 |   left: 50% - 140px;
 7 |   width: 280px;
 8 |   z-index: 1;
 9 | 
10 |   margin: 0.5em;
11 |   padding: 0.5em;
12 | 
13 |   background-color: #222;
14 |   color: #fae864;
15 | 
16 |   border: 1px solid #fae864;
17 |   border-radius: 0.2em;
18 | 
19 |   font-size: 1em;
20 |   font-weight: 400;
21 | `;
22 | 


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/apps/navmesh-website/src/features/error-handling/index.ts:
--------------------------------------------------------------------------------
1 | export * from './error-boundary';
2 | export * from './error-message';
3 | 


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/apps/navmesh-website/src/features/recast/export/nav-mesh-to-gltf.ts:
--------------------------------------------------------------------------------
  1 | import { NavMesh } from 'recast-navigation';
  2 | import {
  3 |   BufferAttribute,
  4 |   BufferGeometry,
  5 |   Mesh,
  6 |   MeshStandardMaterial,
  7 |   Scene,
  8 | } from 'three';
  9 | import { GLTFExporter } from 'three/addons';
 10 | 
 11 | const navMeshToPositionsAndIndices = (navMesh: NavMesh) => {
 12 |   const positions: number[] = [];
 13 |   const indices: number[] = [];
 14 |   let tri = 0;
 15 | 
 16 |   const maxTiles = navMesh.getMaxTiles();
 17 | 
 18 |   for (let tileIndex = 0; tileIndex < maxTiles; tileIndex++) {
 19 |     const tile = navMesh.getTile(tileIndex);
 20 |     const tileHeader = tile.header();
 21 | 
 22 |     if (!tileHeader) continue;
 23 | 
 24 |     const tilePolyCount = tileHeader.polyCount();
 25 | 
 26 |     for (
 27 |       let tilePolyIndex = 0;
 28 |       tilePolyIndex < tilePolyCount;
 29 |       ++tilePolyIndex
 30 |     ) {
 31 |       const poly = tile.polys(tilePolyIndex);
 32 | 
 33 |       if (poly.getType() === 1) continue;
 34 | 
 35 |       const polyVertCount = poly.vertCount();
 36 |       const polyDetail = tile.detailMeshes(tilePolyIndex);
 37 |       const polyDetailTriBase = polyDetail.triBase();
 38 |       const polyDetailTriCount = polyDetail.triCount();
 39 | 
 40 |       for (
 41 |         let polyDetailTriIndex = 0;
 42 |         polyDetailTriIndex < polyDetailTriCount;
 43 |         ++polyDetailTriIndex
 44 |       ) {
 45 |         const detailTrisBaseIndex =
 46 |           (polyDetailTriBase + polyDetailTriIndex) * 4;
 47 | 
 48 |         for (let trianglePoint = 0; trianglePoint < 3; ++trianglePoint) {
 49 |           if (
 50 |             tile.detailTris(detailTrisBaseIndex + trianglePoint) < polyVertCount
 51 |           ) {
 52 |             const tileVertsBaseIndex =
 53 |               poly.verts(tile.detailTris(detailTrisBaseIndex + trianglePoint)) *
 54 |               3;
 55 | 
 56 |             positions.push(
 57 |               tile.verts(tileVertsBaseIndex),
 58 |               tile.verts(tileVertsBaseIndex + 1),
 59 |               tile.verts(tileVertsBaseIndex + 2)
 60 |             );
 61 |           } else {
 62 |             const tileVertsBaseIndex =
 63 |               (polyDetail.vertBase() +
 64 |                 tile.detailTris(detailTrisBaseIndex + trianglePoint) -
 65 |                 poly.vertCount()) *
 66 |               3;
 67 | 
 68 |             positions.push(
 69 |               tile.detailVerts(tileVertsBaseIndex),
 70 |               tile.detailVerts(tileVertsBaseIndex + 1),
 71 |               tile.detailVerts(tileVertsBaseIndex + 2)
 72 |             );
 73 |           }
 74 | 
 75 |           indices.push(tri++);
 76 |         }
 77 |       }
 78 |     }
 79 |   }
 80 | 
 81 |   return [positions, indices];
 82 | };
 83 | 
 84 | type GLTFExport =
 85 |   | ArrayBuffer
 86 |   | {
 87 |       [key: string]: any;
 88 |     };
 89 | 
 90 | export const navMeshToGLTF = (navMesh: NavMesh): Promise => {
 91 |   const exporter = new GLTFExporter();
 92 | 
 93 |   const [positions, indices] = navMeshToPositionsAndIndices(navMesh);
 94 | 
 95 |   const geometry = new BufferGeometry();
 96 | 
 97 |   geometry.setAttribute(
 98 |     'position',
 99 |     new BufferAttribute(new Float32Array(positions), 3)
100 |   );
101 |   geometry.setIndex(new BufferAttribute(new Uint16Array(indices), 1));
102 | 
103 |   const material = new MeshStandardMaterial({ color: 0xffffff });
104 | 
105 |   const mesh = new Mesh(geometry, material);
106 |   const scene = new Scene();
107 |   scene.add(mesh);
108 | 
109 |   return new Promise((resolve, reject) => {
110 |     exporter.parse(scene, resolve, reject);
111 |   });
112 | };
113 | 


--------------------------------------------------------------------------------
/apps/navmesh-website/src/features/recast/helpers/nav-mesh-generator-input-helper.tsx:
--------------------------------------------------------------------------------
 1 | import { useMemo } from 'react';
 2 | import {
 3 |   BufferAttribute,
 4 |   BufferGeometry,
 5 |   Mesh,
 6 |   MeshBasicMaterial,
 7 | } from 'three';
 8 | 
 9 | export const NavMeshGeneratorInputHelper = ({
10 |   enabled,
11 |   indexedTriangleMesh,
12 |   navMeshGeneratorInputDebugColor,
13 |   navMeshGeneratorInputWireframe,
14 |   navMeshGeneratorInputOpacity,
15 | }: {
16 |   enabled: boolean;
17 |   indexedTriangleMesh:
18 |     | {
19 |         positions: Float32Array;
20 |         indices: Uint32Array;
21 |       }
22 |     | undefined;
23 |   navMeshGeneratorInputDebugColor: string;
24 |   navMeshGeneratorInputWireframe: boolean;
25 |   navMeshGeneratorInputOpacity: number;
26 | }) => {
27 |   const helper = useMemo(() => {
28 |     if (!indexedTriangleMesh) return undefined;
29 | 
30 |     const geometry = new BufferGeometry();
31 | 
32 |     geometry.setAttribute(
33 |       'position',
34 |       new BufferAttribute(indexedTriangleMesh.positions, 3)
35 |     );
36 |     geometry.setIndex(new BufferAttribute(indexedTriangleMesh.indices, 1));
37 |     geometry.computeBoundingBox();
38 |     geometry.computeBoundingSphere();
39 | 
40 |     const mesh = new Mesh(
41 |       geometry,
42 |       new MeshBasicMaterial({
43 |         transparent: true,
44 |         color: Number(navMeshGeneratorInputDebugColor.replace('#', '0x')),
45 |         wireframe: navMeshGeneratorInputWireframe,
46 |         opacity: navMeshGeneratorInputOpacity,
47 |         depthWrite: false,
48 |       })
49 |     );
50 | 
51 |     return mesh;
52 |   }, [
53 |     indexedTriangleMesh,
54 |     navMeshGeneratorInputDebugColor,
55 |     navMeshGeneratorInputWireframe,
56 |     navMeshGeneratorInputOpacity,
57 |   ]);
58 | 
59 |   return enabled && helper && ;
60 | };
61 | 


--------------------------------------------------------------------------------
/apps/navmesh-website/src/features/recast/index.ts:
--------------------------------------------------------------------------------
1 | export * from './helpers/nav-mesh-generator-input-helper';
2 | export * from './helpers/nav-mesh-debug-drawer';
3 | export * from './export/nav-mesh-to-gltf';
4 | export * from './crowd/recast-agent';
5 | 


--------------------------------------------------------------------------------
/apps/navmesh-website/src/features/ui/index.ts:
--------------------------------------------------------------------------------
1 | export * from './loading-spinner';
2 | 


--------------------------------------------------------------------------------
/apps/navmesh-website/src/features/ui/loading-spinner.tsx:
--------------------------------------------------------------------------------
 1 | import styled, { keyframes } from 'styled-components';
 2 | 
 3 | const Centered = styled.div`
 4 |   position: absolute;
 5 |   top: 0;
 6 |   left: 0;
 7 | 
 8 |   display: flex;
 9 |   align-items: center;
10 |   justify-content: center;
11 |   flex-direction: column;
12 | 
13 |   box-sizing: border-box;
14 |   width: 100%;
15 |   height: 100dvh;
16 |   padding: 2em;
17 | `;
18 | 
19 | const SpinnerKeyframes = keyframes`
20 | from {
21 |     transform: rotate(0deg);
22 | }
23 | to {
24 |     transform: rotate(360deg);
25 | }
26 | `;
27 | 
28 | export const Spinner = styled.div`
29 |   width: 50px;
30 |   height: 50px;
31 |   border: 3px solid rgba(0, 0, 0, 0);
32 |   border-top: 3px solid #fff;
33 |   border-radius: 50%;
34 |   animation: ${SpinnerKeyframes} 1s ease infinite;
35 | `;
36 | 
37 | export const LoadingSpinner = () => (
38 |   
39 |     
40 |   
41 | );
42 | 


--------------------------------------------------------------------------------
/apps/navmesh-website/src/features/upload/index.ts:
--------------------------------------------------------------------------------
1 | export * from './loaders';
2 | export * from './model-drop-zone';
3 | export * from './read-file';
4 | 


--------------------------------------------------------------------------------
/apps/navmesh-website/src/features/upload/loaders.ts:
--------------------------------------------------------------------------------
 1 | import {
 2 |   Group,
 3 |   Mesh,
 4 |   MeshStandardMaterial,
 5 |   REVISION,
 6 |   WebGLRenderer,
 7 | } from 'three';
 8 | import { DRACOLoader, FBXLoader, GLTF, GLTFLoader, KTX2Loader, OBJLoader } from 'three/addons';
 9 | import { MeshoptDecoder } from 'three/examples/jsm/libs/meshopt_decoder.module.js';
10 | 
11 | const THREE_PATH = `https://unpkg.com/three@0.${REVISION}.x`;
12 | 
13 | const dracoloader = new DRACOLoader().setDecoderPath(
14 |   `${THREE_PATH}/examples/jsm/libs/draco/gltf/`
15 | );
16 | 
17 | const ktx2Loader = new KTX2Loader().setTranscoderPath(
18 |   `${THREE_PATH}/examples/jsm/libs/basis/`
19 | );
20 | 
21 | export const gltfLoader = new GLTFLoader()
22 |   .setCrossOrigin('anonymous')
23 |   .setDRACOLoader(dracoloader)
24 |   .setKTX2Loader(ktx2Loader.detectSupport(new WebGLRenderer()))
25 |   .setMeshoptDecoder(MeshoptDecoder);
26 | 
27 | const loadGltf = async (buffer: ArrayBuffer) => {
28 |   const { scene } = await new Promise((resolve, reject) =>
29 |     gltfLoader.parse(buffer, '', resolve, reject)
30 |   );
31 |   return scene;
32 | };
33 | 
34 | const objLoader = new OBJLoader().setCrossOrigin('anonymous');
35 | 
36 | const loadObj = (buffer: ArrayBuffer) => {
37 |   const group = objLoader.parse(new TextDecoder('utf-8').decode(buffer));
38 | 
39 |   const material = new MeshStandardMaterial({
40 |     color: '#ccc',
41 |   });
42 | 
43 |   group.traverse((child) => {
44 |     if (child instanceof Mesh) {
45 |       child.material = material;
46 |     }
47 |   });
48 | 
49 |   return group;
50 | };
51 | 
52 | const fbxLoader = new FBXLoader().setCrossOrigin('anonymous');
53 | 
54 | const loadFbx = (buffer: ArrayBuffer) => {
55 |   return fbxLoader.parse(buffer, '');
56 | };
57 | 
58 | export const loadModel = async (
59 |   buffer: ArrayBuffer,
60 |   file: File
61 | ): Promise => {
62 |   if (file.name.endsWith('.glb') || file.name.endsWith('.gltf')) {
63 |     return loadGltf(buffer);
64 |   } else if (file.name.endsWith('.obj')) {
65 |     return loadObj(buffer);
66 |   } else if (file.name.endsWith('.fbx')) {
67 |     return loadFbx(buffer);
68 |   }
69 | 
70 |   throw new Error(`Unsupported file type: ${file.name}`);
71 | };
72 | 


--------------------------------------------------------------------------------
/apps/navmesh-website/src/features/upload/model-drop-zone.tsx:
--------------------------------------------------------------------------------
 1 | import { useDropzone } from 'react-dropzone';
 2 | import styled from 'styled-components';
 3 | 
 4 | const ModelDropZoneWrapper = styled.div`
 5 |   display: flex;
 6 |   flex-direction: column;
 7 |   align-items: center;
 8 |   justify-content: center;
 9 | 
10 |   width: 100%;
11 |   height: 100%;
12 | 
13 |   font-size: 2em;
14 | 
15 |   font-weight: 600;
16 |   line-height: 1.3;
17 |   text-align: center;
18 | 
19 |   color: #fff;
20 | 
21 |   .example {
22 |     padding: 0;
23 |     border: none;
24 |     background: none;
25 | 
26 |     color: #0094ff;
27 | 
28 |     font-size: inherit;
29 |     font-weight: inherit;
30 |     text-decoration: underline;
31 | 
32 |     cursor: pointer;
33 |   }
34 | `;
35 | 
36 | export type ModelDropZoneProps = {
37 |   onDrop: (acceptedFiles: File[]) => void;
38 |   selectExample: () => void;
39 | };
40 | 
41 | export const ModelDropZone = ({
42 |   onDrop,
43 |   selectExample,
44 | }: ModelDropZoneProps) => {
45 |   const { getRootProps, getInputProps, isDragActive } = useDropzone({
46 |     onDrop,
47 |     maxFiles: 1,
48 |   });
49 | 
50 |   return (
51 |     
52 |       
53 | 
54 |       {isDragActive ? (
55 |         
Drop your model here ...

56 |       ) : (
57 |         <>
58 |           

59 |             Drag 'n' drop your model here or{' '}
60 |             
69 |           

70 |         
71 |       )}
72 |     
73 |   );
74 | };
75 | 


--------------------------------------------------------------------------------
/apps/navmesh-website/src/features/upload/read-file.ts:
--------------------------------------------------------------------------------
 1 | export const readFile = (
 2 |   file: File
 3 | ): Promise<{
 4 |   buffer: ArrayBuffer;
 5 | }> => {
 6 |   return new Promise((resolve, reject) => {
 7 |     const reader = new FileReader();
 8 | 
 9 |     reader.onabort = () => reject('file reading was aborted');
10 |     reader.onerror = () => reject('file reading has failed');
11 | 
12 |     reader.onload = async () => {
13 |       const buffer = reader.result as ArrayBuffer;
14 |       resolve({ buffer });
15 |     };
16 | 
17 |     reader.readAsArrayBuffer(file);
18 |   });
19 | };
20 | 


--------------------------------------------------------------------------------
/apps/navmesh-website/src/google-analytics.d.ts:
--------------------------------------------------------------------------------
1 | declare function gtag(...args: unknown[]): void;
2 | 


--------------------------------------------------------------------------------
/apps/navmesh-website/src/index.css:
--------------------------------------------------------------------------------
 1 | body {
 2 |   margin: 0;
 3 |   padding: 0;
 4 |   font-family: sans-serif;
 5 |   background: #222;
 6 | }
 7 | 
 8 | body,
 9 | #root,
10 | canvas {
11 |   width: 100%;
12 |   height: 100vh;
13 | }
14 | 


--------------------------------------------------------------------------------
/apps/navmesh-website/src/main.tsx:
--------------------------------------------------------------------------------
 1 | import React from 'react';
 2 | import ReactDOM from 'react-dom/client';
 3 | import App from './app';
 4 | import './index.css';
 5 | 
 6 | ReactDOM.createRoot(document.getElementById('root') as HTMLElement).render(
 7 |   
 8 |     
 9 |   
10 | );
11 | 


--------------------------------------------------------------------------------
/apps/navmesh-website/src/pages/index.ts:
--------------------------------------------------------------------------------
1 | export * from './editor-page';
2 | export * from './upload-page';
3 | 


--------------------------------------------------------------------------------
/apps/navmesh-website/src/state/editor-state.ts:
--------------------------------------------------------------------------------
 1 | import { NavMesh } from 'recast-navigation';
 2 | import {
 3 |   SoloNavMeshGeneratorIntermediates,
 4 |   TiledNavMeshGeneratorIntermediates,
 5 | } from 'recast-navigation/generators';
 6 | import { Group } from 'three';
 7 | import { create } from 'zustand';
 8 | 
 9 | export type EditorState = {
10 |   loading: boolean;
11 |   error?: string;
12 | 
13 |   model?: Group;
14 | 
15 |   indexedTriangleMesh?: {
16 |     positions: Float32Array;
17 |     indices: Uint32Array;
18 |   };
19 | 
20 |   generatorIntermediates?:
21 |     | SoloNavMeshGeneratorIntermediates
22 |     | TiledNavMeshGeneratorIntermediates;
23 | 
24 |   navMesh?: NavMesh;
25 | };
26 | 
27 | export const useEditorState = create<
28 |   EditorState & { setEditorState: (partial: Partial) => void }
29 | >((set) => ({
30 |   loading: false,
31 |   error: undefined,
32 |   model: undefined,
33 |   indexedTriangleMesh: undefined,
34 |   generatorIntermediates: undefined,
35 |   navMesh: undefined,
36 |   setEditorState: (partial) => set(partial),
37 | }));
38 | 


--------------------------------------------------------------------------------
/apps/navmesh-website/src/tunnels.tsx:
--------------------------------------------------------------------------------
1 | import tunnel from 'tunnel-rat';
2 | 
3 | export const HtmlTunnel = tunnel();
4 | 


--------------------------------------------------------------------------------
/apps/navmesh-website/src/types.d.ts:
--------------------------------------------------------------------------------
1 | declare module '*.exr' {
2 |   const src: string;
3 |   export default src;
4 | }
5 | 


--------------------------------------------------------------------------------
/apps/navmesh-website/src/vite-env.d.ts:
--------------------------------------------------------------------------------
1 | /// 
2 | 


--------------------------------------------------------------------------------
/apps/navmesh-website/tsconfig.json:
--------------------------------------------------------------------------------
 1 | {
 2 |   "compilerOptions": {
 3 |     "target": "ES2022",
 4 |     "useDefineForClassFields": true,
 5 |     "lib": ["DOM", "DOM.Iterable", "ES2022"],
 6 |     "allowJs": false,
 7 |     "skipLibCheck": true,
 8 |     "esModuleInterop": false,
 9 |     "allowSyntheticDefaultImports": true,
10 |     "strict": true,
11 |     "forceConsistentCasingInFileNames": true,
12 |     "module": "ES2022",
13 |     "moduleResolution": "Bundler",
14 |     "resolveJsonModule": true,
15 |     "isolatedModules": true,
16 |     "noEmit": true,
17 |     "jsx": "react-jsx"
18 |   },
19 |   "include": ["src"],
20 |   "references": [{ "path": "./tsconfig.node.json" }]
21 | }
22 | 


--------------------------------------------------------------------------------
/apps/navmesh-website/tsconfig.node.json:
--------------------------------------------------------------------------------
 1 | {
 2 |   "compilerOptions": {
 3 |     "composite": true,
 4 |     "module": "ES2022",
 5 |     "moduleResolution": "Node",
 6 |     "allowSyntheticDefaultImports": true
 7 |   },
 8 |   "include": ["vite.config.ts"]
 9 | }
10 | 


--------------------------------------------------------------------------------
/apps/navmesh-website/vercel.json:
--------------------------------------------------------------------------------
1 | {
2 |   "rewrites": [{ "source": "/(.*)", "destination": "/" }]
3 | }
4 | 


--------------------------------------------------------------------------------
/apps/navmesh-website/vite.config.ts:
--------------------------------------------------------------------------------
 1 | import react from '@vitejs/plugin-react';
 2 | import { defineConfig } from 'vite';
 3 | import { createHtmlPlugin } from 'vite-plugin-html';
 4 | 
 5 | // https://vitejs.dev/config/
 6 | export default defineConfig(() => {
 7 |   const gtagId = process.env.VITE_GTAG_ID;
 8 | 
 9 |   const analyticsScript = gtagId
10 |     ? `
11 |     
12 |     
21 |     `
22 |     : `
23 |     
27 |     `;
28 | 
29 |   return {
30 |     plugins: [
31 |       react(),
32 |       createHtmlPlugin({
33 |         minify: true,
34 |         inject: {
35 |           data: {
36 |             analyticsScript,
37 |           },
38 |         },
39 |       }),
40 |     ],
41 |   };
42 | });
43 | 


--------------------------------------------------------------------------------
/ci/build-all.sh:
--------------------------------------------------------------------------------
 1 | #!/bin/bash
 2 | 
 3 | yarn
 4 | 
 5 | bash ./ci/install-emsdk.sh
 6 | 
 7 | source ./emsdk/emsdk_env.sh
 8 | 
 9 | yarn build
10 | 


--------------------------------------------------------------------------------
/ci/build-packages.sh:
--------------------------------------------------------------------------------
 1 | #!/bin/bash
 2 | 
 3 | yarn
 4 | 
 5 | bash ./ci/install-emsdk.sh
 6 | 
 7 | source ./emsdk/emsdk_env.sh
 8 | 
 9 | yarn build:packages
10 | 


--------------------------------------------------------------------------------
/ci/install-emsdk.sh:
--------------------------------------------------------------------------------
1 | #!/bin/bash
2 | 
3 | git clone https://github.com/emscripten-core/emsdk.git
4 | 
5 | cd emsdk
6 | 
7 | ./emsdk install 3.1.61
8 | ./emsdk activate 3.1.61
9 | 


--------------------------------------------------------------------------------
/examples/playcanvas-vite-example/.gitignore:
--------------------------------------------------------------------------------
 1 | # Logs
 2 | logs
 3 | *.log
 4 | npm-debug.log*
 5 | yarn-debug.log*
 6 | yarn-error.log*
 7 | pnpm-debug.log*
 8 | lerna-debug.log*
 9 | 
10 | node_modules
11 | dist
12 | dist-ssr
13 | *.local
14 | 
15 | # Editor directories and files
16 | .vscode/*
17 | !.vscode/extensions.json
18 | .idea
19 | .DS_Store
20 | *.suo
21 | *.ntvs*
22 | *.njsproj
23 | *.sln
24 | *.sw?
25 | 


--------------------------------------------------------------------------------
/examples/playcanvas-vite-example/.prettierrc.json:
--------------------------------------------------------------------------------
1 | {
2 |   "trailingComma": "es5",
3 |   "tabWidth": 2,
4 |   "semi": true,
5 |   "singleQuote": true
6 | }
7 | 


--------------------------------------------------------------------------------
/examples/playcanvas-vite-example/index.html:
--------------------------------------------------------------------------------
 1 | 
 2 | 
 3 |   
 4 |     
 5 |     
 6 |     
 7 |     Vite + React + TS
 8 |     
 9 |   
10 |   
11 |     
12 |     
13 |   
14 | 
15 | 


--------------------------------------------------------------------------------
/examples/playcanvas-vite-example/package.json:
--------------------------------------------------------------------------------
 1 | {
 2 |   "name": "playcanvas-vite-example",
 3 |   "private": true,
 4 |   "type": "module",
 5 |   "scripts": {
 6 |     "dev": "vite",
 7 |     "build": "tsc && vite build",
 8 |     "preview": "vite preview"
 9 |   },
10 |   "dependencies": {
11 |     "@recast-navigation/playcanvas": "workspace:^",
12 |     "playcanvas": "^2.0.0",
13 |     "recast-navigation": "workspace:^"
14 |   },
15 |   "devDependencies": {
16 |     "typescript": "^5.4.3",
17 |     "vite": "^5.4.8"
18 |   }
19 | }
20 | 


--------------------------------------------------------------------------------
/examples/playcanvas-vite-example/src/index.css:
--------------------------------------------------------------------------------
 1 | body {
 2 |   margin: 0;
 3 |   padding: 0;
 4 | }
 5 | 
 6 | body,
 7 | canvas {
 8 |   width: 100%;
 9 |   height: 100vh;
10 | }
11 | 


--------------------------------------------------------------------------------
/examples/playcanvas-vite-example/src/index.ts:
--------------------------------------------------------------------------------
 1 | import { NavMeshHelper, pcToSoloNavMesh } from '@recast-navigation/playcanvas';
 2 | import * as pc from 'playcanvas';
 3 | import { init as initRecast } from 'recast-navigation';
 4 | 
 5 | const init = async () => {
 6 |   await initRecast();
 7 | 
 8 |   const canvas = document.querySelector('#app') as HTMLCanvasElement;
 9 | 
10 |   const device = await pc.createGraphicsDevice(canvas, {
11 |     deviceTypes: [pc.DEVICETYPE_WEBGL2],
12 |   });
13 |   device.maxPixelRatio = Math.min(window.devicePixelRatio, 2);
14 | 
15 |   const app = new pc.Application(canvas);
16 |   app.setCanvasFillMode(pc.FILLMODE_FILL_WINDOW);
17 |   app.setCanvasResolution(pc.RESOLUTION_AUTO);
18 |   app.start();
19 | 
20 |   const resize = () => app.resizeCanvas();
21 |   window.addEventListener('resize', resize);
22 | 
23 |   const ground = new pc.Entity('cube');
24 |   ground.addComponent('render');
25 |   ground.render!.meshInstances = [
26 |     new pc.MeshInstance(
27 |       pc.Mesh.fromGeometry(
28 |         app.graphicsDevice,
29 |         new pc.BoxGeometry({ halfExtents: new pc.Vec3(5, 0.2, 5) })
30 |       ),
31 |       new pc.StandardMaterial()
32 |     ),
33 |   ];
34 |   app.root.addChild(ground);
35 | 
36 |   const obstacle = new pc.Entity('obstacle');
37 |   obstacle.addComponent('render', {
38 |     type: 'box',
39 |     material: new pc.StandardMaterial(),
40 |   });
41 |   obstacle.setLocalScale(1, 1, 1);
42 |   obstacle.setPosition(0, 0.5, 0);
43 |   app.root.addChild(obstacle);
44 | 
45 |   const camera = new pc.Entity('camera');
46 |   camera.addComponent('camera', {
47 |     clearColor: new pc.Color(0.5, 0.6, 0.9),
48 |   });
49 |   app.root.addChild(camera);
50 |   camera.setPosition(5, 5, 5);
51 |   camera.lookAt(0, 0, 0);
52 | 
53 |   const light = new pc.Entity('light');
54 |   light.addComponent('light');
55 |   app.root.addChild(light);
56 |   light.setEulerAngles(45, 0, 0);
57 | 
58 |   const recastConfig = {
59 |     cs: 0.05,
60 |     ch: 0.2,
61 |   };
62 | 
63 |   const navMeshMeshInstances = [
64 |     ...ground.render!.meshInstances,
65 |     ...obstacle.render!.meshInstances,
66 |   ];
67 | 
68 |   const { success, navMesh } = pcToSoloNavMesh(
69 |     navMeshMeshInstances,
70 |     recastConfig
71 |   );
72 | 
73 |   if (success) {
74 |     const navMeshHelper = new NavMeshHelper(navMesh, app.graphicsDevice);
75 | 
76 |     app.root.addChild(navMeshHelper);
77 |   }
78 | };
79 | 
80 | init();
81 | 


--------------------------------------------------------------------------------
/examples/playcanvas-vite-example/tsconfig.json:
--------------------------------------------------------------------------------
 1 | {
 2 |   "compilerOptions": {
 3 |     "target": "ES2022",
 4 |     "useDefineForClassFields": true,
 5 |     "lib": ["DOM", "DOM.Iterable", "ES2022"],
 6 |     "allowJs": false,
 7 |     "skipLibCheck": true,
 8 |     "esModuleInterop": false,
 9 |     "allowSyntheticDefaultImports": true,
10 |     "strict": true,
11 |     "forceConsistentCasingInFileNames": true,
12 |     "module": "ES2022",
13 |     "moduleResolution": "Bundler",
14 |     "resolveJsonModule": true,
15 |     "isolatedModules": true,
16 |     "noEmit": true,
17 |     "jsx": "react-jsx"
18 |   },
19 |   "include": ["src"],
20 |   "references": [{ "path": "./tsconfig.node.json" }]
21 | }
22 | 


--------------------------------------------------------------------------------
/examples/playcanvas-vite-example/tsconfig.node.json:
--------------------------------------------------------------------------------
 1 | {
 2 |   "compilerOptions": {
 3 |     "composite": true,
 4 |     "module": "ES2022",
 5 |     "moduleResolution": "Node",
 6 |     "allowSyntheticDefaultImports": true
 7 |   },
 8 |   "include": ["vite.config.ts"]
 9 | }
10 | 


--------------------------------------------------------------------------------
/examples/playcanvas-vite-example/vite.config.ts:
--------------------------------------------------------------------------------
1 | import { defineConfig } from 'vite'
2 | import react from '@vitejs/plugin-react'
3 | 
4 | // https://vitejs.dev/config/
5 | export default defineConfig({
6 |   plugins: [react()],
7 | })
8 | 


--------------------------------------------------------------------------------
/examples/three-node-cjs-example/index.cjs:
--------------------------------------------------------------------------------
 1 | const THREE = require('three');
 2 | const Recast = require('recast-navigation');
 3 | const RecastGenerators = require('recast-navigation/generators');
 4 | const RecastThree = require('@recast-navigation/three');
 5 | 
 6 | Recast.init().then(() => {
 7 |   console.log(RecastThree);
 8 | 
 9 |   const groundMesh = new THREE.Mesh(new THREE.BoxGeometry(5, 0.2, 5));
10 | 
11 |   /**
12 |    * @type {import('recast-navigation/generators').SoloNavMeshGeneratorConfig}
13 |    */
14 |   const config = {
15 |     borderSize: 0,
16 |     cs: 0.2,
17 |     ch: 0.2,
18 |     walkableSlopeAngle: 35,
19 |     walkableHeight: 1,
20 |     walkableClimb: 1,
21 |     walkableRadius: 1,
22 |     maxEdgeLen: 12,
23 |     maxSimplificationError: 1.3,
24 |     minRegionArea: 8,
25 |     mergeRegionArea: 20,
26 |     maxVertsPerPoly: 6,
27 |     detailSampleDist: 6,
28 |     detailSampleMaxError: 1,
29 |   };
30 | 
31 |   const positions = groundMesh.geometry.attributes.position.array;
32 |   const indices = groundMesh.geometry.index.array;
33 | 
34 |   const { navMesh } = RecastGenerators.generateSoloNavMesh(positions, indices, config);
35 | 
36 |   const navMeshQuery = new Recast.NavMeshQuery(navMesh);
37 | 
38 |   const { point: closestPoint } = navMeshQuery.findClosestPoint({ x: 2, y: 1, z: 2 });
39 | 
40 |   console.log(closestPoint.x, closestPoint.y, closestPoint.z);
41 | });
42 | 


--------------------------------------------------------------------------------
/examples/three-node-cjs-example/package.json:
--------------------------------------------------------------------------------
 1 | {
 2 |   "name": "three-node-cjs-example",
 3 |   "private": true,
 4 |   "version": "1.0.0",
 5 |   "description": "example of using recast-navigation in node",
 6 |   "scripts": {
 7 |     "start": "node --experimental-require-module index.cjs"
 8 |   },
 9 |   "author": "",
10 |   "license": "ISC",
11 |   "dependencies": {
12 |     "recast-navigation": "0.39.0",
13 |     "three": "^0.172.0"
14 |   },
15 |   "devDependencies": {
16 |     "@types/three": "^0.172.0"
17 |   }
18 | }
19 | 


--------------------------------------------------------------------------------
/examples/three-node-esm-example/index.mjs:
--------------------------------------------------------------------------------
 1 | import { NavMeshQuery, init } from 'recast-navigation';
 2 | import { generateSoloNavMesh } from 'recast-navigation/generators';
 3 | import * as RecastThree from '@recast-navigation/three';
 4 | import { BoxGeometry, Mesh } from 'three';
 5 | 
 6 | await init();
 7 | 
 8 | console.log(RecastThree);
 9 | 
10 | const groundMesh = new Mesh(new BoxGeometry(5, 0.2, 5));
11 | 
12 | /**
13 |  * @type {import('recast-navigation/generators').SoloNavMeshGeneratorConfig}
14 |  */
15 | const config = {
16 |   borderSize: 0,
17 |   cs: 0.2,
18 |   ch: 0.2,
19 |   walkableSlopeAngle: 35,
20 |   walkableHeight: 1,
21 |   walkableClimb: 1,
22 |   walkableRadius: 1,
23 |   maxEdgeLen: 12,
24 |   maxSimplificationError: 1.3,
25 |   minRegionArea: 8,
26 |   mergeRegionArea: 20,
27 |   maxVertsPerPoly: 6,
28 |   detailSampleDist: 6,
29 |   detailSampleMaxError: 1,
30 | };
31 | 
32 | const positions = groundMesh.geometry.attributes.position.array;
33 | const indices = groundMesh.geometry.index.array;
34 | 
35 | const { navMesh } = generateSoloNavMesh(positions, indices, config);
36 | 
37 | const navMeshQuery = new NavMeshQuery(navMesh);
38 | 
39 | const { point: closestPoint } = navMeshQuery.findClosestPoint({ x: 2, y: 1, z: 2 });
40 | 
41 | console.log(closestPoint.x, closestPoint.y, closestPoint.z);
42 | 


--------------------------------------------------------------------------------
/examples/three-node-esm-example/package.json:
--------------------------------------------------------------------------------
 1 | {
 2 |   "name": "three-node-esm-example",
 3 |   "private": true,
 4 |   "type": "module",
 5 |   "version": "1.0.0",
 6 |   "description": "example of using recast-navigation in node",
 7 |   "scripts": {
 8 |     "start": "node index.mjs"
 9 |   },
10 |   "author": "",
11 |   "license": "ISC",
12 |   "dependencies": {
13 |     "recast-navigation": "0.39.0",
14 |     "three": "^0.172.0"
15 |   },
16 |   "devDependencies": {
17 |     "@types/three": "^0.172.0"
18 |   }
19 | }
20 | 


--------------------------------------------------------------------------------
/examples/three-parcel-example/index.html:
--------------------------------------------------------------------------------
1 | 
2 | 
3 |    
4 |   
5 |     

6 |     
7 |   
8 | 
9 | 


--------------------------------------------------------------------------------
/examples/three-parcel-example/index.js:
--------------------------------------------------------------------------------
 1 | import { NavMeshHelper, threeToSoloNavMesh } from '@recast-navigation/three';
 2 | import { init as initRecast } from 'recast-navigation';
 3 | import * as THREE from 'three';
 4 | import { OrbitControls } from 'three/examples/jsm/controls/OrbitControls.js';
 5 | 
 6 | import './styles.css';
 7 | 
 8 | const init = async () => {
 9 |   await initRecast();
10 | 
11 |   const renderer = new THREE.WebGLRenderer({
12 |     antialias: true,
13 |   });
14 | 
15 |   const rootDomElement = document.body.querySelector('#root');
16 |   rootDomElement.appendChild(renderer.domElement);
17 | 
18 |   const camera = new THREE.PerspectiveCamera(
19 |     75,
20 |     window.innerWidth / window.innerHeight,
21 |     0.1,
22 |     1000
23 |   );
24 |   camera.position.set(10, 10, 10);
25 | 
26 |   const scene = new THREE.Scene();
27 | 
28 |   const onResize = () => {
29 |     renderer.setSize(window.innerWidth, window.innerHeight);
30 |     camera.aspect = window.innerWidth / window.innerHeight;
31 |     camera.updateProjectionMatrix();
32 |   };
33 | 
34 |   onResize();
35 | 
36 |   window.addEventListener('resize', onResize);
37 | 
38 |   const geometry = new THREE.BoxGeometry(10, 0.2, 10);
39 |   const material = new THREE.MeshBasicMaterial({ color: 0x333333 });
40 | 
41 |   const mesh = new THREE.Mesh(geometry, material);
42 |   scene.add(mesh);
43 | 
44 |   const ambientLight = new THREE.AmbientLight(0x404040);
45 |   scene.add(ambientLight);
46 | 
47 |   const pointLight = new THREE.PointLight(0xffffff, 1, 100);
48 |   scene.add(pointLight);
49 | 
50 |   new OrbitControls(camera, renderer.domElement);
51 | 
52 |   const { success, navMesh } = threeToSoloNavMesh([mesh]);
53 | 
54 |   if (success) {
55 |     const navMeshHelper = new NavMeshHelper(navMesh);
56 | 
57 |     scene.add(navMeshHelper);
58 |   }
59 | 
60 |   const loop = () => {
61 |     renderer.render(scene, camera);
62 |     requestAnimationFrame(loop);
63 |   };
64 | 
65 |   loop();
66 | };
67 | 
68 | init();
69 | 


--------------------------------------------------------------------------------
/examples/three-parcel-example/package.json:
--------------------------------------------------------------------------------
 1 | {
 2 |   "name": "three-parcel-example",
 3 |   "private": true,
 4 |   "packageManager": "yarn@3.5.0",
 5 |   "scripts": {
 6 |     "dev": "parcel index.html",
 7 |     "build": "parcel build index.html"
 8 |   },
 9 |   "dependencies": {
10 |     "react": "18.3.1",
11 |     "recast-navigation": "workspace:^",
12 |     "three": "^0.172.0"
13 |   },
14 |   "devDependencies": {
15 |     "parcel": "^2.11.0"
16 |   }
17 | }
18 | 


--------------------------------------------------------------------------------
/examples/three-parcel-example/styles.css:
--------------------------------------------------------------------------------
 1 | #root,
 2 | canvas {
 3 |   width: 100%;
 4 |   height: 100vh;
 5 | }
 6 | 
 7 | body {
 8 |   margin: 0;
 9 | }
10 | 


--------------------------------------------------------------------------------
/examples/three-vite-example/.gitignore:
--------------------------------------------------------------------------------
 1 | # Logs
 2 | logs
 3 | *.log
 4 | npm-debug.log*
 5 | yarn-debug.log*
 6 | yarn-error.log*
 7 | pnpm-debug.log*
 8 | lerna-debug.log*
 9 | 
10 | node_modules
11 | dist
12 | dist-ssr
13 | *.local
14 | 
15 | # Editor directories and files
16 | .vscode/*
17 | !.vscode/extensions.json
18 | .idea
19 | .DS_Store
20 | *.suo
21 | *.ntvs*
22 | *.njsproj
23 | *.sln
24 | *.sw?
25 | 


--------------------------------------------------------------------------------
/examples/three-vite-example/.prettierrc.json:
--------------------------------------------------------------------------------
1 | {
2 |   "trailingComma": "es5",
3 |   "tabWidth": 2,
4 |   "semi": true,
5 |   "singleQuote": true
6 | }
7 | 


--------------------------------------------------------------------------------
/examples/three-vite-example/index.html:
--------------------------------------------------------------------------------
 1 | 
 2 | 
 3 |   
 4 |     
 5 |     
 6 |     
 7 |     three-vite-wasm-example
 8 |   
 9 |   
10 |     

11 |     
12 |   
13 | 
14 | 


--------------------------------------------------------------------------------
/examples/three-vite-example/package.json:
--------------------------------------------------------------------------------
 1 | {
 2 |   "name": "three-vite-example",
 3 |   "private": true,
 4 |   "type": "module",
 5 |   "scripts": {
 6 |     "dev": "vite",
 7 |     "build": "tsc && vite build",
 8 |     "preview": "vite preview"
 9 |   },
10 |   "dependencies": {
11 |     "recast-navigation": "0.39.0",
12 |     "three": "^0.172.0"
13 |   },
14 |   "devDependencies": {
15 |     "@types/three": "^0.172.0",
16 |     "typescript": "^5.4.3",
17 |     "vite": "^5.4.8"
18 |   }
19 | }
20 | 


--------------------------------------------------------------------------------
/examples/three-vite-example/src/index.css:
--------------------------------------------------------------------------------
 1 | body {
 2 |   margin: 0;
 3 |   padding: 0;
 4 | }
 5 | 
 6 | body,
 7 | #root,
 8 | canvas {
 9 |   width: 100%;
10 |   height: 100vh;
11 | }
12 | 


--------------------------------------------------------------------------------
/examples/three-vite-example/src/index.ts:
--------------------------------------------------------------------------------
 1 | import { NavMeshHelper, threeToSoloNavMesh } from '@recast-navigation/three';
 2 | import { init as initRecast } from 'recast-navigation';
 3 | import * as THREE from 'three';
 4 | import { OrbitControls } from 'three/examples/jsm/controls/OrbitControls.js';
 5 | 
 6 | import './index.css';
 7 | 
 8 | const init = async () => {
 9 |   await initRecast();
10 | 
11 |   const renderer = new THREE.WebGLRenderer({
12 |     antialias: true,
13 |   });
14 | 
15 |   const rootDomElement = document.body.querySelector('#root')!;
16 |   rootDomElement.appendChild(renderer.domElement);
17 | 
18 |   const camera = new THREE.PerspectiveCamera(
19 |     75,
20 |     window.innerWidth / window.innerHeight,
21 |     0.1,
22 |     1000
23 |   );
24 |   camera.position.set(10, 10, 10);
25 | 
26 |   const scene = new THREE.Scene();
27 | 
28 |   const onResize = () => {
29 |     renderer.setSize(window.innerWidth, window.innerHeight);
30 |     camera.aspect = window.innerWidth / window.innerHeight;
31 |     camera.updateProjectionMatrix();
32 |   };
33 | 
34 |   onResize();
35 | 
36 |   window.addEventListener('resize', onResize);
37 | 
38 |   const geometry = new THREE.BoxGeometry(10, 0.2, 10);
39 |   const material = new THREE.MeshBasicMaterial({ color: 0x333333 });
40 | 
41 |   const mesh = new THREE.Mesh(geometry, material);
42 |   scene.add(mesh);
43 | 
44 |   const ambientLight = new THREE.AmbientLight(0x404040);
45 |   scene.add(ambientLight);
46 | 
47 |   const pointLight = new THREE.PointLight(0xffffff, 1, 100);
48 |   scene.add(pointLight);
49 | 
50 |   new OrbitControls(camera, renderer.domElement);
51 | 
52 |   const { success, navMesh } = threeToSoloNavMesh([mesh]);
53 | 
54 |   if (success) {
55 |     const navMeshHelper = new NavMeshHelper(navMesh);
56 | 
57 |     scene.add(navMeshHelper);
58 |   }
59 | 
60 |   const loop = () => {
61 |     renderer.render(scene, camera);
62 |     requestAnimationFrame(loop);
63 |   };
64 | 
65 |   loop();
66 | };
67 | 
68 | init();
69 | 


--------------------------------------------------------------------------------
/examples/three-vite-example/src/vite-env.d.ts:
--------------------------------------------------------------------------------
1 | /// 
2 | 


--------------------------------------------------------------------------------
/examples/three-vite-example/tsconfig.json:
--------------------------------------------------------------------------------
 1 | {
 2 |   "compilerOptions": {
 3 |     "target": "ES2022",
 4 |     "useDefineForClassFields": true,
 5 |     "lib": ["DOM", "DOM.Iterable", "ES2022"],
 6 |     "allowJs": false,
 7 |     "skipLibCheck": true,
 8 |     "esModuleInterop": false,
 9 |     "allowSyntheticDefaultImports": true,
10 |     "strict": true,
11 |     "forceConsistentCasingInFileNames": true,
12 |     "module": "ES2022",
13 |     "moduleResolution": "Bundler",
14 |     "resolveJsonModule": true,
15 |     "isolatedModules": true,
16 |     "noEmit": true,
17 |     "jsx": "react-jsx"
18 |   },
19 |   "include": ["src"],
20 |   "references": [{ "path": "./tsconfig.node.json" }]
21 | }
22 | 


--------------------------------------------------------------------------------
/examples/three-vite-example/tsconfig.node.json:
--------------------------------------------------------------------------------
 1 | {
 2 |   "compilerOptions": {
 3 |     "composite": true,
 4 |     "module": "ES2022",
 5 |     "moduleResolution": "Node",
 6 |     "allowSyntheticDefaultImports": true
 7 |   },
 8 |   "include": ["vite.config.ts"]
 9 | }
10 | 


--------------------------------------------------------------------------------
/examples/three-vite-example/vite.config.ts:
--------------------------------------------------------------------------------
1 | import { defineConfig } from 'vite';
2 | 
3 | // https://vitejs.dev/config/
4 | export default defineConfig({
5 |   plugins: [],
6 | });
7 | 


--------------------------------------------------------------------------------
/examples/three-vite-worker-example/.gitignore:
--------------------------------------------------------------------------------
 1 | # Logs
 2 | logs
 3 | *.log
 4 | npm-debug.log*
 5 | yarn-debug.log*
 6 | yarn-error.log*
 7 | pnpm-debug.log*
 8 | lerna-debug.log*
 9 | 
10 | node_modules
11 | dist
12 | dist-ssr
13 | *.local
14 | 
15 | # Editor directories and files
16 | .vscode/*
17 | !.vscode/extensions.json
18 | .idea
19 | .DS_Store
20 | *.suo
21 | *.ntvs*
22 | *.njsproj
23 | *.sln
24 | *.sw?
25 | 


--------------------------------------------------------------------------------
/examples/three-vite-worker-example/.prettierrc.json:
--------------------------------------------------------------------------------
1 | {
2 |   "trailingComma": "es5",
3 |   "tabWidth": 2,
4 |   "semi": true,
5 |   "singleQuote": true
6 | }
7 | 


--------------------------------------------------------------------------------
/examples/three-vite-worker-example/index.html:
--------------------------------------------------------------------------------
 1 | 
 2 | 
 3 |   
 4 |     
 5 |     
 6 |     
 7 |     Vite + React + TS
 8 |   
 9 |   
10 |     

11 |     
12 |   
13 | 
14 | 


--------------------------------------------------------------------------------
/examples/three-vite-worker-example/package.json:
--------------------------------------------------------------------------------
 1 | {
 2 |   "name": "three-vite-worker-example",
 3 |   "private": true,
 4 |   "type": "module",
 5 |   "scripts": {
 6 |     "dev": "vite",
 7 |     "build": "tsc && vite build",
 8 |     "preview": "vite preview"
 9 |   },
10 |   "dependencies": {
11 |     "recast-navigation": "0.39.0",
12 |     "three": "^0.172.0"
13 |   },
14 |   "devDependencies": {
15 |     "@types/three": "^0.172.0",
16 |     "typescript": "^5.4.3",
17 |     "vite": "^5.4.8"
18 |   }
19 | }
20 | 


--------------------------------------------------------------------------------
/examples/three-vite-worker-example/src/index.css:
--------------------------------------------------------------------------------
 1 | body {
 2 |   margin: 0;
 3 |   padding: 0;
 4 | }
 5 | 
 6 | body,
 7 | #root,
 8 | canvas {
 9 |   width: 100%;
10 |   height: 100vh;
11 | }
12 | 


--------------------------------------------------------------------------------
/examples/three-vite-worker-example/src/index.ts:
--------------------------------------------------------------------------------
 1 | import { DebugDrawer, getPositionsAndIndices } from '@recast-navigation/three';
 2 | import { NavMesh, importNavMesh, init as initRecast } from 'recast-navigation';
 3 | import * as THREE from 'three';
 4 | import { OrbitControls } from 'three/examples/jsm/controls/OrbitControls.js';
 5 | import NavMeshWorker from './navmesh-worker?worker';
 6 | 
 7 | import './index.css';
 8 | 
 9 | const init = async () => {
10 |   await initRecast();
11 | 
12 |   const renderer = new THREE.WebGLRenderer({
13 |     antialias: true,
14 |   });
15 | 
16 |   const rootDomElement = document.body.querySelector('#root')!;
17 |   rootDomElement.appendChild(renderer.domElement);
18 | 
19 |   const camera = new THREE.PerspectiveCamera(
20 |     75,
21 |     window.innerWidth / window.innerHeight,
22 |     0.1,
23 |     1000
24 |   );
25 |   camera.position.set(10, 10, 10);
26 | 
27 |   const scene = new THREE.Scene();
28 | 
29 |   const onResize = () => {
30 |     renderer.setSize(window.innerWidth, window.innerHeight);
31 |     camera.aspect = window.innerWidth / window.innerHeight;
32 |     camera.updateProjectionMatrix();
33 |   };
34 | 
35 |   onResize();
36 | 
37 |   window.addEventListener('resize', onResize);
38 | 
39 |   const ground = new THREE.Mesh(
40 |     new THREE.BoxGeometry(10, 0.2, 10),
41 |     new THREE.MeshBasicMaterial({ color: 0x999999 })
42 |   );
43 |   scene.add(ground);
44 | 
45 |   const obstacle = new THREE.Mesh(
46 |     new THREE.BoxGeometry(2, 2, 2),
47 |     new THREE.MeshBasicMaterial({ color: 0x333333 })
48 |   );
49 |   obstacle.position.set(0, 1, 0);
50 |   scene.add(obstacle);
51 | 
52 |   const ambientLight = new THREE.AmbientLight(0x404040);
53 |   scene.add(ambientLight);
54 | 
55 |   const pointLight = new THREE.PointLight(0xffffff, 1, 100);
56 |   scene.add(pointLight);
57 | 
58 |   new OrbitControls(camera, renderer.domElement);
59 | 
60 |   const [positions, indices] = getPositionsAndIndices([ground, obstacle]);
61 | 
62 |   const navMeshConfig = {
63 |     cs: 0.05,
64 |     ch: 0.2,
65 |   };
66 | 
67 |   const debugDrawer = new DebugDrawer();
68 |   scene.add(debugDrawer);
69 | 
70 |   const worker = new NavMeshWorker();
71 | 
72 |   let navMesh: NavMesh | undefined;
73 | 
74 |   worker.onmessage = (event) => {
75 |     const navMeshExport = event.data;
76 | 
77 |     const result = importNavMesh(navMeshExport);
78 | 
79 |     navMesh = result.navMesh;
80 | 
81 |     debugDrawer.clear();
82 |     debugDrawer.drawNavMesh(navMesh);
83 |   };
84 | 
85 |   worker.postMessage({ positions, indices, config: navMeshConfig }, [
86 |     positions.buffer,
87 |     indices.buffer,
88 |   ]);
89 | 
90 |   const loop = () => {
91 |     renderer.render(scene, camera);
92 |     requestAnimationFrame(loop);
93 |   };
94 | 
95 |   loop();
96 | };
97 | 
98 | init();
99 | 


--------------------------------------------------------------------------------
/examples/three-vite-worker-example/src/navmesh-worker.ts:
--------------------------------------------------------------------------------
 1 | import { RecastConfig, exportNavMesh, init } from '@recast-navigation/core';
 2 | import { generateSoloNavMesh } from '@recast-navigation/generators';
 3 | 
 4 | self.onmessage = async (event: {
 5 |   data: {
 6 |     positions: Float32Array;
 7 |     indices: Uint32Array;
 8 |     config: Partial;
 9 |   };
10 | }) => {
11 |   await init();
12 | 
13 |   const { positions, indices, config } = event.data;
14 | 
15 |   const { success, navMesh } = generateSoloNavMesh(positions, indices, config);
16 | 
17 |   if (!success) return;
18 | 
19 |   const navMeshExport = exportNavMesh(navMesh);
20 | 
21 |   self.postMessage(navMeshExport, { transfer: [navMeshExport.buffer] });
22 | 
23 |   navMesh.destroy();
24 | };
25 | 


--------------------------------------------------------------------------------
/examples/three-vite-worker-example/src/vite-env.d.ts:
--------------------------------------------------------------------------------
1 | /// 
2 | 


--------------------------------------------------------------------------------
/examples/three-vite-worker-example/tsconfig.json:
--------------------------------------------------------------------------------
 1 | {
 2 |   "compilerOptions": {
 3 |     "target": "ES2022",
 4 |     "useDefineForClassFields": true,
 5 |     "lib": ["DOM", "DOM.Iterable", "ES2022"],
 6 |     "allowJs": false,
 7 |     "skipLibCheck": true,
 8 |     "esModuleInterop": false,
 9 |     "allowSyntheticDefaultImports": true,
10 |     "strict": true,
11 |     "forceConsistentCasingInFileNames": true,
12 |     "module": "ES2022",
13 |     "moduleResolution": "Bundler",
14 |     "resolveJsonModule": true,
15 |     "isolatedModules": true,
16 |     "noEmit": true,
17 |     "jsx": "react-jsx"
18 |   },
19 |   "include": ["src"],
20 |   "references": [{ "path": "./tsconfig.node.json" }]
21 | }
22 | 


--------------------------------------------------------------------------------
/examples/three-vite-worker-example/tsconfig.node.json:
--------------------------------------------------------------------------------
 1 | {
 2 |   "compilerOptions": {
 3 |     "composite": true,
 4 |     "module": "ES2022",
 5 |     "moduleResolution": "Node",
 6 |     "allowSyntheticDefaultImports": true
 7 |   },
 8 |   "include": ["vite.config.ts"]
 9 | }
10 | 


--------------------------------------------------------------------------------
/examples/three-vite-worker-example/vite.config.ts:
--------------------------------------------------------------------------------
1 | import { defineConfig } from 'vite';
2 | 
3 | // https://vitejs.dev/config/
4 | export default defineConfig({
5 |   worker: {
6 |     format: 'es',
7 |   },
8 | });
9 | 


--------------------------------------------------------------------------------
/package.json:
--------------------------------------------------------------------------------
 1 | {
 2 |   "name": "recast-navigation-root",
 3 |   "private": true,
 4 |   "workspaces": [
 5 |     "packages/recast-navigation-wasm",
 6 |     "packages/recast-navigation-core",
 7 |     "packages/recast-navigation-generators",
 8 |     "packages/recast-navigation-three",
 9 |     "packages/recast-navigation-playcanvas",
10 |     "packages/recast-navigation",
11 |     "apps/*",
12 |     "examples/*"
13 |   ],
14 |   "scripts": {
15 |     "build": "yarn build:packages && yarn build:apps",
16 |     "build:packages": "yarn workspaces foreach -t -A --include @recast-navigation/wasm --include @recast-navigation/core --include @recast-navigation/generators --include recast-navigation --include @recast-navigation/three --include @recast-navigation/playcanvas run build",
17 |     "build:apps": "yarn workspaces foreach -A -t --include navmesh-website --include docs run build",
18 |     "build:examples": "yarn workspaces foreach -A -t --include three-parcel-example --include three-vite-example --include three-vite-worker-example --include playcanvas-vite-example run build",
19 |     "test": "yarn test:packages && yarn test:node-smoke-test && yarn lint",
20 |     "test:packages": "(cd packages/recast-navigation && yarn test)",
21 |     "test:node-smoke-test": "(cd ./examples/three-node-cjs-example && yarn start) && (cd ./examples/three-node-esm-example && yarn start)",
22 |     "lint": "yarn workspaces foreach -A -t run lint",
23 |     "change": "yarn changeset",
24 |     "release": "yarn build && yarn test",
25 |     "publish": "changeset publish",
26 |     "version": "yarn changeset version && yarn install --mode update-lockfile"
27 |   },
28 |   "devDependencies": {
29 |     "@changesets/cli": "^2.26.2",
30 |     "vercel": "^33.7.0"
31 |   },
32 |   "packageManager": "yarn@4.1.1"
33 | }
34 | 


--------------------------------------------------------------------------------
/packages/recast-navigation-core/.gitignore:
--------------------------------------------------------------------------------
 1 | # Logs
 2 | logs
 3 | *.log
 4 | npm-debug.log*
 5 | yarn-debug.log*
 6 | yarn-error.log*
 7 | pnpm-debug.log*
 8 | lerna-debug.log*
 9 | 
10 | node_modules
11 | dist
12 | dist-ssr
13 | *.local
14 | 
15 | # Editor directories and files
16 | .vscode/*
17 | !.vscode/extensions.json
18 | .idea
19 | .DS_Store
20 | *.suo
21 | *.ntvs*
22 | *.njsproj
23 | *.sln
24 | *.sw?
25 | 
26 | # jest coverage
27 | coverage
28 | 


--------------------------------------------------------------------------------
/packages/recast-navigation-core/.prettierrc.json:
--------------------------------------------------------------------------------
1 | {
2 |   "trailingComma": "es5",
3 |   "tabWidth": 2,
4 |   "semi": true,
5 |   "singleQuote": true
6 | }
7 | 


--------------------------------------------------------------------------------
/packages/recast-navigation-core/LICENSE:
--------------------------------------------------------------------------------
 1 | The MIT License
 2 | 
 3 | Copyright © 2025 Isaac Mason
 4 | 
 5 | Permission is hereby granted, free of charge, to any person obtaining a copy
 6 | of this software and associated documentation files (the "Software"), to deal
 7 | in the Software without restriction, including without limitation the rights
 8 | to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
 9 | copies of the Software, and to permit persons to whom the Software is
10 | furnished to do so, subject to the following conditions:
11 | 
12 | The above copyright notice and this permission notice shall be included in
13 | all copies or substantial portions of the Software.
14 | 
15 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
16 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
17 | FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
18 | AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
19 | LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
20 | OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
21 | THE SOFTWARE.
22 | 


--------------------------------------------------------------------------------
/packages/recast-navigation-core/README.md:
--------------------------------------------------------------------------------
1 | # @recast-navigation/core
2 | 
3 | This package contains the the core functionality for `recast-navigation`. Please refer to the [main package's README](https://github.com/isaac-mason/recast-navigation-js/tree/main/packages/recast-navigation/README.md) for usage information.
4 | 


--------------------------------------------------------------------------------
/packages/recast-navigation-core/eslint.config.mjs:
--------------------------------------------------------------------------------
1 | import config from '@isaac-mason/eslint-config-typescript'
2 | 
3 | export default [...config]
4 | 


--------------------------------------------------------------------------------
/packages/recast-navigation-core/package.json:
--------------------------------------------------------------------------------
 1 | {
 2 |   "name": "@recast-navigation/core",
 3 |   "description": "Recast Navigation for JavaScript!",
 4 |   "author": {
 5 |     "name": "Isaac Mason",
 6 |     "email": "isaac@isaacmason.com",
 7 |     "url": "https://isaacmason.com/"
 8 |   },
 9 |   "version": "0.39.0",
10 |   "license": "MIT",
11 |   "homepage": "https://github.com/isaac-mason/recast-navigation-js",
12 |   "bugs": {
13 |     "url": "https://github.com/isaac-mason/recast-navigation-js/issues"
14 |   },
15 |   "type": "module",
16 |   "main": "./dist/index.mjs",
17 |   "module": "./dist/index.mjs",
18 |   "types": "./dist/index.d.ts",
19 |   "files": [
20 |     "dist/**",
21 |     "README.md",
22 |     "LICENSE"
23 |   ],
24 |   "scripts": {
25 |     "build": "rollup --config rollup.config.js --bundleConfigAsCjs",
26 |     "test": "tsc",
27 |     "lint": "eslint src"
28 |   },
29 |   "dependencies": {
30 |     "@recast-navigation/wasm": "0.39.0"
31 |   },
32 |   "devDependencies": {
33 |     "@babel/core": "^7.24.5",
34 |     "@babel/preset-env": "^7.24.5",
35 |     "@babel/preset-typescript": "^7.24.1",
36 |     "@isaac-mason/eslint-config-typescript": "^0.0.9",
37 |     "@rollup/plugin-babel": "^6.0.4",
38 |     "@rollup/plugin-commonjs": "^25.0.7",
39 |     "@rollup/plugin-node-resolve": "^15.0.1",
40 |     "@rollup/plugin-typescript": "^11.1.6",
41 |     "babel-loader": "^9.1.3",
42 |     "eslint": "^9.6.0",
43 |     "prettier": "^3.1.0",
44 |     "rollup": "^4.14.0",
45 |     "rollup-plugin-copy": "^3.4.0",
46 |     "rollup-plugin-filesize": "^10.0.0",
47 |     "typescript": "^5.4.3"
48 |   },
49 |   "packageManager": "yarn@3.2.1"
50 | }
51 | 


--------------------------------------------------------------------------------
/packages/recast-navigation-core/rollup.config.js:
--------------------------------------------------------------------------------
 1 | import babel from '@rollup/plugin-babel';
 2 | import commonjs from '@rollup/plugin-commonjs';
 3 | import resolve from '@rollup/plugin-node-resolve';
 4 | import typescript from '@rollup/plugin-typescript';
 5 | import path from 'path';
 6 | import filesize from 'rollup-plugin-filesize';
 7 | 
 8 | const babelOptions = {
 9 |   babelrc: false,
10 |   extensions: ['.ts'],
11 |   exclude: '**/node_modules/**',
12 |   babelHelpers: 'bundled',
13 |   presets: [
14 |     [
15 |       '@babel/preset-env',
16 |       {
17 |         loose: true,
18 |         modules: false,
19 |         targets: '>1%, not dead, not ie 11, not op_mini all',
20 |       },
21 |     ],
22 |     '@babel/preset-typescript',
23 |   ],
24 | };
25 | 
26 | export default [
27 |   {
28 |     input: './src/index.ts',
29 |     external: ['@recast-navigation/wasm'],
30 |     output: [
31 |       {
32 |         file: 'dist/index.mjs',
33 |         format: 'es',
34 |       },
35 |     ],
36 |     plugins: [
37 |       resolve(),
38 |       commonjs(),
39 |       typescript({
40 |         tsconfig: path.resolve(__dirname, 'tsconfig.json'),
41 |         emitDeclarationOnly: true,
42 |       }),
43 |       babel(babelOptions),
44 |       filesize(),
45 |     ],
46 |   },
47 | ];
48 | 


--------------------------------------------------------------------------------
/packages/recast-navigation-core/src/index.ts:
--------------------------------------------------------------------------------
 1 | export * from './arrays';
 2 | export * from './crowd';
 3 | export * from './debug-drawer-utils';
 4 | export * from './detour';
 5 | export * from './nav-mesh';
 6 | export * from './nav-mesh-query';
 7 | export * from './random';
 8 | export * from './raw';
 9 | export * from './recast';
10 | export * from './serdes';
11 | export * from './tile-cache';
12 | export * from './utils';
13 | 


--------------------------------------------------------------------------------
/packages/recast-navigation-core/src/random.ts:
--------------------------------------------------------------------------------
 1 | import { Raw } from './raw';
 2 | 
 3 | export const getRandomSeed = () => {
 4 |   return Raw.Module.FastRand.prototype.getSeed();
 5 | };
 6 | 
 7 | export const setRandomSeed = (seed: number) => {
 8 |   Raw.Module.FastRand.prototype.setSeed(seed);
 9 | };
10 | 


--------------------------------------------------------------------------------
/packages/recast-navigation-core/src/raw-module.ts:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/isaac-mason/recast-navigation-js/416da48186b9e95736c7e1555e40858c610d78b1/packages/recast-navigation-core/src/raw-module.ts


--------------------------------------------------------------------------------
/packages/recast-navigation-core/src/serdes/export.ts:
--------------------------------------------------------------------------------
 1 | import { NavMesh } from '../nav-mesh';
 2 | import { TileCache } from '../tile-cache';
 3 | import { Raw } from '../raw';
 4 | 
 5 | const exportImpl = (navMesh: NavMesh, tileCache?: TileCache): Uint8Array => {
 6 |   const navMeshExport = Raw.NavMeshExporter.exportNavMesh(
 7 |     navMesh.raw,
 8 |     tileCache?.raw as never
 9 |   );
10 | 
11 |   const arrView = new Uint8Array(
12 |     Raw.Module.HEAPU8.buffer,
13 |     navMeshExport.dataPointer,
14 |     navMeshExport.size
15 |   );
16 | 
17 |   const data = new Uint8Array(navMeshExport.size);
18 |   data.set(arrView);
19 |   Raw.NavMeshExporter.freeNavMeshExport(navMeshExport);
20 | 
21 |   return data;
22 | };
23 | 
24 | export const exportNavMesh = (navMesh: NavMesh): Uint8Array => {
25 |   return exportImpl(navMesh);
26 | };
27 | 
28 | export const exportTileCache = (
29 |   navMesh: NavMesh,
30 |   tileCache: TileCache
31 | ): Uint8Array => {
32 |   return exportImpl(navMesh, tileCache);
33 | };
34 | 


--------------------------------------------------------------------------------
/packages/recast-navigation-core/src/serdes/import.ts:
--------------------------------------------------------------------------------
 1 | import { NavMesh } from '../nav-mesh';
 2 | import { Raw, type RawModule } from '../raw';
 3 | import { TileCache, TileCacheMeshProcess } from '../tile-cache';
 4 | 
 5 | const createNavMeshExport = (data: Uint8Array) => {
 6 |   const nDataBytes = data.length * data.BYTES_PER_ELEMENT;
 7 |   const dataPtr = Raw.Module._malloc(nDataBytes);
 8 | 
 9 |   const dataHeap = new Uint8Array(
10 |     Raw.Module.HEAPU8.buffer,
11 |     dataPtr,
12 |     nDataBytes
13 |   );
14 |   dataHeap.set(data);
15 | 
16 |   const navMeshExport = new Raw.Module.NavMeshExport();
17 |   navMeshExport.dataPointer = dataHeap.byteOffset;
18 |   navMeshExport.size = data.length;
19 | 
20 |   return { navMeshExport, dataHeap };
21 | };
22 | 
23 | export type ImportNavMeshResult = {
24 |   navMesh: NavMesh;
25 | };
26 | 
27 | export const importNavMesh = (
28 |   data: Uint8Array
29 | ): ImportNavMeshResult => {
30 |   const { navMeshExport, dataHeap } = createNavMeshExport(data);
31 | 
32 |   const result = Raw.NavMeshImporter.importNavMesh(navMeshExport, undefined!);
33 | 
34 |   Raw.Module._free(dataHeap.byteOffset);
35 | 
36 |   const navMesh = new NavMesh(result.navMesh);
37 | 
38 |   return { navMesh };
39 | };
40 | 
41 | export type ImportTileCacheResult = {
42 |   navMesh: NavMesh;
43 |   tileCache: TileCache;
44 |   allocator: RawModule.RecastLinearAllocator;
45 |   compressor: RawModule.RecastFastLZCompressor;
46 | };
47 | 
48 | export const importTileCache = (
49 |   data: Uint8Array,
50 |   tileCacheMeshProcess: TileCacheMeshProcess
51 | ): ImportTileCacheResult => {
52 |   const { navMeshExport, dataHeap } = createNavMeshExport(data);
53 | 
54 |   const result = Raw.NavMeshImporter.importNavMesh(
55 |     navMeshExport,
56 |     tileCacheMeshProcess.raw as never
57 |   );
58 | 
59 |   Raw.Module._free(dataHeap.byteOffset);
60 | 
61 |   const navMesh = new NavMesh(result.navMesh);
62 |   const tileCache = new TileCache(result.tileCache);
63 | 
64 |   const allocator = result.allocator;
65 |   const compressor = result.compressor;
66 | 
67 |   return { navMesh, tileCache, allocator, compressor };
68 | };
69 | 


--------------------------------------------------------------------------------
/packages/recast-navigation-core/src/serdes/index.ts:
--------------------------------------------------------------------------------
1 | export * from './export';
2 | export * from './import';
3 | 


--------------------------------------------------------------------------------
/packages/recast-navigation-core/src/types.ts:
--------------------------------------------------------------------------------
1 | export type Pretty = T extends unknown ? { [K in keyof T]: T[K] } : never;
2 | 


--------------------------------------------------------------------------------
/packages/recast-navigation-core/src/utils.ts:
--------------------------------------------------------------------------------
 1 | import { Raw, type RawModule } from './raw';
 2 | 
 3 | export type Vector3 = { x: number; y: number; z: number };
 4 | 
 5 | export type Vector3Tuple = [number, number, number];
 6 | 
 7 | export type Vector2 = { x: number; y: number };
 8 | 
 9 | export type Vector2Tuple = [x: number, y: number];
10 | 
11 | export const vec3 = {
12 |   toRaw: ({ x, y, z }: Vector3, existing?: RawModule.Vec3) => {
13 |     if (existing) {
14 |       existing.x = x;
15 |       existing.y = y;
16 |       existing.z = z;
17 |       return existing;
18 |     }
19 | 
20 |     return new Raw.Module.Vec3(x, y, z);
21 |   },
22 |   fromRaw: (vec3: RawModule.Vec3) => {
23 |     const { x, y, z } = vec3;
24 | 
25 |     return { x, y, z };
26 |   },
27 |   fromArray: ([x, y, z]: number[]) => {
28 |     return { x, y, z };
29 |   },
30 |   toArray: ({ x, y, z }: Vector3): Vector3Tuple => {
31 |     return [x, y, z];
32 |   },
33 |   lerp: (
34 |     a: Vector3,
35 |     b: Vector3,
36 |     t: number,
37 |     out: Vector3 = { x: 0, y: 0, z: 0 }
38 |   ) => {
39 |     out.x = a.x + (b.x - a.x) * t;
40 |     out.y = a.y + (b.y - a.y) * t;
41 |     out.z = a.z + (b.z - a.z) * t;
42 |   },
43 |   copy: (source: Vector3, out: Vector3 = { x: 0, y: 0, z: 0 }) => {
44 |     out.x = source.x;
45 |     out.y = source.y;
46 |     out.z = source.z;
47 |   },
48 | };
49 | 
50 | export const array = (getter: (index: number) => T, count: number) => {
51 |   const array: T[] = [];
52 | 
53 |   for (let i = 0; i < count; i++) {
54 |     array.push(getter(i));
55 |   }
56 | 
57 |   return array;
58 | };
59 | 


--------------------------------------------------------------------------------
/packages/recast-navigation-core/tsconfig.json:
--------------------------------------------------------------------------------
 1 | {
 2 |   "compilerOptions": {
 3 |     "target": "ES2022",
 4 |     "useDefineForClassFields": true,
 5 |     "module": "ES2022",
 6 |     "lib": ["ES2022", "DOM"],
 7 |     "moduleResolution": "Bundler",
 8 |     "strict": true,
 9 |     "resolveJsonModule": true,
10 |     "isolatedModules": true,
11 |     "esModuleInterop": true,
12 |     "noEmit": true,
13 |     "declaration": true,
14 |     "noUnusedLocals": true,
15 |     "noUnusedParameters": true,
16 |     "noImplicitReturns": true,
17 |     "skipLibCheck": true,
18 |     "baseUrl": "./",
19 |     "rootDir": "./src",
20 |     "allowSyntheticDefaultImports": true,
21 |     "outDir": "./dist"
22 |   },
23 |   "files": ["./src/index.ts"],
24 | }
25 | 


--------------------------------------------------------------------------------
/packages/recast-navigation-generators/.gitignore:
--------------------------------------------------------------------------------
 1 | # Logs
 2 | logs
 3 | *.log
 4 | npm-debug.log*
 5 | yarn-debug.log*
 6 | yarn-error.log*
 7 | pnpm-debug.log*
 8 | lerna-debug.log*
 9 | 
10 | node_modules
11 | dist
12 | dist-ssr
13 | *.local
14 | 
15 | # Editor directories and files
16 | .vscode/*
17 | !.vscode/extensions.json
18 | .idea
19 | .DS_Store
20 | *.suo
21 | *.ntvs*
22 | *.njsproj
23 | *.sln
24 | *.sw?
25 | 
26 | # jest coverage
27 | coverage
28 | 


--------------------------------------------------------------------------------
/packages/recast-navigation-generators/.prettierrc.json:
--------------------------------------------------------------------------------
1 | {
2 |   "trailingComma": "es5",
3 |   "tabWidth": 2,
4 |   "semi": true,
5 |   "singleQuote": true
6 | }
7 | 


--------------------------------------------------------------------------------
/packages/recast-navigation-generators/LICENSE:
--------------------------------------------------------------------------------
 1 | The MIT License
 2 | 
 3 | Copyright © 2025 Isaac Mason
 4 | 
 5 | Permission is hereby granted, free of charge, to any person obtaining a copy
 6 | of this software and associated documentation files (the "Software"), to deal
 7 | in the Software without restriction, including without limitation the rights
 8 | to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
 9 | copies of the Software, and to permit persons to whom the Software is
10 | furnished to do so, subject to the following conditions:
11 | 
12 | The above copyright notice and this permission notice shall be included in
13 | all copies or substantial portions of the Software.
14 | 
15 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
16 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
17 | FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
18 | AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
19 | LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
20 | OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
21 | THE SOFTWARE.
22 | 


--------------------------------------------------------------------------------
/packages/recast-navigation-generators/README.md:
--------------------------------------------------------------------------------
1 | # @recast-navigation/generators
2 | 
3 | This package contains "Preset" NavMesh generators for @recast-navigation/core that make getting started easy.
4 | 
5 | These can also be used as a basis for your own generator.
6 | 
7 | Please refer to the [main package's README](https://github.com/isaac-mason/recast-navigation-js/tree/main/packages/recast-navigation/README.md) for usage information.
8 | 


--------------------------------------------------------------------------------
/packages/recast-navigation-generators/eslint.config.mjs:
--------------------------------------------------------------------------------
1 | import config from '@isaac-mason/eslint-config-typescript'
2 | 
3 | export default [...config]
4 | 


--------------------------------------------------------------------------------
/packages/recast-navigation-generators/package.json:
--------------------------------------------------------------------------------
 1 | {
 2 |   "name": "@recast-navigation/generators",
 3 |   "description": "NavMesh generator implementations for @recast-navigation/core",
 4 |   "author": {
 5 |     "name": "Isaac Mason",
 6 |     "email": "isaac@isaacmason.com",
 7 |     "url": "https://isaacmason.com/"
 8 |   },
 9 |   "version": "0.39.0",
10 |   "license": "MIT",
11 |   "homepage": "https://github.com/isaac-mason/recast-navigation-js",
12 |   "bugs": {
13 |     "url": "https://github.com/isaac-mason/recast-navigation-js/issues"
14 |   },
15 |   "type": "module",
16 |   "main": "./dist/index.mjs",
17 |   "module": "./dist/index.mjs",
18 |   "types": "./dist/index.d.ts",
19 |   "files": [
20 |     "dist/**",
21 |     "README.md",
22 |     "LICENSE"
23 |   ],
24 |   "scripts": {
25 |     "build": "rollup --config rollup.config.js --bundleConfigAsCjs",
26 |     "test": "tsc",
27 |     "lint": "eslint src"
28 |   },
29 |   "dependencies": {
30 |     "@recast-navigation/core": "0.39.0",
31 |     "@recast-navigation/wasm": "0.39.0"
32 |   },
33 |   "devDependencies": {
34 |     "@babel/core": "^7.24.5",
35 |     "@babel/preset-env": "^7.24.5",
36 |     "@babel/preset-typescript": "^7.24.1",
37 |     "@isaac-mason/eslint-config-typescript": "^0.0.9",
38 |     "@rollup/plugin-babel": "^6.0.4",
39 |     "@rollup/plugin-commonjs": "^25.0.7",
40 |     "@rollup/plugin-node-resolve": "^15.0.1",
41 |     "@rollup/plugin-typescript": "^11.1.6",
42 |     "eslint": "^9.6.0",
43 |     "prettier": "^3.1.0",
44 |     "rollup": "^4.14.0",
45 |     "rollup-plugin-copy": "^3.4.0",
46 |     "rollup-plugin-filesize": "^10.0.0",
47 |     "typescript": "^5.4.3"
48 |   },
49 |   "packageManager": "yarn@3.2.1"
50 | }
51 | 


--------------------------------------------------------------------------------
/packages/recast-navigation-generators/rollup.config.js:
--------------------------------------------------------------------------------
 1 | import babel from '@rollup/plugin-babel';
 2 | import commonjs from '@rollup/plugin-commonjs';
 3 | import resolve from '@rollup/plugin-node-resolve';
 4 | import typescript from '@rollup/plugin-typescript';
 5 | import path from 'path';
 6 | import filesize from 'rollup-plugin-filesize';
 7 | 
 8 | const babelOptions = {
 9 |   babelrc: false,
10 |   extensions: ['.ts'],
11 |   exclude: '**/node_modules/**',
12 |   babelHelpers: 'bundled',
13 |   presets: [
14 |     [
15 |       '@babel/preset-env',
16 |       {
17 |         loose: true,
18 |         modules: false,
19 |         targets: '>1%, not dead, not ie 11, not op_mini all',
20 |       },
21 |     ],
22 |     '@babel/preset-typescript',
23 |   ],
24 | };
25 | 
26 | export default [
27 |   {
28 |     input: './src/index.ts',
29 |     external: ['@recast-navigation/core'],
30 |     output: [
31 |       {
32 |         file: 'dist/index.mjs',
33 |         format: 'es',
34 |       },
35 |     ],
36 |     plugins: [
37 |       resolve(),
38 |       commonjs(),
39 |       typescript({
40 |         tsconfig: path.resolve(__dirname, 'tsconfig.json'),
41 |         emitDeclarationOnly: true,
42 |       }),
43 |       babel(babelOptions),
44 |       filesize(),
45 |     ],
46 |   },
47 | ];
48 | 


--------------------------------------------------------------------------------
/packages/recast-navigation-generators/src/generators/common.ts:
--------------------------------------------------------------------------------
 1 | import { OffMeshConnectionParams, vec3 } from '@recast-navigation/core';
 2 | 
 3 | export const getBoundingBox = (
 4 |   positions: ArrayLike,
 5 |   indices: ArrayLike
 6 | ) => {
 7 |   const bbMin = { x: Infinity, y: Infinity, z: Infinity };
 8 |   const bbMax = { x: -Infinity, y: -Infinity, z: -Infinity };
 9 | 
10 |   for (let i = 0; i < indices.length; i++) {
11 |     const ind = indices[i];
12 | 
13 |     const x = positions[ind * 3];
14 |     const y = positions[ind * 3 + 1];
15 |     const z = positions[ind * 3 + 2];
16 | 
17 |     bbMin.x = Math.min(bbMin.x, x);
18 |     bbMin.y = Math.min(bbMin.y, y);
19 |     bbMin.z = Math.min(bbMin.z, z);
20 | 
21 |     bbMax.x = Math.max(bbMax.x, x);
22 |     bbMax.y = Math.max(bbMax.y, y);
23 |     bbMax.z = Math.max(bbMax.z, z);
24 |   }
25 | 
26 |   return {
27 |     bbMin: vec3.toArray(bbMin),
28 |     bbMax: vec3.toArray(bbMax),
29 |   };
30 | };
31 | 
32 | export const dtIlog2 = (v: number) => {
33 |   let r = 0;
34 |   let shift = 0;
35 | 
36 |   r = Number(v > 0xffff) << 4;
37 |   v >>= r;
38 | 
39 |   shift = Number(v > 0xff) << 3;
40 |   v >>= shift;
41 |   r |= shift;
42 | 
43 |   shift = Number(v > 0xf) << 2;
44 |   v >>= shift;
45 |   r |= shift;
46 | 
47 |   shift = Number(v > 0x3) << 1;
48 |   v >>= shift;
49 |   r |= shift;
50 |   r |= v >> 1;
51 | 
52 |   return r;
53 | };
54 | 
55 | export const dtNextPow2 = (v: number) => {
56 |   v--;
57 |   v |= v >> 1;
58 |   v |= v >> 2;
59 |   v |= v >> 4;
60 |   v |= v >> 8;
61 |   v |= v >> 16;
62 |   v++;
63 |   return v;
64 | };
65 | 
66 | export type OffMeshConnectionGeneratorParams = {
67 |   offMeshConnections?: OffMeshConnectionParams[];
68 | };
69 | 


--------------------------------------------------------------------------------
/packages/recast-navigation-generators/src/generators/index.ts:
--------------------------------------------------------------------------------
1 | export * from './common';
2 | export * from './generate-solo-nav-mesh';
3 | export * from './generate-tile-cache';
4 | export * from './generate-tiled-nav-mesh';
5 | export * from './merge-positions-and-indices';
6 | 


--------------------------------------------------------------------------------
/packages/recast-navigation-generators/src/generators/merge-positions-and-indices.ts:
--------------------------------------------------------------------------------
 1 | export const mergePositionsAndIndices = (
 2 |   meshes: Array<{
 3 |     positions: ArrayLike;
 4 |     indices: ArrayLike;
 5 |   }>
 6 | ): [Float32Array, Uint32Array] => {
 7 |   const mergedPositions: number[] = [];
 8 |   const mergedIndices: number[] = [];
 9 | 
10 |   const positionToIndex: { [hash: string]: number } = {};
11 |   let indexCounter = 0;
12 | 
13 |   for (const { positions, indices } of meshes) {
14 |     for (let i = 0; i < indices.length; i++) {
15 |       const pt = indices[i] * 3;
16 | 
17 |       const x = positions[pt];
18 |       const y = positions[pt + 1];
19 |       const z = positions[pt + 2];
20 | 
21 |       const key = `${x}_${y}_${z}`;
22 |       let idx = positionToIndex[key];
23 | 
24 |       if (!idx) {
25 |         positionToIndex[key] = idx = indexCounter;
26 |         mergedPositions.push(x, y, z);
27 |         indexCounter++;
28 |       }
29 | 
30 |       mergedIndices.push(idx);
31 |     }
32 |   }
33 | 
34 |   return [Float32Array.from(mergedPositions), Uint32Array.from(mergedIndices)];
35 | };
36 | 


--------------------------------------------------------------------------------
/packages/recast-navigation-generators/src/index.ts:
--------------------------------------------------------------------------------
1 | export * from './generators';
2 | 


--------------------------------------------------------------------------------
/packages/recast-navigation-generators/src/types.ts:
--------------------------------------------------------------------------------
1 | export type Pretty = T extends unknown ? { [K in keyof T]: T[K] } : never;
2 | 


--------------------------------------------------------------------------------
/packages/recast-navigation-generators/tsconfig.json:
--------------------------------------------------------------------------------
 1 | {
 2 |   "compilerOptions": {
 3 |     "target": "ES2022",
 4 |     "useDefineForClassFields": true,
 5 |     "module": "ES2022",
 6 |     "lib": ["ES2022", "DOM"],
 7 |     "moduleResolution": "Bundler",
 8 |     "strict": true,
 9 |     "resolveJsonModule": true,
10 |     "isolatedModules": true,
11 |     "esModuleInterop": true,
12 |     "noEmit": true,
13 |     "declaration": true,
14 |     "noUnusedLocals": true,
15 |     "noUnusedParameters": true,
16 |     "noImplicitReturns": true,
17 |     "skipLibCheck": true,
18 |     "baseUrl": "./",
19 |     "rootDir": "./src",
20 |     "allowSyntheticDefaultImports": true,
21 |     "outDir": "./dist"
22 |   },
23 |   "files": ["./src/index.ts"]
24 | }
25 | 


--------------------------------------------------------------------------------
/packages/recast-navigation-playcanvas/.gitignore:
--------------------------------------------------------------------------------
 1 | # Logs
 2 | logs
 3 | *.log
 4 | npm-debug.log*
 5 | yarn-debug.log*
 6 | yarn-error.log*
 7 | pnpm-debug.log*
 8 | lerna-debug.log*
 9 | 
10 | node_modules
11 | dist
12 | dist-ssr
13 | *.local
14 | 
15 | # Editor directories and files
16 | .vscode/*
17 | !.vscode/extensions.json
18 | .idea
19 | .DS_Store
20 | *.suo
21 | *.ntvs*
22 | *.njsproj
23 | *.sln
24 | *.sw?
25 | 
26 | # jest coverage
27 | coverage
28 | 


--------------------------------------------------------------------------------
/packages/recast-navigation-playcanvas/.prettierrc.json:
--------------------------------------------------------------------------------
1 | {
2 |   "trailingComma": "es5",
3 |   "tabWidth": 2,
4 |   "semi": true,
5 |   "singleQuote": true
6 | }
7 | 


--------------------------------------------------------------------------------
/packages/recast-navigation-playcanvas/CHANGELOG.md:
--------------------------------------------------------------------------------
 1 | # @recast-navigation/playcanvas
 2 | 
 3 | ## 0.39.0
 4 | 
 5 | ### Minor Changes
 6 | 
 7 | - da46c6c: feat: remove OffMeshConnectionsHelper in favour of DebugDrawer off mesh connection debug drawing
 8 | 
 9 | ### Patch Changes
10 | 
11 | - Updated dependencies [fe172f7]
12 | - Updated dependencies [fe172f7]
13 |   - @recast-navigation/core@0.39.0
14 |   - @recast-navigation/generators@0.39.0
15 | 
16 | ## 0.38.0
17 | 
18 | ### Patch Changes
19 | 
20 | - Updated dependencies [b54ae16]
21 | - Updated dependencies [93d383e]
22 |   - @recast-navigation/generators@0.38.0
23 |   - @recast-navigation/core@0.38.0
24 | 
25 | ## 0.37.0
26 | 
27 | ### Patch Changes
28 | 
29 | - Updated dependencies [f8968fc]
30 |   - @recast-navigation/generators@0.37.0
31 |   - @recast-navigation/core@0.37.0
32 | 
33 | ## 0.36.1
34 | 
35 | ### Patch Changes
36 | 
37 | - @recast-navigation/core@0.36.1
38 | - @recast-navigation/generators@0.36.1
39 | 
40 | ## 0.36.0
41 | 
42 | ### Patch Changes
43 | 
44 | - Updated dependencies [753e4e2]
45 |   - @recast-navigation/core@0.36.0
46 |   - @recast-navigation/generators@0.36.0
47 | 
48 | ## 0.35.2
49 | 
50 | ### Patch Changes
51 | 
52 | - @recast-navigation/core@0.35.2
53 | - @recast-navigation/generators@0.35.2
54 | 
55 | ## 0.35.1
56 | 
57 | ### Patch Changes
58 | 
59 | - 4574e65: feat: remove terser, ship human readable javascript to npm
60 | - Updated dependencies [4574e65]
61 |   - @recast-navigation/core@0.35.1
62 |   - @recast-navigation/generators@0.35.1
63 | 
64 | ## 0.35.0
65 | 
66 | ### Patch Changes
67 | 
68 | - Updated dependencies [4e63338]
69 |   - @recast-navigation/generators@0.35.0
70 |   - @recast-navigation/core@0.35.0
71 | 
72 | ## 1.0.0
73 | 
74 | - Initial release!
75 | 


--------------------------------------------------------------------------------
/packages/recast-navigation-playcanvas/LICENSE:
--------------------------------------------------------------------------------
 1 | The MIT License
 2 | 
 3 | Copyright © 2025 Isaac Mason
 4 | 
 5 | Permission is hereby granted, free of charge, to any person obtaining a copy
 6 | of this software and associated documentation files (the "Software"), to deal
 7 | in the Software without restriction, including without limitation the rights
 8 | to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
 9 | copies of the Software, and to permit persons to whom the Software is
10 | furnished to do so, subject to the following conditions:
11 | 
12 | The above copyright notice and this permission notice shall be included in
13 | all copies or substantial portions of the Software.
14 | 
15 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
16 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
17 | FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
18 | AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
19 | LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
20 | OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
21 | THE SOFTWARE.
22 | 


--------------------------------------------------------------------------------
/packages/recast-navigation-playcanvas/README.md:
--------------------------------------------------------------------------------
  1 | # @recast-navigation/playcanvas
  2 | 
  3 | PlayCanvas nav mesh generation and visualisation helpers for [`recast-navigation`](https://github.com/isaac-mason/recast-navigation-js/tree/main/packages/recast-navigation).
  4 | 
  5 | ## Installation
  6 | 
  7 | ```bash
  8 | > npm install @recast-navigation/playcanvas recast-navigation
  9 | ```
 10 | 
 11 | ## Usage
 12 | 
 13 | ### Importing
 14 | 
 15 | To import the PlayCanvas glue, you can either use the `playcanvas` entrypoint in `recast-navigation`:
 16 | 
 17 | ```ts
 18 | import { init } from 'recast-navigation'
 19 | import { ... } from 'recast-navigation/playcanvas';
 20 | ```
 21 | 
 22 | Or you can use the packages directly:
 23 | 
 24 | ```ts
 25 | import { init } from '@recast-navigation/core'
 26 | import { ... } from '@recast-navigation/playcanvas';
 27 | ```
 28 | 
 29 | ### Initialization
 30 | 
 31 | Before you can use the library, you must initialize it. This is an asynchronous operation.
 32 | 
 33 | Calling `init()` after the library has already been initialized will return a promise that resolves immediately.
 34 | 
 35 | ```ts
 36 | import { init } from 'recast-navigation';
 37 | 
 38 | await init();
 39 | ```
 40 | 
 41 | ### Generating a NavMesh
 42 | 
 43 | This package provides convenience functions for generating nav meshes from playcanvas MeshInstance objects.
 44 | 
 45 | ```ts
 46 | import { init } from 'recast-navigation';
 47 | import { pcToSoloNavMesh, pcToTiledNavMesh, pcToTileCache } from 'recast-navigation/playcanvas';
 48 | 
 49 | /* initialize the library */
 50 | await init();
 51 | 
 52 | /* generate a solo navmesh */
 53 | const { success, navMesh } = pcToSoloNavMesh(meshInstances, {
 54 |   // ... nav mesh generation config ...
 55 | }});
 56 | 
 57 | /* generate a tiled navmesh */
 58 | const { success, navMesh } = pcToTiledNavMesh(meshInstances, {
 59 |   tileSize: 16,
 60 |   // ... nav mesh generation config ...
 61 | }});
 62 | 
 63 | /* generate a tile cache with support for temporary obstacles */
 64 | const { success, navMesh, tileCache } = pcToTileCache(meshInstances, {
 65 |   tileSize: 16,
 66 |   // ... nav mesh generation config ...
 67 | }});
 68 | ```
 69 | 
 70 | ### Interacting with a NavMesh
 71 | 
 72 | You can documentation for interacting with the generated navmesh in the core library README:
 73 | 
 74 | https://github.com/isaac-mason/recast-navigation-js
 75 | 
 76 | This library provides helpers that are used in conjunction with the core library.
 77 | 
 78 | ### Helpers
 79 | 
 80 | This package provides helpers for visualizing various recast-navigation objects in playcanvas.
 81 | 
 82 | #### `NavMeshHelper`
 83 | 
 84 | ```ts
 85 | import { NavMeshHelper } from '@recast-navigation/playcanvas';
 86 | 
 87 | const navMeshHelper = new NavMeshHelper(navMesh, graphicsDevice);
 88 | 
 89 | this.entity.add(navMeshHelper);
 90 | 
 91 | // update the helper when the navmesh changes
 92 | navMeshHelper.update();
 93 | ```
 94 | 
 95 | #### `TileCacheHelper`
 96 | 
 97 | Visualises obstacles in a `TileCache`.
 98 | 
 99 | ```ts
100 | import { TileCacheHelper } from '@recast-navigation/playcanvas';
101 | 
102 | const tileCacheHelper = new TileCacheHelper(tileCache);
103 | 
104 | this.entity.add(tileCacheHelper);
105 | 
106 | // update the helper after adding or removing obstacles
107 | tileCacheHelper.update();
108 | ```
109 | 
110 | #### `CrowdHelper`
111 | 
112 | Visualises agents in a `Crowd`.
113 | 
114 | ```ts
115 | import { CrowdHelper } from '@recast-navigation/playcanvas';
116 | 
117 | const crowdHelper = new CrowdHelper(crowd, graphicsDevice);
118 | 
119 | this.entity.add(crowdHelper);
120 | 
121 | // update the helper after updating the crowd
122 | crowdHelper.update();
123 | ```
124 | 


--------------------------------------------------------------------------------
/packages/recast-navigation-playcanvas/eslint.config.mjs:
--------------------------------------------------------------------------------
1 | import config from '@isaac-mason/eslint-config-typescript'
2 | 
3 | export default [...config]
4 | 


--------------------------------------------------------------------------------
/packages/recast-navigation-playcanvas/package.json:
--------------------------------------------------------------------------------
 1 | {
 2 |   "name": "@recast-navigation/playcanvas",
 3 |   "description": "Utilities for using recast-navigation with PlayCanvas",
 4 |   "version": "0.39.0",
 5 |   "license": "MIT",
 6 |   "homepage": "https://github.com/isaac-mason/recast-navigation-js",
 7 |   "bugs": {
 8 |     "url": "https://github.com/isaac-mason/recast-navigation-js/issues"
 9 |   },
10 |   "type": "module",
11 |   "main": "./dist/index.mjs",
12 |   "module": "./dist/index.mjs",
13 |   "types": "./dist/index.d.ts",
14 |   "files": [
15 |     "dist/**",
16 |     "README.md",
17 |     "LICENSE"
18 |   ],
19 |   "scripts": {
20 |     "build": "rollup --config rollup.config.js --bundleConfigAsCjs",
21 |     "test": "tsc",
22 |     "lint": "eslint src"
23 |   },
24 |   "dependencies": {
25 |     "@recast-navigation/core": "0.39.0",
26 |     "@recast-navigation/generators": "0.39.0"
27 |   },
28 |   "devDependencies": {
29 |     "@babel/core": "^7.24.5",
30 |     "@babel/preset-env": "^7.24.5",
31 |     "@babel/preset-typescript": "^7.24.1",
32 |     "@isaac-mason/eslint-config-typescript": "^0.0.9",
33 |     "@rollup/plugin-babel": "^6.0.4",
34 |     "@rollup/plugin-commonjs": "^25.0.7",
35 |     "@rollup/plugin-node-resolve": "^15.0.1",
36 |     "@rollup/plugin-typescript": "^11.1.6",
37 |     "eslint": "^9.6.0",
38 |     "playcanvas": "^2.0.0",
39 |     "prettier": "^3.1.0",
40 |     "rollup": "^4.14.0",
41 |     "rollup-plugin-copy": "^3.4.0",
42 |     "rollup-plugin-filesize": "^10.0.0",
43 |     "typescript": "^5.4.3"
44 |   },
45 |   "packageManager": "yarn@3.2.1",
46 |   "peerDependencies": {
47 |     "playcanvas": "^2.0.0"
48 |   }
49 | }
50 | 


--------------------------------------------------------------------------------
/packages/recast-navigation-playcanvas/rollup.config.js:
--------------------------------------------------------------------------------
 1 | import babel from '@rollup/plugin-babel';
 2 | import commonjs from '@rollup/plugin-commonjs';
 3 | import resolve from '@rollup/plugin-node-resolve';
 4 | import typescript from '@rollup/plugin-typescript';
 5 | import path from 'path';
 6 | import filesize from 'rollup-plugin-filesize';
 7 | 
 8 | const babelOptions = {
 9 |   babelrc: false,
10 |   extensions: ['.ts'],
11 |   exclude: '**/node_modules/**',
12 |   babelHelpers: 'bundled',
13 |   presets: [
14 |     [
15 |       '@babel/preset-env',
16 |       {
17 |         loose: true,
18 |         modules: false,
19 |         targets: '>1%, not dead, not ie 11, not op_mini all',
20 |       },
21 |     ],
22 |     '@babel/preset-typescript',
23 |   ],
24 | };
25 | 
26 | export default [
27 |   {
28 |     input: './src/index.ts',
29 |     external: [
30 |       '@recast-navigation/core',
31 |       '@recast-navigation/generators',
32 |       'playcanvas',
33 |     ],
34 |     output: [
35 |       {
36 |         file: 'dist/index.mjs',
37 |         format: 'es',
38 |       },
39 |     ],
40 |     plugins: [
41 |       resolve(),
42 |       commonjs(),
43 |       typescript({
44 |         tsconfig: path.resolve(__dirname, 'tsconfig.json'),
45 |         emitDeclarationOnly: true,
46 |       }),
47 |       babel(babelOptions),
48 |       filesize(),
49 |     ],
50 |   },
51 | ];
52 | 


--------------------------------------------------------------------------------
/packages/recast-navigation-playcanvas/src/debug/index.ts:
--------------------------------------------------------------------------------
1 | export * from './debug-drawer';
2 | 


--------------------------------------------------------------------------------
/packages/recast-navigation-playcanvas/src/helpers/index.ts:
--------------------------------------------------------------------------------
1 | export * from './crowd-helper';
2 | export * from './nav-mesh-helper';
3 | export * from './tile-cache-helper';
4 | 


--------------------------------------------------------------------------------
/packages/recast-navigation-playcanvas/src/helpers/nav-mesh-helper.ts:
--------------------------------------------------------------------------------
 1 | import { NavMesh, getNavMeshPositionsAndIndices } from '@recast-navigation/core';
 2 | import {
 3 |   BLEND_NORMAL,
 4 |   Entity,
 5 |   GraphicsDevice,
 6 |   Material,
 7 |   Mesh,
 8 |   MeshInstance,
 9 |   StandardMaterial,
10 |   calculateNormals,
11 | } from 'playcanvas';
12 | 
13 | export type NavMeshHelperParams = {
14 |   navMeshMaterial?: Material;
15 | };
16 | 
17 | /**
18 |  * NavMeshHelper class for visualizing the nav mesh in PlayCanvas
19 |  */
20 | export class NavMeshHelper extends Entity {
21 |   navMesh: NavMesh;
22 | 
23 |   navMeshMaterial: Material;
24 | 
25 |   mesh!: Mesh;
26 | 
27 |   constructor(
28 |     navMesh: NavMesh,
29 |     graphicsDevice: GraphicsDevice,
30 |     params?: NavMeshHelperParams
31 |   ) {
32 |     super();
33 | 
34 |     this.navMesh = navMesh;
35 | 
36 |     // Create material if not provided
37 |     this.navMeshMaterial =
38 |       params?.navMeshMaterial || this.createDefaultMaterial();
39 | 
40 |     // Update the mesh
41 |     this.updateMesh(graphicsDevice);
42 | 
43 |     // Create a MeshInstance with the mesh and material
44 |     const meshInstance: MeshInstance = new MeshInstance(
45 |       this.mesh,
46 |       this.navMeshMaterial
47 |     );
48 | 
49 |     // Add a render component and assign the mesh instance
50 |     this.addComponent('render', {
51 |       meshInstances: [meshInstance],
52 |     });
53 |   }
54 | 
55 |   /**
56 |    * Creates a default material for the nav mesh visualization
57 |    * @private
58 |    */
59 |   createDefaultMaterial() {
60 |     const material: StandardMaterial = new StandardMaterial();
61 |     material.diffuse.set(1, 0.65, 0);
62 |     material.opacity = 0.7;
63 |     material.blendType = BLEND_NORMAL;
64 |     material.depthWrite = false;
65 |     material.update();
66 |     return material;
67 |   }
68 | 
69 |   /**
70 |    * Updates the mesh using the nav mesh data
71 |    * @private
72 |    */
73 |   updateMesh(graphicsDevice: GraphicsDevice) {
74 |     const [positions, indices] = getNavMeshPositionsAndIndices(this.navMesh);
75 |     const normals = calculateNormals(positions, indices);
76 | 
77 |     // Create the mesh
78 |     this.mesh = new Mesh(graphicsDevice);
79 |     this.mesh.setPositions(positions);
80 |     this.mesh.setIndices(indices);
81 |     this.mesh.setNormals(normals);
82 |     this.mesh.update();
83 |   }
84 | 
85 |   /**
86 |    * Update the PlayCanvas nav mesh visualization.
87 |    *
88 |    * This should be called after updating the nav mesh.
89 |    */
90 |   update() {
91 |     // Re-create the mesh
92 |     const graphicsDevice: GraphicsDevice = this.mesh.vertexBuffer.device;
93 |     this.updateMesh(graphicsDevice);
94 | 
95 |     // Update the mesh instance with the new mesh
96 |     this.render!.meshInstances[0].mesh = this.mesh;
97 |   }
98 | }
99 | 


--------------------------------------------------------------------------------
/packages/recast-navigation-playcanvas/src/helpers/tile-cache-helper.ts:
--------------------------------------------------------------------------------
  1 | import { Obstacle, TileCache } from '@recast-navigation/core';
  2 | import {
  3 |   Color,
  4 |   Entity,
  5 |   Material,
  6 |   RENDERSTYLE_WIREFRAME,
  7 |   StandardMaterial,
  8 |   Vec3,
  9 | } from 'playcanvas';
 10 | 
 11 | /**
 12 |  * Parameters for creating TileCacheHelper.
 13 |  */
 14 | export type TileCacheHelperParams = {
 15 |   obstacleMaterial?: Material;
 16 | };
 17 | 
 18 | /**
 19 |  * Represents a helper class to visualize tile cache obstacles in PlayCanvas.
 20 |  */
 21 | export class TileCacheHelper extends Entity {
 22 |   tileCache: TileCache;
 23 |   obstacleMeshes = new Map();
 24 |   obstacleMaterial: Material;
 25 | 
 26 |   constructor(tileCache: TileCache, params?: TileCacheHelperParams) {
 27 |     super();
 28 | 
 29 |     this.tileCache = tileCache;
 30 | 
 31 |     // Initialize obstacleMaterial
 32 |     if (params?.obstacleMaterial) {
 33 |       this.obstacleMaterial = params.obstacleMaterial;
 34 |     } else {
 35 |       const material = new StandardMaterial();
 36 |       material.diffuse = new Color(1, 0, 0); // Red color
 37 |       material.update();
 38 |       this.obstacleMaterial = material;
 39 |     }
 40 | 
 41 |     this.updateHelper();
 42 |   }
 43 | 
 44 |   /**
 45 |    * Update the obstacle meshes.
 46 |    *
 47 |    * This should be called after adding or removing obstacles.
 48 |    */
 49 |   updateHelper() {
 50 |     const unseen = new Set(this.obstacleMeshes.keys());
 51 | 
 52 |     for (const obstacle of this.tileCache.obstacles.values()) {
 53 |       let obstacleEntity = this.obstacleMeshes.get(obstacle);
 54 | 
 55 |       unseen.delete(obstacle);
 56 | 
 57 |       if (!obstacleEntity) {
 58 |         const { position } = obstacle;
 59 | 
 60 |         obstacleEntity = new Entity();
 61 |         obstacleEntity.setPosition(
 62 |           new Vec3(position.x, position.y, position.z)
 63 |         );
 64 | 
 65 |         if (obstacle.type === 'box') {
 66 |           const { halfExtents, angle } = obstacle;
 67 | 
 68 |           obstacleEntity.addComponent('render', {
 69 |             type: 'box',
 70 |             material: this.obstacleMaterial,
 71 |           });
 72 | 
 73 |           obstacleEntity.setLocalScale(
 74 |             halfExtents.x * 2,
 75 |             halfExtents.y * 2,
 76 |             halfExtents.z * 2
 77 |           );
 78 | 
 79 |           obstacleEntity.setEulerAngles(0, angle * (180 / Math.PI), 0);
 80 |         } else if (obstacle.type === 'cylinder') {
 81 |           const { radius, height } = obstacle;
 82 | 
 83 |           obstacleEntity.addComponent('render', {
 84 |             type: 'cylinder',
 85 |             material: this.obstacleMaterial,
 86 |           });
 87 | 
 88 |           obstacleEntity.setLocalScale(radius * 2, height, radius * 2);
 89 |           obstacleEntity.translateLocal(0, height / 2, 0);
 90 |         } else {
 91 |           throw new Error(
 92 |             `Unknown obstacle type: ${(obstacle as Obstacle).type}`
 93 |           );
 94 |         }
 95 | 
 96 |         // Set render style to wireframe
 97 |         if (obstacleEntity.render) {
 98 |           obstacleEntity.render.meshInstances.forEach((meshInstance) => {
 99 |             meshInstance.renderStyle = RENDERSTYLE_WIREFRAME;
100 |           });
101 |         }
102 | 
103 |         this.addChild(obstacleEntity);
104 |         this.obstacleMeshes.set(obstacle, obstacleEntity);
105 |       }
106 |     }
107 | 
108 |     for (const obstacle of unseen) {
109 |       const obstacleEntity = this.obstacleMeshes.get(obstacle);
110 | 
111 |       if (obstacleEntity) {
112 |         obstacleEntity.destroy();
113 |         this.obstacleMeshes.delete(obstacle);
114 |       }
115 |     }
116 |   }
117 | }
118 | 


--------------------------------------------------------------------------------
/packages/recast-navigation-playcanvas/src/index.ts:
--------------------------------------------------------------------------------
1 | export * from './debug';
2 | export * from './helpers';
3 | export * from './utils';
4 | 


--------------------------------------------------------------------------------
/packages/recast-navigation-playcanvas/src/utils/generators.ts:
--------------------------------------------------------------------------------
 1 | import {
 2 |   SoloNavMeshGeneratorConfig,
 3 |   TileCacheGeneratorConfig,
 4 |   TiledNavMeshGeneratorConfig,
 5 |   generateSoloNavMesh,
 6 |   generateTileCache,
 7 |   generateTiledNavMesh,
 8 | } from '@recast-navigation/generators';
 9 | import { MeshInstance } from 'playcanvas';
10 | import { getPositionsAndIndices } from './get-positions-and-indices';
11 | 
12 | export const pcToSoloNavMesh = (
13 |   meshes: MeshInstance[],
14 |   navMeshGeneratorConfig: Partial = {},
15 |   keepIntermediates = false
16 | ) => {
17 |   const [positions, indices] = getPositionsAndIndices(meshes);
18 | 
19 |   return generateSoloNavMesh(
20 |     positions,
21 |     indices,
22 |     navMeshGeneratorConfig,
23 |     keepIntermediates
24 |   );
25 | };
26 | 
27 | export const pcToTiledNavMesh = (
28 |   meshes: MeshInstance[],
29 |   navMeshGeneratorConfig: Partial = {},
30 |   keepIntermediates = false
31 | ) => {
32 |   const [positions, indices] = getPositionsAndIndices(meshes);
33 | 
34 |   return generateTiledNavMesh(
35 |     positions,
36 |     indices,
37 |     navMeshGeneratorConfig,
38 |     keepIntermediates
39 |   );
40 | };
41 | 
42 | export const threeToTileCache = (
43 |   meshes: MeshInstance[],
44 |   navMeshGeneratorConfig: Partial = {},
45 |   keepIntermediates = false
46 | ) => {
47 |   const [positions, indices] = getPositionsAndIndices(meshes);
48 | 
49 |   return generateTileCache(
50 |     positions,
51 |     indices,
52 |     navMeshGeneratorConfig,
53 |     keepIntermediates
54 |   );
55 | };
56 | 


--------------------------------------------------------------------------------
/packages/recast-navigation-playcanvas/src/utils/get-positions-and-indices.ts:
--------------------------------------------------------------------------------
 1 | import { mergePositionsAndIndices } from '@recast-navigation/generators';
 2 | import {
 3 |   INDEXFORMAT_UINT32,
 4 |   Mat4,
 5 |   Mesh,
 6 |   MeshInstance,
 7 |   SEMANTIC_POSITION,
 8 |   Vec3,
 9 |   VertexBuffer,
10 |   VertexFormat,
11 |   VertexIterator,
12 | } from 'playcanvas';
13 | 
14 | const _vector3: Vec3 = new Vec3();
15 | 
16 | export const getPositionsAndIndices = (
17 |   meshInstances: MeshInstance[]
18 | ): [Float32Array, Uint32Array] => {
19 |   const toMerge: {
20 |     positions: ArrayLike;
21 |     indices: ArrayLike;
22 |   }[] = [];
23 | 
24 |   for (const meshInstance of meshInstances) {
25 |     const mesh: Mesh = meshInstance.mesh;
26 | 
27 |     const vertexBuffer: VertexBuffer = mesh.vertexBuffer;
28 |     if (!vertexBuffer) {
29 |       continue;
30 |     }
31 | 
32 |     const vertexFormat: VertexFormat = vertexBuffer.getFormat();
33 |     const positionElement = vertexFormat.elements.find(
34 |       (element) => element.name === SEMANTIC_POSITION
35 |     );
36 | 
37 |     if (!positionElement || positionElement.numComponents !== 3) {
38 |       continue;
39 |     }
40 | 
41 |     const worldMatrix: Mat4 = meshInstance.node.getWorldTransform();
42 | 
43 |     const positions = new Float32Array(vertexBuffer.getNumVertices() * 3);
44 |     const iterator = new VertexIterator(vertexBuffer);
45 |     iterator.readData(SEMANTIC_POSITION, positions);
46 | 
47 |     for (let i: number = 0; i < positions.length; i += 3) {
48 |       _vector3.set(positions[i], positions[i + 1], positions[i + 2]);
49 | 
50 |       worldMatrix.transformPoint(_vector3, _vector3);
51 | 
52 |       positions[i] = _vector3.x;
53 |       positions[i + 1] = _vector3.y;
54 |       positions[i + 2] = _vector3.z;
55 |     }
56 | 
57 |     let indices: ArrayLike | undefined;
58 | 
59 |     if (mesh.indexBuffer[0]) {
60 |       const indexBuffer = mesh.indexBuffer[0];
61 |       const indexFormat =
62 |         indexBuffer.getFormat() === INDEXFORMAT_UINT32
63 |           ? Uint32Array
64 |           : Uint16Array;
65 |       const indicesCopy = new indexFormat(indexBuffer.getNumIndices());
66 |       const originalIndices = new indexFormat(indexBuffer.storage);
67 |       indicesCopy.set(originalIndices);
68 |       indices = indicesCopy;
69 |     } else {
70 |       // this will become indexed when merging with other meshes
71 |       const ascendingIndex: number[] = [];
72 |       for (let i = 0; i < vertexBuffer.getNumVertices(); i++) {
73 |         ascendingIndex.push(i);
74 |       }
75 |       indices = ascendingIndex;
76 |     }
77 | 
78 |     toMerge.push({
79 |       positions,
80 |       indices,
81 |     });
82 |   }
83 | 
84 |   return mergePositionsAndIndices(toMerge);
85 | };
86 | 


--------------------------------------------------------------------------------
/packages/recast-navigation-playcanvas/src/utils/index.ts:
--------------------------------------------------------------------------------
1 | export * from './generators';
2 | export * from './get-positions-and-indices';
3 | 


--------------------------------------------------------------------------------
/packages/recast-navigation-playcanvas/tsconfig.json:
--------------------------------------------------------------------------------
 1 | {
 2 |   "compilerOptions": {
 3 |     "target": "ES2022",
 4 |     "useDefineForClassFields": true,
 5 |     "module": "ES2022",
 6 |     "lib": ["ES2022", "DOM"],
 7 |     "moduleResolution": "Bundler",
 8 |     "strict": true,
 9 |     "resolveJsonModule": true,
10 |     "isolatedModules": true,
11 |     "esModuleInterop": true,
12 |     "noEmit": true,
13 |     "declaration": true,
14 |     "noUnusedLocals": true,
15 |     "noUnusedParameters": true,
16 |     "noImplicitReturns": true,
17 |     "skipLibCheck": true,
18 |     "baseUrl": "./",
19 |     "rootDir": "./src",
20 |     "allowSyntheticDefaultImports": true,
21 |     "outDir": "./dist"
22 |   },
23 |   "files": ["./src/index.ts"]
24 | }
25 | 


--------------------------------------------------------------------------------
/packages/recast-navigation-three/.gitignore:
--------------------------------------------------------------------------------
 1 | # Logs
 2 | logs
 3 | *.log
 4 | npm-debug.log*
 5 | yarn-debug.log*
 6 | yarn-error.log*
 7 | pnpm-debug.log*
 8 | lerna-debug.log*
 9 | 
10 | node_modules
11 | dist
12 | dist-ssr
13 | *.local
14 | 
15 | # Editor directories and files
16 | .vscode/*
17 | !.vscode/extensions.json
18 | .idea
19 | .DS_Store
20 | *.suo
21 | *.ntvs*
22 | *.njsproj
23 | *.sln
24 | *.sw?
25 | 
26 | # jest coverage
27 | coverage
28 | 


--------------------------------------------------------------------------------
/packages/recast-navigation-three/.prettierrc.json:
--------------------------------------------------------------------------------
1 | {
2 |   "trailingComma": "es5",
3 |   "tabWidth": 2,
4 |   "semi": true,
5 |   "singleQuote": true
6 | }
7 | 


--------------------------------------------------------------------------------
/packages/recast-navigation-three/LICENSE:
--------------------------------------------------------------------------------
 1 | The MIT License
 2 | 
 3 | Copyright © 2025 Isaac Mason
 4 | 
 5 | Permission is hereby granted, free of charge, to any person obtaining a copy
 6 | of this software and associated documentation files (the "Software"), to deal
 7 | in the Software without restriction, including without limitation the rights
 8 | to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
 9 | copies of the Software, and to permit persons to whom the Software is
10 | furnished to do so, subject to the following conditions:
11 | 
12 | The above copyright notice and this permission notice shall be included in
13 | all copies or substantial portions of the Software.
14 | 
15 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
16 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
17 | FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
18 | AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
19 | LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
20 | OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
21 | THE SOFTWARE.
22 | 


--------------------------------------------------------------------------------
/packages/recast-navigation-three/eslint.config.mjs:
--------------------------------------------------------------------------------
1 | import config from '@isaac-mason/eslint-config-typescript'
2 | 
3 | export default [...config]
4 | 


--------------------------------------------------------------------------------
/packages/recast-navigation-three/package.json:
--------------------------------------------------------------------------------
 1 | {
 2 |   "name": "@recast-navigation/three",
 3 |   "description": "Utilities for using recast-navigation with Three.js",
 4 |   "author": {
 5 |     "name": "Isaac Mason",
 6 |     "email": "isaac@isaacmason.com",
 7 |     "url": "https://isaacmason.com/"
 8 |   },
 9 |   "version": "0.39.0",
10 |   "license": "MIT",
11 |   "homepage": "https://github.com/isaac-mason/recast-navigation-js",
12 |   "bugs": {
13 |     "url": "https://github.com/isaac-mason/recast-navigation-js/issues"
14 |   },
15 |   "type": "module",
16 |   "main": "./dist/index.mjs",
17 |   "module": "./dist/index.mjs",
18 |   "types": "./dist/index.d.ts",
19 |   "files": [
20 |     "dist/**",
21 |     "README.md",
22 |     "LICENSE"
23 |   ],
24 |   "scripts": {
25 |     "build": "rollup --config rollup.config.js --bundleConfigAsCjs",
26 |     "test": "tsc",
27 |     "lint": "eslint src"
28 |   },
29 |   "dependencies": {
30 |     "@recast-navigation/core": "0.39.0",
31 |     "@recast-navigation/generators": "0.39.0"
32 |   },
33 |   "peerDependencies": {
34 |     "@types/three": "0.x.x",
35 |     "three": "0.x.x"
36 |   },
37 |   "devDependencies": {
38 |     "@babel/core": "^7.24.5",
39 |     "@babel/preset-env": "^7.24.5",
40 |     "@babel/preset-typescript": "^7.24.1",
41 |     "@isaac-mason/eslint-config-typescript": "^0.0.9",
42 |     "@rollup/plugin-babel": "^6.0.4",
43 |     "@rollup/plugin-commonjs": "^25.0.7",
44 |     "@rollup/plugin-node-resolve": "^15.0.1",
45 |     "@rollup/plugin-typescript": "^11.1.6",
46 |     "@types/three": "^0.172.0",
47 |     "eslint": "^9.6.0",
48 |     "prettier": "^3.1.0",
49 |     "rollup": "^4.14.0",
50 |     "rollup-plugin-copy": "^3.4.0",
51 |     "rollup-plugin-filesize": "^10.0.0",
52 |     "three": "^0.172.0",
53 |     "typescript": "^5.4.3"
54 |   },
55 |   "packageManager": "yarn@3.2.1"
56 | }
57 | 


--------------------------------------------------------------------------------
/packages/recast-navigation-three/rollup.config.js:
--------------------------------------------------------------------------------
 1 | import babel from '@rollup/plugin-babel';
 2 | import commonjs from '@rollup/plugin-commonjs';
 3 | import resolve from '@rollup/plugin-node-resolve';
 4 | import typescript from '@rollup/plugin-typescript';
 5 | import path from 'path';
 6 | import filesize from 'rollup-plugin-filesize';
 7 | 
 8 | const babelOptions = {
 9 |   babelrc: false,
10 |   extensions: ['.ts'],
11 |   exclude: '**/node_modules/**',
12 |   babelHelpers: 'bundled',
13 |   presets: [
14 |     [
15 |       '@babel/preset-env',
16 |       {
17 |         loose: true,
18 |         modules: false,
19 |         targets: '>1%, not dead, not ie 11, not op_mini all',
20 |       },
21 |     ],
22 |     '@babel/preset-typescript',
23 |   ],
24 | };
25 | 
26 | export default [
27 |   {
28 |     input: `./src/index.ts`,
29 |     external: [
30 |       '@recast-navigation/core',
31 |       '@recast-navigation/generators',
32 |       'three',
33 |       /three\/addons\/.*/
34 |       
35 |     ],
36 |     output: [
37 |       {
38 |         file: 'dist/index.mjs',
39 |         format: 'es',
40 |       },
41 |     ],
42 |     plugins: [
43 |       resolve(),
44 |       commonjs(),
45 |       typescript({
46 |         tsconfig: path.resolve(__dirname, 'tsconfig.json'),
47 |         emitDeclarationOnly: true,
48 |       }),
49 |       babel(babelOptions),
50 |       filesize(),
51 |     ],
52 |     onwarn(warning, warn) {
53 |       // suppress eval warnings
54 |       if (warning.code === 'EVAL') return;
55 |       warn(warning);
56 |     },
57 |   },
58 | ];
59 | 


--------------------------------------------------------------------------------
/packages/recast-navigation-three/src/debug/index.ts:
--------------------------------------------------------------------------------
1 | export * from './debug-drawer';
2 | 


--------------------------------------------------------------------------------
/packages/recast-navigation-three/src/helpers/crowd-helper.ts:
--------------------------------------------------------------------------------
  1 | import { Crowd, CrowdAgent } from '@recast-navigation/core';
  2 | import {
  3 |   CylinderGeometry,
  4 |   Material,
  5 |   Mesh,
  6 |   MeshBasicMaterial,
  7 |   Object3D,
  8 |   Vector3,
  9 | } from 'three';
 10 | 
 11 | export type CrowdHelperParams = {
 12 |   agentMaterial?: Material;
 13 | };
 14 | 
 15 | export class CrowdHelper extends Object3D {
 16 |   agentMeshes: Map = new Map();
 17 | 
 18 |   recastCrowd: Crowd;
 19 | 
 20 |   agentMaterial: Material;
 21 | 
 22 |   constructor(crowd: Crowd, params?: CrowdHelperParams) {
 23 |     super();
 24 | 
 25 |     this.recastCrowd = crowd;
 26 | 
 27 |     this.agentMaterial =
 28 |       params?.agentMaterial ?? new MeshBasicMaterial({ color: 'red' });
 29 | 
 30 |     this.update();
 31 |   }
 32 | 
 33 |   /**
 34 |    * Update the three debug view of the crowd agents.
 35 |    *
 36 |    * This should be called after updating the crowd.
 37 |    */
 38 |   update() {
 39 |     const agents = this.recastCrowd.getAgents();
 40 | 
 41 |     const unseen = new Set(this.agentMeshes.keys());
 42 | 
 43 |     for (const agent of agents) {
 44 |       unseen.delete(agent.agentIndex);
 45 | 
 46 |       const position = agent.position();
 47 |       const velocity = agent.velocity();
 48 | 
 49 |       let agentMesh: Mesh | undefined = this.agentMeshes.get(agent.agentIndex);
 50 | 
 51 |       if (agentMesh === undefined) {
 52 |         agentMesh = this.createAgentMesh(agent);
 53 | 
 54 |         this.add(agentMesh);
 55 |         this.agentMeshes.set(agent.agentIndex, agentMesh);
 56 |       } else {
 57 |         this.updateAgentGeometry(agentMesh, agent);
 58 |       }
 59 | 
 60 |       agentMesh.position.set(
 61 |         position.x,
 62 |         position.y + agent.height / 2,
 63 |         position.z
 64 |       );
 65 | 
 66 |       agentMesh.lookAt(
 67 |         new Vector3().copy(agentMesh.position).add(velocity as Vector3)
 68 |       );
 69 |     }
 70 | 
 71 |     for (const agentId of unseen) {
 72 |       const agentMesh = this.agentMeshes.get(agentId);
 73 | 
 74 |       if (agentMesh) {
 75 |         this.remove(agentMesh);
 76 |         this.agentMeshes.delete(agentId);
 77 |       }
 78 |     }
 79 |   }
 80 | 
 81 |   private createAgentMesh(agent: CrowdAgent): Mesh {
 82 |     const mesh = new Mesh();
 83 | 
 84 |     mesh.material = this.agentMaterial;
 85 | 
 86 |     this.updateAgentGeometry(mesh, agent);
 87 | 
 88 |     mesh.userData = {
 89 |       radius: agent.radius,
 90 |       height: agent.height,
 91 |     };
 92 | 
 93 |     return mesh;
 94 |   }
 95 | 
 96 |   private updateAgentGeometry(agentMesh: Mesh, agentParams: CrowdAgent) {
 97 |     if (
 98 |       agentMesh.userData.radius !== agentParams.radius ||
 99 |       agentMesh.userData.height !== agentParams.height
100 |     ) {
101 |       const geometry = new CylinderGeometry(
102 |         agentParams.radius,
103 |         agentParams.radius,
104 |         agentParams.height
105 |       );
106 | 
107 |       agentMesh.geometry.dispose();
108 |       agentMesh.geometry = geometry;
109 | 
110 |       agentMesh.userData.radius = agentParams.radius;
111 |       agentMesh.userData.height = agentParams.height;
112 |     }
113 |   }
114 | }
115 | 


--------------------------------------------------------------------------------
/packages/recast-navigation-three/src/helpers/index.ts:
--------------------------------------------------------------------------------
1 | export * from './crowd-helper';
2 | export * from './nav-mesh-helper';
3 | export * from './tile-cache-helper';
4 | 


--------------------------------------------------------------------------------
/packages/recast-navigation-three/src/helpers/nav-mesh-helper.ts:
--------------------------------------------------------------------------------
 1 | import { getNavMeshPositionsAndIndices, NavMesh } from '@recast-navigation/core';
 2 | import {
 3 |   BufferAttribute,
 4 |   BufferGeometry,
 5 |   Material,
 6 |   Mesh,
 7 |   MeshBasicMaterial,
 8 |   Object3D,
 9 | } from 'three';
10 | 
11 | export type NavMeshHelperParams = {
12 |   navMeshMaterial?: Material;
13 | };
14 | 
15 | export class NavMeshHelper extends Object3D {
16 |   navMesh: NavMesh;
17 | 
18 |   mesh: Mesh;
19 | 
20 |   navMeshMaterial: Material;
21 | 
22 |   navMeshGeometry: BufferGeometry;
23 | 
24 |   constructor(navMesh: NavMesh, params?: NavMeshHelperParams) {
25 |     super();
26 | 
27 |     this.navMesh = navMesh;
28 | 
29 |     this.navMeshGeometry = new BufferGeometry();
30 | 
31 |     this.navMeshMaterial = params?.navMeshMaterial
32 |       ? params.navMeshMaterial
33 |       : new MeshBasicMaterial({
34 |           color: 'orange',
35 |           transparent: true,
36 |           opacity: 0.7,
37 |           depthWrite: false,
38 |         });
39 | 
40 |     this.update();
41 | 
42 |     this.mesh = new Mesh(this.navMeshGeometry, this.navMeshMaterial);
43 | 
44 |     this.add(this.mesh);
45 |   }
46 | 
47 |   /**
48 |    * Update the three debug nav mesh.
49 |    *
50 |    * This should be called after updating the nav mesh.
51 |    */
52 |   update() {
53 |     const [positions, indices] = getNavMeshPositionsAndIndices(this.navMesh);
54 | 
55 |     this.navMeshGeometry.setAttribute(
56 |       'position',
57 |       new BufferAttribute(Float32Array.from(positions), 3)
58 |     );
59 |     this.navMeshGeometry.setIndex(
60 |       new BufferAttribute(Uint32Array.from(indices), 1)
61 |     );
62 |     this.navMeshGeometry.computeVertexNormals();
63 |   }
64 | }
65 | 


--------------------------------------------------------------------------------
/packages/recast-navigation-three/src/helpers/tile-cache-helper.ts:
--------------------------------------------------------------------------------
 1 | import { Obstacle, TileCache } from '@recast-navigation/core';
 2 | import {
 3 |   BoxGeometry,
 4 |   CylinderGeometry,
 5 |   Material,
 6 |   Mesh,
 7 |   MeshBasicMaterial,
 8 |   Object3D,
 9 |   Vector3,
10 | } from 'three';
11 | 
12 | export type TileCacheHelperParams = {
13 |   obstacleMaterial?: Material;
14 | };
15 | 
16 | export class TileCacheHelper extends Object3D {
17 |   tileCache: TileCache;
18 | 
19 |   obstacleMeshes: Map = new Map();
20 | 
21 |   obstacleMaterial: Material;
22 | 
23 |   constructor(tileCache: TileCache, params?: TileCacheHelperParams) {
24 |     super();
25 | 
26 |     this.tileCache = tileCache;
27 | 
28 |     this.obstacleMaterial = params?.obstacleMaterial
29 |       ? params.obstacleMaterial
30 |       : new MeshBasicMaterial({
31 |           color: 'red',
32 |           wireframe: true,
33 |           wireframeLinewidth: 2,
34 |         });
35 | 
36 |     this.update();
37 |   }
38 | 
39 |   /**
40 |    * Update the obstacle meshes.
41 |    *
42 |    * This should be called after adding or removing obstacles.
43 |    */
44 |   update() {
45 |     const unseen = new Set(this.obstacleMeshes.keys());
46 | 
47 |     for (const [, obstacle] of this.tileCache.obstacles) {
48 |       const obstacleMesh = this.obstacleMeshes.get(obstacle);
49 | 
50 |       unseen.delete(obstacle);
51 | 
52 |       if (!obstacleMesh) {
53 |         const { position } = obstacle;
54 | 
55 |         const mesh = new Mesh(undefined, this.obstacleMaterial);
56 | 
57 |         mesh.position.copy(position as Vector3);
58 | 
59 |         if (obstacle.type === 'box') {
60 |           const { halfExtents, angle } = obstacle;
61 | 
62 |           mesh.geometry = new BoxGeometry(
63 |             halfExtents.x * 2,
64 |             halfExtents.y * 2,
65 |             halfExtents.z * 2
66 |           );
67 | 
68 |           mesh.rotation.y = angle;
69 |         } else if (obstacle.type === 'cylinder') {
70 |           const { radius, height } = obstacle;
71 | 
72 |           mesh.geometry = new CylinderGeometry(radius, radius, height, 16);
73 | 
74 |           mesh.position.y += height / 2;
75 |         } else {
76 |           throw new Error(`Unknown obstacle type: ${obstacle}`);
77 |         }
78 | 
79 |         this.add(mesh);
80 |         this.obstacleMeshes.set(obstacle, mesh);
81 |       }
82 |     }
83 | 
84 |     for (const obstacle of unseen) {
85 |       const obstacleMesh = this.obstacleMeshes.get(obstacle);
86 | 
87 |       if (obstacleMesh) {
88 |         this.remove(obstacleMesh);
89 |         this.obstacleMeshes.delete(obstacle);
90 |       }
91 |     }
92 |   }
93 | }
94 | 


--------------------------------------------------------------------------------
/packages/recast-navigation-three/src/index.ts:
--------------------------------------------------------------------------------
1 | export * from './debug';
2 | export * from './helpers';
3 | export * from './utils';
4 | 


--------------------------------------------------------------------------------
/packages/recast-navigation-three/src/utils/generators.ts:
--------------------------------------------------------------------------------
 1 | import {
 2 |   SoloNavMeshGeneratorConfig,
 3 |   TileCacheGeneratorConfig,
 4 |   TiledNavMeshGeneratorConfig,
 5 |   generateSoloNavMesh,
 6 |   generateTileCache,
 7 |   generateTiledNavMesh
 8 | } from '@recast-navigation/generators';
 9 | import { Mesh } from 'three';
10 | import { getPositionsAndIndices } from './get-positions-and-indices';
11 | 
12 | export const threeToSoloNavMesh = (
13 |   meshes: Mesh[],
14 |   navMeshGeneratorConfig: Partial = {},
15 |   keepIntermediates = false
16 | ) => {
17 |   const [positions, indices] = getPositionsAndIndices(meshes);
18 | 
19 |   return generateSoloNavMesh(
20 |     positions,
21 |     indices,
22 |     navMeshGeneratorConfig,
23 |     keepIntermediates
24 |   );
25 | };
26 | 
27 | export const threeToTiledNavMesh = (
28 |   meshes: Mesh[],
29 |   navMeshGeneratorConfig: Partial = {},
30 |   keepIntermediates = false
31 | ) => {
32 |   const [positions, indices] = getPositionsAndIndices(meshes);
33 | 
34 |   return generateTiledNavMesh(
35 |     positions,
36 |     indices,
37 |     navMeshGeneratorConfig,
38 |     keepIntermediates
39 |   );
40 | };
41 | 
42 | export const threeToTileCache = (
43 |   meshes: Mesh[],
44 |   navMeshGeneratorConfig: Partial = {},
45 |   keepIntermediates = false
46 | ) => {
47 |   const [positions, indices] = getPositionsAndIndices(meshes);
48 | 
49 |   return generateTileCache(
50 |     positions,
51 |     indices,
52 |     navMeshGeneratorConfig,
53 |     keepIntermediates
54 |   );
55 | };
56 | 


--------------------------------------------------------------------------------
/packages/recast-navigation-three/src/utils/get-positions-and-indices.ts:
--------------------------------------------------------------------------------
 1 | import { mergePositionsAndIndices } from '@recast-navigation/generators';
 2 | import { BufferAttribute, Mesh, Vector3 } from 'three';
 3 | 
 4 | const _position = new Vector3();
 5 | 
 6 | export const getPositionsAndIndices = (
 7 |   meshes: Mesh[]
 8 | ): [positions: Float32Array, indices: Uint32Array] => {
 9 |   const toMerge: {
10 |     positions: ArrayLike;
11 |     indices: ArrayLike;
12 |   }[] = [];
13 | 
14 |   for (const mesh of meshes) {
15 |     const positionAttribute = mesh.geometry.attributes
16 |       .position as BufferAttribute;
17 | 
18 |     if (!positionAttribute || positionAttribute.itemSize !== 3) {
19 |       continue;
20 |     }
21 | 
22 |     mesh.updateMatrixWorld();
23 | 
24 |     const positions = new Float32Array(positionAttribute.array);
25 | 
26 |     for (let i = 0; i < positions.length; i += 3) {
27 |       const pos = _position.set(
28 |         positions[i],
29 |         positions[i + 1],
30 |         positions[i + 2]
31 |       );
32 |       mesh.localToWorld(pos);
33 |       positions[i] = pos.x;
34 |       positions[i + 1] = pos.y;
35 |       positions[i + 2] = pos.z;
36 |     }
37 | 
38 |     let indices: ArrayLike | undefined =
39 |       mesh.geometry.getIndex()?.array;
40 | 
41 |     if (indices === undefined) {
42 |       // this will become indexed when merging with other meshes
43 |       const ascendingIndex: number[] = [];
44 |       for (let i = 0; i < positionAttribute.count; i++) {
45 |         ascendingIndex.push(i);
46 |       }
47 |       indices = ascendingIndex;
48 |     }
49 | 
50 |     toMerge.push({
51 |       positions,
52 |       indices,
53 |     });
54 |   }
55 | 
56 |   return mergePositionsAndIndices(toMerge);
57 | };
58 | 


--------------------------------------------------------------------------------
/packages/recast-navigation-three/src/utils/index.ts:
--------------------------------------------------------------------------------
1 | export * from './generators';
2 | export * from './get-positions-and-indices';
3 | 


--------------------------------------------------------------------------------
/packages/recast-navigation-three/tsconfig.json:
--------------------------------------------------------------------------------
 1 | {
 2 |   "compilerOptions": {
 3 |     "target": "ES2022",
 4 |     "useDefineForClassFields": true,
 5 |     "module": "ES2022",
 6 |     "lib": ["ES2022", "DOM"],
 7 |     "moduleResolution": "Bundler",
 8 |     "strict": true,
 9 |     "resolveJsonModule": true,
10 |     "isolatedModules": true,
11 |     "esModuleInterop": true,
12 |     "noEmit": true,
13 |     "declaration": true,
14 |     "noUnusedLocals": true,
15 |     "noUnusedParameters": true,
16 |     "noImplicitReturns": true,
17 |     "skipLibCheck": true,
18 |     "baseUrl": "./",
19 |     "rootDir": "./src",
20 |     "allowSyntheticDefaultImports": true,
21 |     "outDir": "./dist"
22 |   },
23 |   "files": ["./src/index.ts"]
24 | }
25 | 


--------------------------------------------------------------------------------
/packages/recast-navigation-wasm/.gitignore:
--------------------------------------------------------------------------------
1 | recastnavigation
2 | 


--------------------------------------------------------------------------------
/packages/recast-navigation-wasm/LICENSE:
--------------------------------------------------------------------------------
 1 | The MIT License
 2 | 
 3 | Copyright © 2025 Isaac Mason
 4 | 
 5 | Permission is hereby granted, free of charge, to any person obtaining a copy
 6 | of this software and associated documentation files (the "Software"), to deal
 7 | in the Software without restriction, including without limitation the rights
 8 | to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
 9 | copies of the Software, and to permit persons to whom the Software is
10 | furnished to do so, subject to the following conditions:
11 | 
12 | The above copyright notice and this permission notice shall be included in
13 | all copies or substantial portions of the Software.
14 | 
15 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
16 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
17 | FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
18 | AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
19 | LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
20 | OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
21 | THE SOFTWARE.
22 | 


--------------------------------------------------------------------------------
/packages/recast-navigation-wasm/README.md:
--------------------------------------------------------------------------------
1 | # @recast-navigation/wasm
2 | 
3 | WASM build of Recast Navigation.
4 | 
5 | This library isn't intended for direct use - [`recast-navigation`](https://github.com/isaac-mason/recast-navigation-js/tree/main/packages/recast-navigation) is probably what you're looking for. It uses `@recast-navigation/wasm` internally, and provides a more friendly API.
6 | 
7 | This WASM build is based on the [Babylon.js Recast Navigation Extension](https://github.com/BabylonJS/Extensions/tree/master/recastjs).
8 | 


--------------------------------------------------------------------------------
/packages/recast-navigation-wasm/build.sh:
--------------------------------------------------------------------------------
 1 | #!/bin/sh
 2 | 
 3 | # sh build.sh [release|debug]
 4 | 
 5 | if [ -z $1 ] 
 6 | then
 7 | 	BUILD_TYPE=release
 8 | else
 9 | 	BUILD_TYPE=$1
10 | 	shift
11 | fi
12 | 
13 | # create directories
14 | mkdir -p ./build
15 | mkdir -p dist
16 | 
17 | # clone recast navigation library
18 | [ ! -d "recastnavigation" ] && git clone https://github.com/isaac-mason/recastnavigation.git
19 | (cd recastnavigation && git checkout '599fd0f023181c0a484df2a18cf1d75a3553852e')
20 | 
21 | # emscripten builds
22 | emcmake cmake -B build -DCMAKE_BUILD_TYPE=$BUILD_TYPE
23 | cmake --build build
24 | 
25 | # generate typescript definitions
26 | yarn run webidl-dts-gen -e -d -i recast-navigation.idl -o ./dist/recast-navigation.d.ts -n Recast
27 | 
28 | # copy files to dist
29 | cp ./build/recast-navigation.* ./dist/
30 | 


--------------------------------------------------------------------------------
/packages/recast-navigation-wasm/example.html:
--------------------------------------------------------------------------------
1 | 


--------------------------------------------------------------------------------
/packages/recast-navigation-wasm/front-matter.js:
--------------------------------------------------------------------------------
 1 | // @recast-navigation/wasm, a port of recast navigation to JavaScript.
 2 | // https://github.com/isaac-mason/recast-navigation-js
 3 | 
 4 | // recastnavigation
 5 | // https://github.com/recastnavigation/recastnavigation
 6 | 
 7 | // Recast & Detour 
 8 | // Copyright (c) 2009 Mikko Mononen memon@inside.org
 9 | //
10 | // This software is provided 'as-is', without any express or implied
11 | // warranty.  In no event will the authors be held liable for any damages
12 | // arising from the use of this software.
13 | //
14 | // Permission is granted to anyone to use this software for any purpose,
15 | // including commercial applications, and to alter it and redistribute it
16 | // freely, subject to the following restrictions:
17 | //
18 | // 1. The origin of this software must not be misrepresented; you must not
19 | // claim that you wrote the original software. If you use this software
20 | // in a product, an acknowledgment in the product documentation would be
21 | // appreciated but is not required.
22 | // 2. Altered source versions must be plainly marked as such, and must not be
23 | // misrepresented as being the original software.
24 | // 3. This notice may not be removed or altered from any source distribution.
25 | 


--------------------------------------------------------------------------------
/packages/recast-navigation-wasm/package.json:
--------------------------------------------------------------------------------
 1 | {
 2 |   "name": "@recast-navigation/wasm",
 3 |   "description": "A webassembly port of Recast Navigation",
 4 |   "author": {
 5 |     "name": "Isaac Mason",
 6 |     "email": "isaac@isaacmason.com",
 7 |     "url": "https://isaacmason.com/"
 8 |   },
 9 |   "version": "0.39.0",
10 |   "license": "MIT",
11 |   "homepage": "https://github.com/isaac-mason/recast-navigation-js",
12 |   "bugs": {
13 |     "url": "https://github.com/isaac-mason/recast-navigation-js/issues"
14 |   },
15 |   "type": "module",
16 |   "main": "./dist/recast-navigation.wasm-compat.js",
17 |   "types": "./dist/recast-navigation.d.ts",
18 |   "exports": {
19 |     ".": {
20 |       "types": "./dist/recast-navigation.d.ts",
21 |       "import": "./dist/recast-navigation.wasm-compat.js",
22 |       "default": "./dist/recast-navigation.wasm-compat.js"
23 |     },
24 |     "./wasm": {
25 |       "types": "./dist/recast-navigation.d.ts",
26 |       "import": "./dist/recast-navigation.wasm.js",
27 |       "default": "./dist/recast-navigation.wasm.js"
28 |     },
29 |     "./wasm-compat": {
30 |       "types": "./dist/recast-navigation.d.ts",
31 |       "import": "./dist/recast-navigation.wasm-compat.js",
32 |       "default": "./dist/recast-navigation.wasm-compat.js"
33 |     }
34 |   },
35 |   "files": [
36 |     "dist/recast-navigation.d.ts",
37 |     "dist/recast-navigation.wasm-compat.js",
38 |     "dist/recast-navigation.wasm.js",
39 |     "dist/recast-navigation.wasm.wasm",
40 |     "README.md",
41 |     "LICENSE"
42 |   ],
43 |   "scripts": {
44 |     "build": "sh build.sh",
45 |     "build:debug": "sh build.sh debug"
46 |   },
47 |   "devDependencies": {
48 |     "webidl-dts-gen": "^1.11.0"
49 |   },
50 |   "packageManager": "yarn@3.2.2"
51 | }
52 | 


--------------------------------------------------------------------------------
/packages/recast-navigation-wasm/src/Arrays.h:
--------------------------------------------------------------------------------
 1 | #pragma once
 2 | 
 3 | #include 
 4 | #include 
 5 | 
 6 | template 
 7 | class ArrayWrapperTemplate
 8 | {
 9 | public:
10 |     T *data;
11 |     int size;
12 |     bool isView;
13 | 
14 |     ArrayWrapperTemplate()
15 |     {
16 |         data = nullptr;
17 |         size = 0;
18 |         isView = false;
19 |     }
20 | 
21 |     ~ArrayWrapperTemplate()
22 |     {
23 |         free();
24 |     }
25 | 
26 |     void free()
27 |     {
28 |         if (!isView)
29 |         {
30 |             delete[] data;
31 |         }
32 | 
33 |         size = 0;
34 |         this->data = nullptr;
35 |     }
36 | 
37 |     void copy(const T *data, int size)
38 |     {
39 |         free();
40 |         this->data = new T[size];
41 |         memcpy(this->data, data, size * sizeof(T));
42 |         this->size = size;
43 |         this->isView = false;
44 |     }
45 | 
46 |     void view(T *data)
47 |     {
48 |         this->data = data;
49 |         this->size = 0;
50 |         this->isView = true;
51 |     }
52 | 
53 |     void resize(int size)
54 |     {
55 |         free();
56 |         data = new T[size];
57 |         memset(data, 0, size * sizeof(T));
58 |         this->size = size;
59 |         this->isView = false;
60 |     }
61 | 
62 |     T get(int index)
63 |     {
64 |         return data[index];
65 |     }
66 | 
67 |     void set(int index, T value)
68 |     {
69 |         data[index] = value;
70 |     }
71 | 
72 |     T* getDataPointer() const
73 |     {
74 |         return data;
75 |     }
76 | };
77 | 
78 | class IntArray : public ArrayWrapperTemplate
79 | {
80 | };
81 | 
82 | class UnsignedIntArray : public ArrayWrapperTemplate
83 | {
84 | };
85 | 
86 | class UnsignedCharArray : public ArrayWrapperTemplate
87 | {
88 | };
89 | 
90 | class UnsignedShortArray : public ArrayWrapperTemplate
91 | {
92 | };
93 | 
94 | class FloatArray : public ArrayWrapperTemplate
95 | {
96 | };
97 | 


--------------------------------------------------------------------------------
/packages/recast-navigation-wasm/src/ChunkyTriMesh.cpp:
--------------------------------------------------------------------------------
 1 | #include "./ChunkyTriMesh.h"
 2 | 
 3 | bool ChunkyTriMeshUtils::createChunkyTriMesh(const FloatArray *verts, const IntArray *tris, int ntris, int trisPerChunk, rcChunkyTriMesh *chunkyTriMesh)
 4 | {
 5 |     return rcCreateChunkyTriMesh(verts->data, tris->data, ntris, trisPerChunk, chunkyTriMesh);
 6 | }
 7 | 
 8 | int ChunkyTriMeshUtils::getChunksOverlappingRect(rcChunkyTriMesh *chunkyTriMesh, float *tbmin, float *tbmax, IntArray *ids, const int maxIds)
 9 | {
10 |     return rcGetChunksOverlappingRect(chunkyTriMesh, tbmin, tbmax, ids->data, maxIds);
11 | }
12 | 
13 | IntArray *ChunkyTriMeshUtils::getChunkyTriMeshNodeTris(rcChunkyTriMesh *chunkyTriMesh, int nodeIndex)
14 | {
15 |     rcChunkyTriMeshNode &node = chunkyTriMesh->nodes[nodeIndex];
16 |     int *tris = &chunkyTriMesh->tris[node.i * 3];
17 | 
18 |     IntArray *result = new IntArray;
19 |     result->view(tris);
20 | 
21 |     return result;
22 | }
23 | 


--------------------------------------------------------------------------------
/packages/recast-navigation-wasm/src/ChunkyTriMesh.h:
--------------------------------------------------------------------------------
 1 | #pragma once
 2 | 
 3 | #include "../recastnavigation/RecastDemo/Include/ChunkyTriMesh.h"
 4 | #include "./Arrays.h"
 5 | 
 6 | class ChunkyTriMeshUtils
 7 | {
 8 | public:
 9 |     bool createChunkyTriMesh(const FloatArray *verts, const IntArray *tris, int ntris, int trisPerChunk, rcChunkyTriMesh *chunkyTriMesh);
10 | 
11 |     int getChunksOverlappingRect(rcChunkyTriMesh *chunkyTriMesh, float *tbmin, float *tbmax, IntArray *ids, const int maxIds);
12 | 
13 |     IntArray *getChunkyTriMeshNodeTris(rcChunkyTriMesh *chunkyTriMesh, int nodeIndex);
14 | };
15 | 


--------------------------------------------------------------------------------
/packages/recast-navigation-wasm/src/Crowd.cpp:
--------------------------------------------------------------------------------
 1 | #include "./Crowd.h"
 2 | 
 3 | int CrowdUtils::getActiveAgentCount(dtCrowd *crowd)
 4 | {
 5 |     return crowd->getActiveAgents(NULL, crowd->getAgentCount());
 6 | }
 7 | 
 8 | bool CrowdUtils::overOffMeshConnection(dtCrowd *crowd, int idx)
 9 | {
10 |     const dtCrowdAgent *agent = crowd->getAgent(idx);
11 |     const float triggerRadius = agent->params.radius * 2.25f;
12 |     if (!agent->ncorners)
13 |         return false;
14 |     const bool offMeshConnection = (agent->cornerFlags[agent->ncorners - 1] & DT_STRAIGHTPATH_OFFMESH_CONNECTION) ? true : false;
15 |     if (offMeshConnection)
16 |     {
17 |         const float distSq = dtVdist2DSqr(agent->npos, &agent->cornerVerts[(agent->ncorners - 1) * 3]);
18 |         if (distSq < triggerRadius * triggerRadius)
19 |         {
20 |             return true;
21 |         }
22 |     }
23 |     return false;
24 | }
25 | 
26 | void CrowdUtils::agentTeleport(dtCrowd *crowd, int idx, const float *destination, const float *halfExtents, dtQueryFilter *filter)
27 | {
28 |     if (idx < 0 || idx > crowd->getAgentCount())
29 |     {
30 |         return;
31 |     }
32 | 
33 |     dtPolyRef polyRef = 0;
34 | 
35 |     crowd->getNavMeshQuery()->findNearestPoly(destination, halfExtents, filter, &polyRef, 0);
36 | 
37 |     dtCrowdAgent *ag = crowd->getEditableAgent(idx);
38 | 
39 |     float nearest[3];
40 |     dtVcopy(nearest, destination);
41 | 
42 |     ag->corridor.reset(polyRef, nearest);
43 |     ag->boundary.reset();
44 |     ag->partial = false;
45 | 
46 |     ag->topologyOptTime = 0;
47 |     ag->targetReplanTime = 0;
48 |     ag->nneis = 0;
49 | 
50 |     dtVset(ag->dvel, 0, 0, 0);
51 |     dtVset(ag->nvel, 0, 0, 0);
52 |     dtVset(ag->vel, 0, 0, 0);
53 |     dtVcopy(ag->npos, nearest);
54 | 
55 |     ag->desiredSpeed = 0;
56 | 
57 |     if (polyRef)
58 |     {
59 |         ag->state = DT_CROWDAGENT_STATE_WALKING;
60 |     }
61 |     else
62 |     {
63 |         ag->state = DT_CROWDAGENT_STATE_INVALID;
64 |     }
65 | 
66 |     ag->targetState = DT_CROWDAGENT_TARGET_NONE;
67 | }
68 | 


--------------------------------------------------------------------------------
/packages/recast-navigation-wasm/src/Crowd.h:
--------------------------------------------------------------------------------
 1 | #pragma once
 2 | 
 3 | #include "../recastnavigation/Detour/Include/DetourCommon.h"
 4 | #include "../recastnavigation/DetourCrowd/Include/DetourCrowd.h"
 5 | 
 6 | class CrowdUtils
 7 | {
 8 | public:
 9 |     int getActiveAgentCount(dtCrowd *crowd);
10 | 
11 |     bool overOffMeshConnection(dtCrowd *crowd, int idx);
12 | 
13 |     void agentTeleport(dtCrowd *crowd, int idx, const float *destination, const float *halfExtents, dtQueryFilter *filter);
14 | };
15 | 


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/packages/recast-navigation-wasm/src/DebugDraw/DebugDraw.cpp:
--------------------------------------------------------------------------------
 1 | #include "DebugDraw.h"
 2 | 
 3 | void DebugDraw::depthMask(bool state)
 4 | {
 5 |     handleDepthMask(state);
 6 | }
 7 | 
 8 | void DebugDraw::texture(bool state)
 9 | {
10 |     handleTexture(state);
11 | }
12 | 
13 | void DebugDraw::begin(duDebugDrawPrimitives prim, float size)
14 | {
15 |     handleBegin(prim, size);
16 | }
17 | 
18 | void DebugDraw::vertex(const float *pos, unsigned int color)
19 | {
20 |     handleVertexWithColor(pos[0], pos[1], pos[2], color);
21 | }
22 | 
23 | void DebugDraw::vertex(const float x, const float y, const float z, unsigned int color)
24 | {
25 |     handleVertexWithColor(x, y, z, color);
26 | }
27 | 
28 | void DebugDraw::vertex(const float *pos, unsigned int color, const float *uv)
29 | {
30 |     handleVertexWithColorAndUV(pos[0], pos[1], pos[2], color, uv[0], uv[1]);
31 | }
32 | 
33 | void DebugDraw::vertex(const float x, const float y, const float z, unsigned int color, const float u, const float v)
34 | {
35 |     handleVertexWithColorAndUV(x, y, z, color, u, v);
36 | }
37 | 
38 | void DebugDraw::end()
39 | {
40 |     handleEnd();
41 | }
42 | 


--------------------------------------------------------------------------------
/packages/recast-navigation-wasm/src/DebugDraw/DebugDraw.h:
--------------------------------------------------------------------------------
 1 | #pragma once
 2 | 
 3 | #include "../../recastnavigation/DebugUtils/Include/DebugDraw.h"
 4 | #include "../../recastnavigation/DebugUtils/Include/RecastDebugDraw.h"
 5 | #include "../../recastnavigation/DebugUtils/Include/DetourDebugDraw.h"
 6 | 
 7 | class DebugDraw : public duDebugDraw
 8 | {
 9 | public:
10 |     virtual void depthMask(bool state);
11 |     virtual void texture(bool state);
12 |     virtual void begin(duDebugDrawPrimitives prim, float size = 1.0f);
13 |     virtual void vertex(const float *pos, unsigned int color);
14 |     virtual void vertex(const float x, const float y, const float z, unsigned int color);
15 |     virtual void vertex(const float *pos, unsigned int color, const float *uv);
16 |     virtual void vertex(const float x, const float y, const float z, unsigned int color, const float u, const float v);
17 |     virtual void end();
18 | 
19 |     virtual void handleDepthMask(bool state) = 0;
20 |     virtual void handleTexture(bool state) = 0;
21 |     virtual void handleBegin(duDebugDrawPrimitives prim, float size = 1.0f) = 0;
22 |     virtual void handleVertexWithColor(const float x, const float y, const float z, unsigned int color) = 0;
23 |     virtual void handleVertexWithColorAndUV(const float x, const float y, const float z, unsigned int color, const float u, const float v) = 0;
24 |     virtual void handleEnd() = 0;
25 | };
26 | 


--------------------------------------------------------------------------------
/packages/recast-navigation-wasm/src/DebugDraw/DetourDebugDraw.cpp:
--------------------------------------------------------------------------------
 1 | #include "DetourDebugDraw.h"
 2 | 
 3 | void DetourDebugDraw::debugDrawNavMesh(duDebugDraw *dd, const dtNavMesh &mesh, const int flags)
 4 | {
 5 |     duDebugDrawNavMesh(dd, mesh, flags);
 6 | }
 7 | 
 8 | void DetourDebugDraw::debugDrawNavMeshWithClosedList(struct duDebugDraw *dd, const dtNavMesh &mesh, const dtNavMeshQuery &query, unsigned char flags)
 9 | {
10 |     duDebugDrawNavMeshWithClosedList(dd, mesh, query, flags);
11 | }
12 | 
13 | void DetourDebugDraw::debugDrawNavMeshNodes(struct duDebugDraw *dd, const dtNavMeshQuery &query)
14 | {
15 |     duDebugDrawNavMeshNodes(dd, query);
16 | }
17 | 
18 | void DetourDebugDraw::debugDrawNavMeshBVTree(struct duDebugDraw *dd, const dtNavMesh &mesh)
19 | {
20 |     duDebugDrawNavMeshBVTree(dd, mesh);
21 | }
22 | 
23 | void DetourDebugDraw::debugDrawNavMeshPortals(struct duDebugDraw *dd, const dtNavMesh &mesh)
24 | {
25 |     duDebugDrawNavMeshPortals(dd, mesh);
26 | }
27 | 
28 | void DetourDebugDraw::debugDrawNavMeshPolysWithFlags(struct duDebugDraw *dd, const dtNavMesh &mesh, const unsigned short polyFlags, const unsigned int col)
29 | {
30 |     duDebugDrawNavMeshPolysWithFlags(dd, mesh, polyFlags, col);
31 | }
32 | 
33 | void DetourDebugDraw::debugDrawNavMeshPoly(struct duDebugDraw *dd, const dtNavMesh &mesh, dtPolyRef ref, const unsigned int col)
34 | {
35 |     duDebugDrawNavMeshPoly(dd, mesh, ref, col);
36 | }
37 | 
38 | void DetourDebugDraw::debugDrawTileCacheLayerAreas(struct duDebugDraw *dd, const dtTileCacheLayer &layer, const float cs, const float ch)
39 | {
40 |     duDebugDrawTileCacheLayerAreas(dd, layer, cs, ch);
41 | }
42 | 
43 | void DetourDebugDraw::debugDrawTileCacheLayerRegions(struct duDebugDraw *dd, const dtTileCacheLayer &layer, const float cs, const float ch)
44 | {
45 |     duDebugDrawTileCacheLayerRegions(dd, layer, cs, ch);
46 | }
47 | 
48 | void DetourDebugDraw::debugDrawTileCacheContours(duDebugDraw *dd, const struct dtTileCacheContourSet &lcset, const float *orig, const float cs, const float ch)
49 | {
50 |     duDebugDrawTileCacheContours(dd, lcset, orig, cs, ch);
51 | }
52 | 
53 | void DetourDebugDraw::debugDrawTileCachePolyMesh(duDebugDraw *dd, const struct dtTileCachePolyMesh &lmesh, const float *orig, const float cs, const float ch)
54 | {
55 |     duDebugDrawTileCachePolyMesh(dd, lmesh, orig, cs, ch);
56 | }
57 | 


--------------------------------------------------------------------------------
/packages/recast-navigation-wasm/src/DebugDraw/DetourDebugDraw.h:
--------------------------------------------------------------------------------
 1 | #pragma once
 2 | 
 3 | #include "../../recastnavigation/DebugUtils/Include/DebugDraw.h"
 4 | #include "../../recastnavigation/DebugUtils/Include/DetourDebugDraw.h"
 5 | 
 6 | class DetourDebugDraw
 7 | {
 8 | public:
 9 |     void debugDrawNavMesh(duDebugDraw *dd, const dtNavMesh &mesh, const int flags);
10 |     void debugDrawNavMeshWithClosedList(struct duDebugDraw *dd, const dtNavMesh &mesh, const dtNavMeshQuery &query, unsigned char flags);
11 |     void debugDrawNavMeshNodes(struct duDebugDraw *dd, const dtNavMeshQuery &query);
12 |     void debugDrawNavMeshBVTree(struct duDebugDraw *dd, const dtNavMesh &mesh);
13 |     void debugDrawNavMeshPortals(struct duDebugDraw *dd, const dtNavMesh &mesh);
14 |     void debugDrawNavMeshPolysWithFlags(struct duDebugDraw *dd, const dtNavMesh &mesh, const unsigned short polyFlags, const unsigned int col);
15 |     void debugDrawNavMeshPoly(struct duDebugDraw *dd, const dtNavMesh &mesh, dtPolyRef ref, const unsigned int col);
16 |     void debugDrawTileCacheLayerAreas(struct duDebugDraw *dd, const dtTileCacheLayer &layer, const float cs, const float ch);
17 |     void debugDrawTileCacheLayerRegions(struct duDebugDraw *dd, const dtTileCacheLayer &layer, const float cs, const float ch);
18 |     void debugDrawTileCacheContours(duDebugDraw *dd, const struct dtTileCacheContourSet &lcset, const float *orig, const float cs, const float ch);
19 |     void debugDrawTileCachePolyMesh(duDebugDraw *dd, const struct dtTileCachePolyMesh &lmesh, const float *orig, const float cs, const float ch);
20 | };
21 | 


--------------------------------------------------------------------------------
/packages/recast-navigation-wasm/src/DebugDraw/RecastDebugDraw.cpp:
--------------------------------------------------------------------------------
 1 | #include "RecastDebugDraw.h"
 2 | 
 3 | void RecastDebugDraw::debugDrawHeightfieldSolid(duDebugDraw *dd, const rcHeightfield &hf)
 4 | {
 5 |     duDebugDrawHeightfieldSolid(dd, hf);
 6 | }
 7 | 
 8 | void RecastDebugDraw::debugDrawHeightfieldWalkable(duDebugDraw *dd, const rcHeightfield &hf)
 9 | {
10 |     duDebugDrawHeightfieldWalkable(dd, hf);
11 | }
12 | 
13 | void RecastDebugDraw::debugDrawCompactHeightfieldSolid(duDebugDraw *dd, const rcCompactHeightfield &chf)
14 | {
15 |     duDebugDrawCompactHeightfieldSolid(dd, chf);
16 | }
17 | 
18 | void RecastDebugDraw::debugDrawCompactHeightfieldRegions(duDebugDraw *dd, const rcCompactHeightfield &chf)
19 | {
20 |     duDebugDrawCompactHeightfieldRegions(dd, chf);
21 | }
22 | 
23 | void RecastDebugDraw::debugDrawCompactHeightfieldDistance(duDebugDraw *dd, const rcCompactHeightfield &chf)
24 | {
25 |     duDebugDrawCompactHeightfieldDistance(dd, chf);
26 | }
27 | 
28 | void RecastDebugDraw::debugDrawHeightfieldLayer(duDebugDraw *dd, const rcHeightfieldLayer &layer, const int idx)
29 | {
30 |     duDebugDrawHeightfieldLayer(dd, layer, idx);
31 | }
32 | 
33 | void RecastDebugDraw::debugDrawHeightfieldLayers(duDebugDraw *dd, const rcHeightfieldLayerSet &lset)
34 | {
35 |     duDebugDrawHeightfieldLayers(dd, lset);
36 | }
37 | 
38 | void RecastDebugDraw::debugDrawRegionConnections(duDebugDraw *dd, const rcContourSet &cset, const float alpha = 1.0f)
39 | {
40 |     duDebugDrawRegionConnections(dd, cset, alpha);
41 | }
42 | 
43 | void RecastDebugDraw::debugDrawRawContours(duDebugDraw *dd, const rcContourSet &cset, const float alpha = 1.0f)
44 | {
45 |     duDebugDrawRawContours(dd, cset, alpha);
46 | }
47 | 
48 | void RecastDebugDraw::debugDrawContours(duDebugDraw *dd, const rcContourSet &cset, const float alpha = 1.0f)
49 | {
50 |     duDebugDrawContours(dd, cset, alpha);
51 | }
52 | 
53 | void RecastDebugDraw::debugDrawPolyMesh(duDebugDraw *dd, const rcPolyMesh &mesh)
54 | {
55 |     duDebugDrawPolyMesh(dd, mesh);
56 | }
57 | 
58 | void RecastDebugDraw::debugDrawPolyMeshDetail(duDebugDraw *dd, const rcPolyMeshDetail &dmesh)
59 | {
60 |     duDebugDrawPolyMeshDetail(dd, dmesh);
61 | }
62 | 


--------------------------------------------------------------------------------
/packages/recast-navigation-wasm/src/DebugDraw/RecastDebugDraw.h:
--------------------------------------------------------------------------------
 1 | #pragma once
 2 | 
 3 | #include "../../recastnavigation/DebugUtils/Include/DebugDraw.h"
 4 | #include "../../recastnavigation/DebugUtils/Include/RecastDebugDraw.h"
 5 | 
 6 | class RecastDebugDraw
 7 | {
 8 | public:
 9 |     void debugDrawHeightfieldSolid(duDebugDraw *dd, const rcHeightfield &hf);
10 |     void debugDrawHeightfieldWalkable(duDebugDraw *dd, const rcHeightfield &hf);
11 |     void debugDrawCompactHeightfieldSolid(duDebugDraw *dd, const rcCompactHeightfield &chf);
12 |     void debugDrawCompactHeightfieldRegions(duDebugDraw *dd, const rcCompactHeightfield &chf);
13 |     void debugDrawCompactHeightfieldDistance(duDebugDraw *dd, const rcCompactHeightfield &chf);
14 |     void debugDrawHeightfieldLayer(duDebugDraw *dd, const rcHeightfieldLayer &layer, const int idx);
15 |     void debugDrawHeightfieldLayers(duDebugDraw *dd, const rcHeightfieldLayerSet &lset);
16 |     void debugDrawRegionConnections(duDebugDraw *dd, const rcContourSet &cset, const float alpha);
17 |     void debugDrawRawContours(duDebugDraw *dd, const rcContourSet &cset, const float alpha);
18 |     void debugDrawContours(duDebugDraw *dd, const rcContourSet &cset, const float alpha);
19 |     void debugDrawPolyMesh(duDebugDraw *dd, const rcPolyMesh &mesh);
20 |     void debugDrawPolyMeshDetail(duDebugDraw *dd, const rcPolyMeshDetail &dmesh);
21 | };
22 | 


--------------------------------------------------------------------------------
/packages/recast-navigation-wasm/src/Detour.cpp:
--------------------------------------------------------------------------------
 1 | #include "./Detour.h"
 2 | 
 3 | void DetourNavMeshBuilder::setPolyMeshCreateParams(dtNavMeshCreateParams *navMeshCreateParams, rcPolyMesh *polyMesh)
 4 | {
 5 |     navMeshCreateParams->verts = polyMesh->verts;
 6 |     navMeshCreateParams->vertCount = polyMesh->nverts;
 7 |     navMeshCreateParams->polys = polyMesh->polys;
 8 |     navMeshCreateParams->polyAreas = polyMesh->areas;
 9 |     navMeshCreateParams->polyFlags = polyMesh->flags;
10 |     navMeshCreateParams->polyCount = polyMesh->npolys;
11 |     navMeshCreateParams->nvp = polyMesh->nvp;
12 | 
13 |     rcVcopy(navMeshCreateParams->bmin, polyMesh->bmin);
14 |     rcVcopy(navMeshCreateParams->bmax, polyMesh->bmax);
15 | }
16 | 
17 | void DetourNavMeshBuilder::setPolyMeshDetailCreateParams(dtNavMeshCreateParams *navMeshCreateParams, rcPolyMeshDetail *polyMeshDetail)
18 | {
19 |     navMeshCreateParams->detailMeshes = polyMeshDetail->meshes;
20 |     navMeshCreateParams->detailVerts = polyMeshDetail->verts;
21 |     navMeshCreateParams->detailVertsCount = polyMeshDetail->nverts;
22 |     navMeshCreateParams->detailTris = polyMeshDetail->tris;
23 |     navMeshCreateParams->detailTriCount = polyMeshDetail->ntris;
24 | }
25 | 
26 | void DetourNavMeshBuilder::setOffMeshConnections(dtNavMeshCreateParams *navMeshCreateParams, int offMeshConCount, float *offMeshConVerts, float *offMeshConRad, unsigned char *offMeshConDirs, unsigned char *offMeshConAreas, unsigned short *offMeshConFlags, unsigned int *offMeshConUserId)
27 | {
28 |     int n = offMeshConCount;
29 | 
30 |     float *verts = new float[n * 3 * 2];
31 |     memcpy(verts, offMeshConVerts, sizeof(float) * offMeshConCount * 3 * 2);
32 | 
33 |     float *rads = new float[n];
34 |     memcpy(rads, offMeshConRad, sizeof(float) * n);
35 | 
36 |     unsigned char *dirs = new unsigned char[n];
37 |     memcpy(dirs, offMeshConDirs, sizeof(unsigned char) * n);
38 | 
39 |     unsigned char *areas = new unsigned char[n];
40 |     memcpy(areas, offMeshConAreas, sizeof(unsigned char) * n);
41 | 
42 |     unsigned short *flags = new unsigned short[n];
43 |     memcpy(flags, offMeshConFlags, sizeof(unsigned short) * n);
44 | 
45 |     unsigned int *userIds = new unsigned int[n];
46 |     memcpy(userIds, offMeshConUserId, sizeof(unsigned int) * n);
47 | 
48 |     navMeshCreateParams->offMeshConCount = offMeshConCount;
49 |     navMeshCreateParams->offMeshConVerts = verts;
50 |     navMeshCreateParams->offMeshConRad = rads;
51 |     navMeshCreateParams->offMeshConDir = dirs;
52 |     navMeshCreateParams->offMeshConAreas = areas;
53 |     navMeshCreateParams->offMeshConFlags = flags;
54 |     navMeshCreateParams->offMeshConUserID = userIds;
55 | }
56 | 
57 | CreateNavMeshDataResult *DetourNavMeshBuilder::createNavMeshData(dtNavMeshCreateParams ¶ms)
58 | {
59 |     CreateNavMeshDataResult *result = new CreateNavMeshDataResult;
60 | 
61 |     UnsignedCharArray *navMeshData = new UnsignedCharArray;
62 |     result->navMeshData = navMeshData;
63 | 
64 |     if (!dtCreateNavMeshData(¶ms, &navMeshData->data, &navMeshData->size))
65 |     {
66 |         result->success = false;
67 |         delete navMeshData;
68 |         result->navMeshData = nullptr;
69 |     }
70 |     else
71 |     {
72 |         result->success = true;
73 |     }
74 | 
75 |     return result;
76 | }
77 | 
78 | int DetourTileCacheBuilder::buildTileCacheLayer(
79 |     dtTileCacheCompressor *comp,
80 |     dtTileCacheLayerHeader *header,
81 |     const UnsignedCharArray *heights,
82 |     const UnsignedCharArray *areas,
83 |     const UnsignedCharArray *cons,
84 |     UnsignedCharArray *tileCacheData)
85 | {
86 |     return dtBuildTileCacheLayer(comp, header, heights->data, areas->data, cons->data, &tileCacheData->data, &tileCacheData->size);
87 | }
88 | 


--------------------------------------------------------------------------------
/packages/recast-navigation-wasm/src/Detour.h:
--------------------------------------------------------------------------------
  1 | #pragma once
  2 | 
  3 | #include "../recastnavigation/Recast/Include/Recast.h"
  4 | #include "../recastnavigation/Detour/Include/DetourStatus.h"
  5 | #include "../recastnavigation/Detour/Include/DetourNavMeshBuilder.h"
  6 | #include "../recastnavigation/DetourCrowd/Include/DetourCrowd.h"
  7 | #include "../recastnavigation/DetourTileCache/Include/DetourTileCacheBuilder.h"
  8 | #include "./Arrays.h"
  9 | 
 10 | class Detour
 11 | {
 12 | public:
 13 |     int FAILURE = DT_FAILURE;
 14 |     int SUCCESS = DT_SUCCESS;
 15 |     int IN_PROGRESS = DT_IN_PROGRESS;
 16 |     int STATUS_DETAIL_MASK = DT_STATUS_DETAIL_MASK;
 17 |     int WRONG_MAGIC = DT_WRONG_MAGIC;
 18 |     int WRONG_VERSION = DT_WRONG_VERSION;
 19 |     int OUT_OF_MEMORY = DT_OUT_OF_MEMORY;
 20 |     int INVALID_PARAM = DT_INVALID_PARAM;
 21 |     int BUFFER_TOO_SMALL = DT_BUFFER_TOO_SMALL;
 22 |     int OUT_OF_NODES = DT_OUT_OF_NODES;
 23 |     int PARTIAL_RESULT = DT_PARTIAL_RESULT;
 24 |     int ALREADY_OCCUPIED = DT_ALREADY_OCCUPIED;
 25 | 
 26 |     int VERTS_PER_POLYGON = DT_VERTS_PER_POLYGON;
 27 |     int NAVMESH_MAGIC = DT_NAVMESH_MAGIC;
 28 |     int NAVMESH_VERSION = DT_NAVMESH_VERSION;
 29 |     int NAVMESH_STATE_MAGIC = DT_NAVMESH_STATE_MAGIC;
 30 |     int NAVMESH_STATE_VERSION = DT_NAVMESH_STATE_VERSION;
 31 | 
 32 |     int TILECACHE_MAGIC = DT_TILECACHE_MAGIC;
 33 |     int TILECACHE_VERSION = DT_TILECACHE_VERSION;
 34 |     unsigned char TILECACHE_NULL_AREA = DT_TILECACHE_NULL_AREA;
 35 |     unsigned char TILECACHE_WALKABLE_AREA = DT_TILECACHE_WALKABLE_AREA;
 36 |     unsigned short TILECACHE_NULL_IDX = DT_TILECACHE_NULL_IDX;
 37 | 
 38 |     unsigned int NULL_LINK = DT_NULL_LINK;
 39 |     unsigned short EXT_LINK = DT_EXT_LINK;
 40 |     unsigned int OFFMESH_CON_BIDIR = DT_OFFMESH_CON_BIDIR;
 41 | 
 42 |     bool statusSucceed(dtStatus status)
 43 |     {
 44 |         return dtStatusSucceed(status);
 45 |     }
 46 | 
 47 |     bool statusFailed(dtStatus status)
 48 |     {
 49 |         return dtStatusFailed(status);
 50 |     }
 51 | 
 52 |     bool statusInProgress(dtStatus status)
 53 |     {
 54 |         return dtStatusInProgress(status);
 55 |     }
 56 | 
 57 |     bool statusDetail(dtStatus status, unsigned int detail)
 58 |     {
 59 |         return dtStatusDetail(status, detail);
 60 |     }
 61 | 
 62 |     dtCrowd *allocCrowd()
 63 |     {
 64 |         return dtAllocCrowd();
 65 |     }
 66 | 
 67 |     void freeCrowd(dtCrowd *crowd)
 68 |     {
 69 |         dtFreeCrowd(crowd);
 70 |     }
 71 | };
 72 | 
 73 | struct CreateNavMeshDataResult
 74 | {
 75 |     bool success;
 76 |     UnsignedCharArray *navMeshData;
 77 | };
 78 | 
 79 | class DetourNavMeshBuilder
 80 | {
 81 | public:
 82 |     void setPolyMeshCreateParams(dtNavMeshCreateParams *navMeshCreateParams, rcPolyMesh *polyMesh);
 83 | 
 84 |     void setPolyMeshDetailCreateParams(dtNavMeshCreateParams *navMeshCreateParams, rcPolyMeshDetail *polyMeshDetail);
 85 | 
 86 |     void setOffMeshConnections(dtNavMeshCreateParams *navMeshCreateParams, int offMeshConCount, float *offMeshConVerts, float *offMeshConRad, unsigned char *offMeshConDirs, unsigned char *offMeshConAreas, unsigned short *offMeshConFlags, unsigned int *offMeshConUserId);
 87 | 
 88 |     CreateNavMeshDataResult *createNavMeshData(dtNavMeshCreateParams ¶ms);
 89 | };
 90 | 
 91 | class DetourTileCacheBuilder
 92 | {
 93 | public:
 94 |     int buildTileCacheLayer(
 95 |         dtTileCacheCompressor *comp,
 96 |         dtTileCacheLayerHeader *header,
 97 |         const UnsignedCharArray *heights,
 98 |         const UnsignedCharArray *areas,
 99 |         const UnsignedCharArray *cons,
100 |         UnsignedCharArray *tileCacheData);
101 | };
102 | 


--------------------------------------------------------------------------------
/packages/recast-navigation-wasm/src/NavMesh.h:
--------------------------------------------------------------------------------
  1 | #pragma once
  2 | 
  3 | #include "../recastnavigation/Recast/Include/Recast.h"
  4 | #include "../recastnavigation/Detour/Include/DetourStatus.h"
  5 | #include "../recastnavigation/Detour/Include/DetourNavMesh.h"
  6 | #include "../recastnavigation/Detour/Include/DetourCommon.h"
  7 | #include "./Refs.h"
  8 | #include "./Arrays.h"
  9 | #include "./Vec.h"
 10 | 
 11 | struct NavMeshRemoveTileResult
 12 | {
 13 |     unsigned int status;
 14 |     unsigned char *data;
 15 |     int dataSize;
 16 | };
 17 | 
 18 | struct NavMeshCalcTileLocResult
 19 | {
 20 |     int tileX;
 21 |     int tileY;
 22 | };
 23 | 
 24 | struct NavMeshGetTilesAtResult
 25 | {
 26 |     const dtMeshTile *tiles;
 27 |     int tileCount;
 28 | };
 29 | 
 30 | struct NavMeshGetTileAndPolyByRefResult
 31 | {
 32 |     dtStatus status;
 33 |     const dtMeshTile *tile;
 34 |     const dtPoly *poly;
 35 | };
 36 | 
 37 | struct NavMeshStoreTileStateResult
 38 | {
 39 |     dtStatus status;
 40 |     unsigned char *data;
 41 |     int dataSize;
 42 | };
 43 | 
 44 | class NavMesh
 45 | {
 46 | public:
 47 |     dtNavMesh *m_navMesh;
 48 | 
 49 |     NavMesh()
 50 |     {
 51 |         m_navMesh = dtAllocNavMesh();
 52 |     }
 53 | 
 54 |     NavMesh(dtNavMesh *navMesh)
 55 |     {
 56 |         m_navMesh = navMesh;
 57 |     }
 58 | 
 59 |     bool initSolo(UnsignedCharArray *navMeshData);
 60 | 
 61 |     bool initTiled(const dtNavMeshParams *params);
 62 | 
 63 |     dtStatus addTile(UnsignedCharArray *navMeshData, int flags, dtTileRef lastRef, UnsignedIntRef *tileRef);
 64 | 
 65 |     NavMeshRemoveTileResult removeTile(dtTileRef ref);
 66 | 
 67 |     dtNavMesh *getNavMesh()
 68 |     {
 69 |         return m_navMesh;
 70 |     }
 71 | 
 72 |     NavMeshCalcTileLocResult calcTileLoc(const float *pos) const;
 73 | 
 74 |     void decodePolyId(dtPolyRef ref, UnsignedIntRef *salt, UnsignedIntRef *it, UnsignedIntRef *ip);
 75 | 
 76 |     dtPolyRef encodePolyId(unsigned int salt, unsigned int it, unsigned ip);
 77 | 
 78 |     const dtMeshTile *getTileAt(const int tx, const int ty, const int tlayer) const;
 79 | 
 80 |     NavMeshGetTilesAtResult getTilesAt(const int x, const int y, const int maxTiles) const;
 81 | 
 82 |     dtTileRef getTileRefAt(int x, int y, int layer) const;
 83 | 
 84 |     dtTileRef getTileRef(const dtMeshTile *tile) const;
 85 | 
 86 |     const dtMeshTile *getTileByRef(dtTileRef ref) const;
 87 | 
 88 |     int getMaxTiles() const;
 89 | 
 90 |     const dtMeshTile *getTile(int i) const;
 91 | 
 92 |     NavMeshGetTileAndPolyByRefResult getTileAndPolyByRef(const dtPolyRef ref) const;
 93 | 
 94 |     NavMeshGetTileAndPolyByRefResult getTileAndPolyByRefUnsafe(const dtPolyRef ref) const;
 95 | 
 96 |     bool isValidPolyRef(dtPolyRef ref) const;
 97 | 
 98 |     dtPolyRef getPolyRefBase(const dtMeshTile *tile) const;
 99 | 
100 |     dtStatus getOffMeshConnectionPolyEndPoints(dtPolyRef prevRef, dtPolyRef polyRef, Vec3 *startPos, Vec3 *endPos) const;
101 | 
102 |     const dtOffMeshConnection *getOffMeshConnectionByRef(dtPolyRef ref) const;
103 | 
104 |     dtStatus setPolyFlags(dtPolyRef ref, unsigned short flags);
105 | 
106 |     dtStatus getPolyFlags(dtPolyRef ref, UnsignedShortRef *flags) const;
107 | 
108 |     dtStatus setPolyArea(dtPolyRef ref, unsigned char area);
109 | 
110 |     dtStatus getPolyArea(dtPolyRef ref, UnsignedCharRef *area) const;
111 | 
112 |     int getTileStateSize(const dtMeshTile *tile) const;
113 | 
114 |     NavMeshStoreTileStateResult storeTileState(const dtMeshTile *tile, const int maxDataSize) const;
115 | 
116 |     dtStatus restoreTileState(dtMeshTile *tile, const unsigned char *data, const int maxDataSize);
117 | 
118 |     void destroy();
119 | };
120 | 


--------------------------------------------------------------------------------
/packages/recast-navigation-wasm/src/NavMeshQuery.h:
--------------------------------------------------------------------------------
 1 | #pragma once
 2 | 
 3 | #include "../recastnavigation/Recast/Include/Recast.h"
 4 | #include "../recastnavigation/Detour/Include/DetourStatus.h"
 5 | #include "../recastnavigation/Detour/Include/DetourCommon.h"
 6 | #include "../recastnavigation/Detour/Include/DetourNavMeshQuery.h"
 7 | #include "./Refs.h"
 8 | #include "./Arrays.h"
 9 | #include "./Vec.h"
10 | #include "./NavMesh.h"
11 | 
12 | class FastRand
13 | {
14 | public:
15 |     static inline int seed = 1337;
16 | 
17 |     static inline int fastrand()
18 |     {
19 |         seed = (214013 * seed + 2531011);
20 |         return (seed >> 16) & 0x7FFF;
21 |     }
22 | 
23 |     static inline float r01()
24 |     {
25 |         return fastrand() / 32767.0f;
26 |     }
27 | 
28 |     static int getSeed()
29 |     {
30 |         return seed;
31 |     }
32 | 
33 |     static void setSeed(int newSeed)
34 |     {
35 |         seed = newSeed;
36 |     }
37 | };
38 | 
39 | class NavMeshQuery
40 | {
41 | public:
42 |     dtNavMeshQuery *m_navQuery;
43 | 
44 |     NavMeshQuery();
45 | 
46 |     NavMeshQuery(dtNavMeshQuery *navMeshQuery);
47 | 
48 |     dtStatus init(NavMesh *navMesh, const int maxNodes);
49 | 
50 |     dtStatus findPath(dtPolyRef startRef, dtPolyRef endRef, const float *startPos, const float *endPos, const dtQueryFilter *filter, UnsignedIntArray *path, int maxPath);
51 | 
52 |     dtStatus closestPointOnPoly(dtPolyRef ref, const float *pos, Vec3 *closest, BoolRef *posOverPoly);
53 | 
54 |     dtStatus findClosestPoint(const float *position, const float *halfExtents, const dtQueryFilter *filter, UnsignedIntRef *resultPolyRef, Vec3 *resultPoint, BoolRef *resultPosOverPoly);
55 | 
56 |     dtStatus findStraightPath(
57 |         const float *startPos,
58 |         const float *endPos,
59 |         UnsignedIntArray *path,
60 |         FloatArray *straightPath,
61 |         UnsignedCharArray *straightPathFlags,
62 |         UnsignedIntArray *straightPathRefs,
63 |         IntRef *straightPathCount,
64 |         const int maxStraightPath,
65 |         const int options);
66 | 
67 |     dtStatus findNearestPoly(const float *center, const float *halfExtents, const dtQueryFilter *filter, UnsignedIntRef *nearestRef, Vec3 *nearestPt, BoolRef *isOverPoly);
68 | 
69 |     dtStatus findPolysAroundCircle(dtPolyRef startRef, const float *centerPos, const float radius, const dtQueryFilter *filter, UnsignedIntArray *resultRef, UnsignedIntArray *resultParent, FloatArray *resultCost, IntRef *resultCount, const int maxResult);
70 | 
71 |     dtStatus queryPolygons(const float *center, const float *halfExtents, const dtQueryFilter *filter, UnsignedIntArray *polys, IntRef *polyCount, const int maxPolys);
72 | 
73 |     dtStatus raycast(dtPolyRef startRef, const float *startPos, const float *endPos, const dtQueryFilter *filter, const unsigned int options, dtRaycastHit *hit, dtPolyRef prevRef);
74 | 
75 |     dtStatus findRandomPointAroundCircle(dtPolyRef startRef, const float *centerPos, const float radius, const dtQueryFilter *filter, UnsignedIntRef *resultRandomRef, Vec3 *resultRandomPoint);
76 | 
77 |     dtStatus moveAlongSurface(dtPolyRef startRef, const float *startPos, const float *endPos, const dtQueryFilter *filter, Vec3 *resultPos, UnsignedIntArray *visited, int maxVisitedSize);
78 | 
79 |     dtStatus findRandomPoint(const dtQueryFilter *filter, UnsignedIntRef *resultRandomRef, Vec3 *resultRandomPoint);
80 | 
81 |     dtStatus getPolyHeight(dtPolyRef ref, const float *pos, FloatRef *height);
82 | 
83 |     void destroy();
84 | };
85 | 


--------------------------------------------------------------------------------
/packages/recast-navigation-wasm/src/NavMeshSerdes.h:
--------------------------------------------------------------------------------
 1 | #pragma once
 2 | 
 3 | #include "../recastnavigation/Recast/Include/Recast.h"
 4 | #include "../recastnavigation/Detour/Include/DetourStatus.h"
 5 | #include "../recastnavigation/Detour/Include/DetourNavMesh.h"
 6 | #include "../recastnavigation/Detour/Include/DetourCommon.h"
 7 | #include "../recastnavigation/Detour/Include/DetourNavMeshBuilder.h"
 8 | #include "../recastnavigation/DetourTileCache/Include/DetourTileCache.h"
 9 | #include "./Refs.h"
10 | #include "./NavMesh.h"
11 | #include "./TileCache.h"
12 | 
13 | struct NavMeshExport
14 | {
15 |     void *dataPointer;
16 |     int size;
17 | };
18 | 
19 | class NavMeshExporter
20 | {
21 | public:
22 |     NavMeshExporter() {}
23 | 
24 |     NavMeshExport exportNavMesh(NavMesh *navMesh, TileCache *tileCache) const;
25 |     void freeNavMeshExport(NavMeshExport *navMeshExport);
26 | };
27 | 
28 | struct NavMeshImporterResult
29 | {
30 |     bool success;
31 |     NavMesh *navMesh;
32 |     TileCache *tileCache;
33 |     RecastLinearAllocator *allocator;
34 |     RecastFastLZCompressor *compressor;
35 | };
36 | 
37 | class NavMeshImporter
38 | {
39 | public:
40 |     NavMeshImporter() {}
41 | 
42 |     NavMeshImporterResult importNavMesh(NavMeshExport *navMeshExport, TileCacheMeshProcessJsImpl &meshProcess);
43 | };
44 | 


--------------------------------------------------------------------------------
/packages/recast-navigation-wasm/src/Refs.h:
--------------------------------------------------------------------------------
 1 | #pragma once
 2 | 
 3 | class BoolRef
 4 | {
 5 | public:
 6 |     bool value;
 7 | 
 8 |     BoolRef() {}
 9 |     ~BoolRef() {}
10 | };
11 | 
12 | class IntRef
13 | {
14 | public:
15 |     int value;
16 | 
17 |     IntRef() {}
18 |     ~IntRef() {}
19 | };
20 | 
21 | class UnsignedIntRef
22 | {
23 | public:
24 |     unsigned int value;
25 | 
26 |     UnsignedIntRef() {}
27 |     ~UnsignedIntRef() {}
28 | };
29 | 
30 | class UnsignedCharRef
31 | {
32 | public:
33 |     unsigned char value;
34 | 
35 |     UnsignedCharRef() {}
36 |     ~UnsignedCharRef() {}
37 | };
38 | 
39 | class UnsignedShortRef
40 | {
41 | public:
42 |     unsigned short value;
43 | 
44 |     UnsignedShortRef() {}
45 |     ~UnsignedShortRef() {}
46 | };
47 | 
48 | struct FloatRef
49 | {
50 |     float value;
51 | 
52 |     FloatRef() {}
53 |     ~FloatRef() {}
54 | };
55 | 


--------------------------------------------------------------------------------
/packages/recast-navigation-wasm/src/TileCache.cpp:
--------------------------------------------------------------------------------
  1 | #include "./TileCache.h"
  2 | 
  3 | bool TileCache::init(const dtTileCacheParams *params, RecastLinearAllocator *allocator, RecastFastLZCompressor *compressor, TileCacheMeshProcessJsImpl &meshProcess)
  4 | {
  5 |     if (!m_tileCache)
  6 |     {
  7 |         return false;
  8 |     }
  9 | 
 10 |     TileCacheMeshProcessWrapper *recastMeshProcess = new TileCacheMeshProcessWrapper(meshProcess);
 11 | 
 12 |     dtStatus status = m_tileCache->init(params, allocator, compressor, recastMeshProcess);
 13 |     if (dtStatusFailed(status))
 14 |     {
 15 |         return false;
 16 |     }
 17 | 
 18 |     m_talloc = allocator;
 19 |     m_tcomp = compressor;
 20 |     m_tmproc = recastMeshProcess;
 21 | 
 22 |     return true;
 23 | };
 24 | 
 25 | TileCacheAddTileResult TileCache::addTile(UnsignedCharArray *tileCacheData, unsigned char flags)
 26 | {
 27 |     TileCacheAddTileResult result;
 28 | 
 29 |     result.status = m_tileCache->addTile(tileCacheData->data, tileCacheData->size, flags, &result.tileRef);
 30 | 
 31 |     return result;
 32 | }
 33 | 
 34 | dtStatus TileCache::buildNavMeshTile(const dtCompressedTileRef *ref, NavMesh *navMesh)
 35 | {
 36 |     return m_tileCache->buildNavMeshTile(*ref, navMesh->getNavMesh());
 37 | };
 38 | 
 39 | dtStatus TileCache::buildNavMeshTilesAt(const int tx, const int ty, NavMesh *navMesh)
 40 | {
 41 |     return m_tileCache->buildNavMeshTilesAt(tx, ty, navMesh->getNavMesh());
 42 | };
 43 | 
 44 | TileCacheUpdateResult TileCache::update(NavMesh *navMesh)
 45 | {
 46 |     TileCacheUpdateResult result;
 47 | 
 48 |     result.status = m_tileCache->update(0, navMesh->getNavMesh(), &result.upToDate);
 49 | 
 50 |     return result;
 51 | }
 52 | 
 53 | TileCacheAddObstacleResult TileCache::addCylinderObstacle(const Vec3 &position, float radius, float height)
 54 | {
 55 |     dtObstacleRef ref(-1);
 56 | 
 57 |     TileCacheAddObstacleResult result;
 58 | 
 59 |     if (!m_tileCache)
 60 |     {
 61 |         result.status = DT_FAILURE;
 62 |         return result;
 63 |     }
 64 | 
 65 |     result.status = m_tileCache->addObstacle(&position.x, radius, height, &ref);
 66 |     
 67 |     m_obstacles.push_back(ref);
 68 | 
 69 |     result.ref = &m_obstacles.back();
 70 | 
 71 |     return result;
 72 | }
 73 | 
 74 | TileCacheAddObstacleResult TileCache::addBoxObstacle(const Vec3 &position, const Vec3 &extent, float angle)
 75 | {
 76 |     dtObstacleRef ref(-1);
 77 | 
 78 |     TileCacheAddObstacleResult result;
 79 | 
 80 |     if (!m_tileCache)
 81 |     {
 82 |         result.status = DT_FAILURE; 
 83 |         return result;
 84 |     }
 85 | 
 86 |     result.status = m_tileCache->addBoxObstacle(&position.x, &extent.x, angle, &ref);
 87 | 
 88 |     m_obstacles.push_back(ref);
 89 | 
 90 |     result.ref = &m_obstacles.back();
 91 | 
 92 |     return result;
 93 | }
 94 | 
 95 | dtStatus TileCache::removeObstacle(dtObstacleRef *obstacle)
 96 | {
 97 |     if (!m_tileCache || !obstacle || *obstacle == -1)
 98 |     {
 99 |         return DT_FAILURE;
100 |     }
101 | 
102 |     dtStatus status = m_tileCache->removeObstacle(*obstacle);
103 | 
104 |     auto iter = std::find(m_obstacles.begin(), m_obstacles.end(), *obstacle);
105 |     if (iter != m_obstacles.end())
106 |     {
107 |         m_obstacles.erase(iter);
108 |     }
109 | 
110 |     return status;
111 | }
112 | 
113 | void TileCache::destroy()
114 | {
115 |     if (m_tileCache)
116 |     {
117 |         dtFreeTileCache(m_tileCache);
118 |     }
119 | 
120 |     m_talloc->reset();
121 |     m_talloc = 0;
122 |     m_tcomp = 0;
123 |     m_tmproc = 0;
124 | }
125 | 


--------------------------------------------------------------------------------
/packages/recast-navigation-wasm/src/Vec.h:
--------------------------------------------------------------------------------
 1 | #pragma once
 2 | 
 3 | #include 
 4 | 
 5 | class Vec3
 6 | {
 7 | public:
 8 |     float x, y, z;
 9 | 
10 |     Vec3() {}
11 |     Vec3(float v) : x(v), y(v), z(v) {}
12 |     Vec3(float x, float y, float z) : x(x), y(y), z(z) {}
13 | };
14 | 


--------------------------------------------------------------------------------
/packages/recast-navigation-wasm/src/recast-navigation.h:
--------------------------------------------------------------------------------
 1 | #pragma once
 2 | 
 3 | #include "./Arrays.h"
 4 | #include "./Refs.h"
 5 | #include "./Vec.h"
 6 | #include "./TileCache.h"
 7 | #include "./NavMesh.h"
 8 | #include "./NavMeshQuery.h"
 9 | #include "./Crowd.h"
10 | #include "./NavMeshSerdes.h"
11 | #include "./Recast.h"
12 | #include "./Detour.h"
13 | #include "./ChunkyTriMesh.h"
14 | #include "./DebugDraw/DebugDraw.h"
15 | #include "./DebugDraw/RecastDebugDraw.h"
16 | #include "./DebugDraw/DetourDebugDraw.h"
17 | 


--------------------------------------------------------------------------------
/packages/recast-navigation/.gitignore:
--------------------------------------------------------------------------------
 1 | index.mjs
 2 | index.mjs.map
 3 | index.d.ts
 4 | 
 5 | generators.mjs
 6 | generators.mjs.map
 7 | generators.d.ts
 8 | 
 9 | three.mjs
10 | three.mjs.map
11 | three.d.ts
12 | 
13 | storybook-static
14 | 


--------------------------------------------------------------------------------
/packages/recast-navigation/.prettierrc.json:
--------------------------------------------------------------------------------
1 | {
2 |   "trailingComma": "es5",
3 |   "tabWidth": 2,
4 |   "semi": true,
5 |   "singleQuote": true
6 | }
7 | 


--------------------------------------------------------------------------------
/packages/recast-navigation/.storybook/common/agent-path.tsx:
--------------------------------------------------------------------------------
 1 | import { Line } from '@react-three/drei';
 2 | import { CrowdAgent } from '@recast-navigation/core';
 3 | import React, { useEffect, useState } from 'react';
 4 | import * as THREE from 'three';
 5 | 
 6 | export type AgentPathProps = {
 7 |   agent?: CrowdAgent;
 8 |   target?: THREE.Vector3;
 9 | };
10 | 
11 | export const AgentPath = ({ agent, target }: AgentPathProps) => {
12 |   const [agentPath, setAgentPath] = useState<
13 |     THREE.Vector3Tuple[] | undefined
14 |   >();
15 | 
16 |   useEffect(() => {
17 |     if (!agent) return;
18 | 
19 |     if (!target) {
20 |       setAgentPath(undefined);
21 |       return;
22 |     }
23 | 
24 |     const interval = setInterval(() => {
25 |       const path = [agent.position(), ...agent.corners()];
26 | 
27 |       if (path.length) {
28 |         setAgentPath(path.map((p) => [p.x, p.y + 0.1, p.z]));
29 |       } else {
30 |         setAgentPath(undefined);
31 |       }
32 |     }, 200);
33 | 
34 |     return () => {
35 |       clearInterval(interval);
36 |     };
37 |   }, [agent, target]);
38 | 
39 |   return (
40 |     <>
41 |       {agentPath && }
42 | 
43 |       {target && (
44 |         
45 |           
46 |             
47 |             
48 |           
49 |         
50 |       )}
51 |     
52 |   );
53 | };
54 | 


--------------------------------------------------------------------------------
/packages/recast-navigation/.storybook/common/debug.tsx:
--------------------------------------------------------------------------------
 1 | import { useFrame } from '@react-three/fiber';
 2 | import { Crowd, NavMesh, TileCache } from '@recast-navigation/core';
 3 | import {
 4 |   CrowdHelper,
 5 |   DebugDrawer,
 6 |   TileCacheHelper,
 7 | } from '@recast-navigation/three';
 8 | import React, { useEffect, useMemo } from 'react';
 9 | import { Material } from 'three';
10 | 
11 | export type DebugProps = {
12 |   autoUpdate?: boolean;
13 |   navMesh?: NavMesh;
14 |   tileCache?: TileCache;
15 |   obstacleMaterial?: Material;
16 |   crowd?: Crowd;
17 |   agentMaterial?: Material;
18 | };
19 | 
20 | export const Debug = ({
21 |   autoUpdate,
22 |   navMesh,
23 |   tileCache,
24 |   obstacleMaterial,
25 |   crowd,
26 |   agentMaterial,
27 | }: DebugProps) => {
28 |   const debugDrawer = useMemo(() => {
29 |     return new DebugDrawer();
30 |   }, []);
31 | 
32 |   const tileCacheHelper = useMemo(() => {
33 |     if (!tileCache) return null;
34 | 
35 |     return new TileCacheHelper(tileCache, {
36 |       obstacleMaterial,
37 |     });
38 |   }, [tileCache, obstacleMaterial]);
39 | 
40 |   const crowdHelper = useMemo(() => {
41 |     if (!crowd) return null;
42 | 
43 |     return new CrowdHelper(crowd, {
44 |       agentMaterial,
45 |     });
46 |   }, [crowd, agentMaterial]);
47 | 
48 |   useFrame(() => {
49 |     if (crowdHelper) {
50 |       crowdHelper.update();
51 |     }
52 |   });
53 | 
54 |   useEffect(() => {
55 |     if (!navMesh) return;
56 | 
57 |     const update = () => {
58 |       debugDrawer.clear();
59 |       debugDrawer.drawNavMeshPolysWithFlags(navMesh, 1, 0x0000ff);
60 |     };
61 | 
62 |     update();
63 | 
64 |     const interval = setInterval(() => {
65 |       update();
66 |     }, 1000);
67 | 
68 |     return () => {
69 |       clearInterval(interval);
70 |     };
71 |   }, [navMesh]);
72 | 
73 |   useEffect(() => {
74 |     if (!tileCacheHelper || !autoUpdate) return;
75 | 
76 |     const interval = setInterval(() => {
77 |       tileCacheHelper.update();
78 |     }, 100);
79 | 
80 |     return () => {
81 |       clearInterval(interval);
82 |     };
83 |   }, [tileCacheHelper]);
84 | 
85 |   return (
86 |     <>
87 |       {debugDrawer && }
88 | 
89 |       
90 |         {tileCacheHelper && }
91 |       
92 | 
93 |       {crowdHelper && }
94 |     
95 |   );
96 | };
97 | 


--------------------------------------------------------------------------------
/packages/recast-navigation/.storybook/common/dungeon-environment.tsx:
--------------------------------------------------------------------------------
 1 | import { useGLTF } from '@react-three/drei';
 2 | import React from 'react';
 3 | import { GLTF } from 'three-stdlib';
 4 | 
 5 | const assetUrl = 'dungeon.gltf';
 6 | 
 7 | export const DungeonEnvironment = () => {
 8 |   const gltf = useGLTF(assetUrl) as GLTF;
 9 | 
10 |   return ;
11 | };
12 | 
13 | useGLTF.preload(assetUrl);
14 | 


--------------------------------------------------------------------------------
/packages/recast-navigation/.storybook/common/nav-test-environment.tsx:
--------------------------------------------------------------------------------
 1 | import { useGLTF } from '@react-three/drei';
 2 | import type { ThreeElements } from '@react-three/fiber';
 3 | import React from 'react';
 4 | import { GLTF } from 'three-stdlib';
 5 | 
 6 | const assetUrl = 'nav_test.glb';
 7 | 
 8 | export const NavTestEnvironment = (props: Omit) => {
 9 |   const gltf = useGLTF(assetUrl) as GLTF;
10 | 
11 |   return ;
12 | };
13 | 
14 | useGLTF.preload(assetUrl);
15 | 


--------------------------------------------------------------------------------
/packages/recast-navigation/.storybook/common/use-nav-mesh-config.ts:
--------------------------------------------------------------------------------
 1 | import { useControls } from 'leva';
 2 | import { RecastConfig } from 'recast-navigation';
 3 | 
 4 | export const useNavMeshConfig = (
 5 |   prefix?: string,
 6 |   defaults?: Partial
 7 | ): Partial =>
 8 |   useControls(`${prefix ? prefix + '-' : ''}config`, {
 9 |     borderSize: {
10 |       value: defaults?.borderSize ?? 0,
11 |       label: 'Border Size',
12 |     },
13 |     tileSize: {
14 |       value: defaults?.tileSize ?? 0,
15 |       label: 'Tile Size',
16 |     },
17 |     cs: {
18 |       value: defaults?.cs ?? 0.2,
19 |       label: 'Cell Size',
20 |     },
21 |     ch: {
22 |       value: defaults?.ch ?? 0.2,
23 |       label: 'Cell Height',
24 |     },
25 |     walkableSlopeAngle: {
26 |       value: defaults?.walkableSlopeAngle ?? 60,
27 |       label: 'Walkable Slope Angle',
28 |     },
29 |     walkableHeight: {
30 |       value: defaults?.walkableHeight ?? 2,
31 |       label: 'Walkable Height',
32 |     },
33 |     walkableClimb: {
34 |       value: defaults?.walkableClimb ?? 2,
35 |       label: 'Walkable Climb',
36 |     },
37 |     walkableRadius: {
38 |       value: defaults?.walkableRadius ?? 0.2,
39 |       label: 'Walkable Radius',
40 |     },
41 |     maxEdgeLen: {
42 |       value: defaults?.maxEdgeLen ?? 12,
43 |       label: 'Max Edge Length',
44 |     },
45 |     maxSimplificationError: {
46 |       value: defaults?.maxSimplificationError ?? 1.3,
47 |       label: 'Max Simplification Error',
48 |     },
49 |     minRegionArea: {
50 |       value: defaults?.minRegionArea ?? 8,
51 |       label: 'Min Region Area',
52 |     },
53 |     mergeRegionArea: {
54 |       value: defaults?.mergeRegionArea ?? 20,
55 |       label: 'Merge Region Area',
56 |     },
57 |     maxVertsPerPoly: {
58 |       value: defaults?.maxVertsPerPoly ?? 6,
59 |       label: 'Max Verts Per Poly',
60 |     },
61 |     detailSampleDist: {
62 |       value: defaults?.detailSampleDist ?? 6,
63 |       label: 'Detail Sample Dist',
64 |     },
65 |     detailSampleMaxError: {
66 |       value: defaults?.detailSampleMaxError ?? 1,
67 |       label: 'Detail Sample Max Error',
68 |     },
69 |   });
70 | 


--------------------------------------------------------------------------------
/packages/recast-navigation/.storybook/decorators.tsx:
--------------------------------------------------------------------------------
 1 | import { Environment, Loader } from '@react-three/drei';
 2 | import { Canvas } from '@react-three/fiber';
 3 | import * as RecastNavigation from '@recast-navigation/core';
 4 | import { Leva } from 'leva';
 5 | import React, { Suspense } from 'react';
 6 | import { suspend } from 'suspend-react';
 7 | import tunnel from 'tunnel-rat'
 8 | 
 9 | export const htmlTunnel = tunnel();
10 | 
11 | const city = import('@pmndrs/assets/hdri/city.exr');
12 | 
13 | type SetupProps = {
14 |   children: React.ReactNode;
15 | };
16 | 
17 | const Setup = ({ children }: SetupProps) => {
18 |   return (
19 |     

20 |       
28 |         {children}
29 | 
30 |         
31 |       
32 |       
33 |       
34 |     

35 |   );
36 | };
37 | 
38 | export const decorators = [
39 |   (Story: () => JSX.Element) => {
40 |     suspend(async () => {
41 |       await RecastNavigation.init()
42 | 
43 |       ;(window as any).RecastNavigation = RecastNavigation
44 |     }, []);
45 | 
46 |     return ;
47 |   },
48 |   (Story: () => JSX.Element) => (
49 |     
50 |       
51 |     
52 |   ),
53 |   (Story: () => JSX.Element) => (
54 |     <>
55 |       
56 |       
63 |     
64 |   ),
65 | ];
66 | 


--------------------------------------------------------------------------------
/packages/recast-navigation/.storybook/main.ts:
--------------------------------------------------------------------------------
 1 | import { dirname, join, resolve } from 'path';
 2 | 
 3 | module.exports = {
 4 |   stories: ['./stories/**/*.mdx', './stories/**/*.stories.@(js|jsx|ts|tsx)'],
 5 |   addons: [
 6 |     getAbsolutePath('@storybook/addon-links'),
 7 |     getAbsolutePath('@storybook/addon-essentials'),
 8 |   ],
 9 |   framework: {
10 |     name: getAbsolutePath('@storybook/react-vite'),
11 |     options: {},
12 |   },
13 |   staticDirs: ['./public'],
14 |   docs: {
15 |     autodocs: false,
16 |   },
17 | };
18 | 
19 | /**
20 |  * This function is used to resolve the absolute path of a package.
21 |  * It is needed in projects that use Yarn PnP or are set up within a monorepo.
22 |  */
23 | function getAbsolutePath(value: string): any {
24 |   return dirname(require.resolve(join(value, 'package.json')));
25 | }
26 | 


--------------------------------------------------------------------------------
/packages/recast-navigation/.storybook/manager.ts:
--------------------------------------------------------------------------------
1 | import { addons } from '@storybook/manager-api';
2 | 
3 | addons.setConfig({
4 |   showPanel: false,
5 | });
6 | 


--------------------------------------------------------------------------------
/packages/recast-navigation/.storybook/parameters.ts:
--------------------------------------------------------------------------------
1 | export const parameters = {
2 |   options: {
3 |     showPanel: false,
4 |   },
5 | };
6 | 


--------------------------------------------------------------------------------
/packages/recast-navigation/.storybook/preview.ts:
--------------------------------------------------------------------------------
 1 | import './styles.css';
 2 | 
 3 | export const parameters = {
 4 |   controls: {
 5 |     matchers: {
 6 |       color: /(background|color)$/i,
 7 |       date: /Date$/,
 8 |     },
 9 |   },
10 |   options: {
11 |     storySort: {
12 |       method: 'alphabetical',
13 |       order: [
14 |         'Crowd',
15 |         'NavMeshQuery',
16 |         'NavMesh',
17 |         'TileCache',
18 |         'Utilities',
19 |         'External Use',
20 |         'Off Mesh Connections',
21 |         'Helpers',
22 |         'Advanced',
23 |         'Debug',
24 |       ],
25 |       locales: 'en-US',
26 |     },
27 |   },
28 | };
29 | 


--------------------------------------------------------------------------------
/packages/recast-navigation/.storybook/public/nav_test.glb:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/isaac-mason/recast-navigation-js/416da48186b9e95736c7e1555e40858c610d78b1/packages/recast-navigation/.storybook/public/nav_test.glb


--------------------------------------------------------------------------------
/packages/recast-navigation/.storybook/stories/advanced/flood-fill-pruning.stories.tsx:
--------------------------------------------------------------------------------
  1 | import { OrbitControls } from '@react-three/drei';
  2 | import { ThreeEvent } from '@react-three/fiber';
  3 | import { floodFillPruneNavMesh, NavMeshQuery } from '@recast-navigation/core';
  4 | import { DebugDrawer, threeToSoloNavMesh } from '@recast-navigation/three';
  5 | import React, { useEffect, useState } from 'react';
  6 | import * as THREE from 'three';
  7 | import { Group, Mesh } from 'three';
  8 | import { NavTestEnvironment } from '../../common/nav-test-environment';
  9 | import { decorators, htmlTunnel } from '../../decorators';
 10 | import { parameters } from '../../parameters';
 11 | 
 12 | export default {
 13 |   title: 'Advanced / Flood Fill Pruning',
 14 |   decorators,
 15 |   parameters,
 16 | };
 17 | 
 18 | export const FloodFillPruning = () => {
 19 |   const [group, setGroup] = useState(null);
 20 | 
 21 |   const [debug, setDebug] = useState();
 22 | 
 23 |   const [point, setPoint] = useState(
 24 |     new THREE.Vector3(0.8, 0.26, 3.3)
 25 |   );
 26 | 
 27 |   useEffect(() => {
 28 |     if (!group) return;
 29 | 
 30 |     const meshes: Mesh[] = [];
 31 | 
 32 |     group.traverse((child) => {
 33 |       if (child instanceof Mesh) {
 34 |         meshes.push(child);
 35 |       }
 36 |     });
 37 | 
 38 |     const agentRadius = 0.1;
 39 |     const cellSize = 0.05;
 40 | 
 41 |     const { success, navMesh } = threeToSoloNavMesh(meshes, {
 42 |       cs: cellSize,
 43 |       ch: 0.2,
 44 |       walkableRadius: Math.ceil(agentRadius / cellSize),
 45 |     });
 46 | 
 47 |     if (!success) return;
 48 | 
 49 |     const navMeshQuery = new NavMeshQuery(navMesh);
 50 | 
 51 |     const nearestPolyResult = navMeshQuery.findNearestPoly(point, {
 52 |       halfExtents: { x: 2, y: 2, z: 2 },
 53 |     });
 54 | 
 55 |     if (!nearestPolyResult.success) return;
 56 | 
 57 |     floodFillPruneNavMesh(navMesh, [nearestPolyResult.nearestRef]);
 58 | 
 59 |     /* debug draw */
 60 |     const debug = new DebugDrawer();
 61 | 
 62 |     debug.drawNavMeshPolysWithFlags(navMesh, 1, 0x0000ff);
 63 | 
 64 |     setDebug(debug);
 65 | 
 66 |     return () => {
 67 |       setDebug(undefined);
 68 | 
 69 |       debug.dispose();
 70 |       navMeshQuery.destroy();
 71 |       navMesh.destroy();
 72 |     };
 73 |   }, [group, point]);
 74 | 
 75 |   const onPointerDown = ({ point }: ThreeEvent) => {
 76 |     setPoint(new THREE.Vector3(point.x, point.y, point.z));
 77 |   };
 78 | 
 79 |   return (
 80 |     <>
 81 |       
 82 |         
 83 |       
 84 | 
 85 |       {debug && }
 86 | 
 87 |       
 88 | 
 89 |       
 90 |         

102 |           click to set flood fill start point
103 |         

104 |       
105 |     
106 |   );
107 | };
108 | 


--------------------------------------------------------------------------------
/packages/recast-navigation/.storybook/stories/crowd/multiple-agents.stories.tsx:
--------------------------------------------------------------------------------
  1 | import { OrbitControls } from '@react-three/drei';
  2 | import { ThreeEvent, useFrame } from '@react-three/fiber';
  3 | import { Crowd, NavMesh, NavMeshQuery } from '@recast-navigation/core';
  4 | import React, { useEffect, useState } from 'react';
  5 | import { threeToSoloNavMesh } from '@recast-navigation/three';
  6 | import { Group, Mesh, MeshStandardMaterial } from 'three';
  7 | import { Debug } from '../../common/debug';
  8 | import { NavTestEnvironment } from '../../common/nav-test-environment';
  9 | import { decorators } from '../../decorators';
 10 | import { parameters } from '../../parameters';
 11 | 
 12 | export default {
 13 |   title: 'Crowd / Crowd With Multiple Agents',
 14 |   decorators,
 15 |   parameters,
 16 | };
 17 | 
 18 | const agentMaterial = new MeshStandardMaterial({
 19 |   color: 'red',
 20 | });
 21 | 
 22 | export const CrowdWithMultipleAgents = () => {
 23 |   const [group, setGroup] = useState(null);
 24 | 
 25 |   const [navMesh, setNavMesh] = useState();
 26 |   const [navMeshQuery, setNavMeshQuery] = useState();
 27 |   const [crowd, setCrowd] = useState();
 28 | 
 29 |   useEffect(() => {
 30 |     if (!group) return;
 31 | 
 32 |     const meshes: Mesh[] = [];
 33 | 
 34 |     group.traverse((child) => {
 35 |       if (child instanceof Mesh) {
 36 |         meshes.push(child);
 37 |       }
 38 |     });
 39 | 
 40 |     const maxAgentRadius = 0.15;
 41 |     const cellSize = 0.05;
 42 | 
 43 |     const { success, navMesh } = threeToSoloNavMesh(meshes, {
 44 |       cs: cellSize,
 45 |       ch: 0.2,
 46 |       walkableRadius: Math.ceil(maxAgentRadius / cellSize),
 47 |     });
 48 | 
 49 |     if (!success) return;
 50 | 
 51 |     const navMeshQuery = new NavMeshQuery(navMesh);
 52 | 
 53 |     const crowd = new Crowd(navMesh, {
 54 |       maxAgents: 10,
 55 |       maxAgentRadius,
 56 |     });
 57 | 
 58 |     for (let i = 0; i < 10; i++) {
 59 |       const { randomPoint: position } =
 60 |         navMeshQuery.findRandomPointAroundCircle({ x: -2, y: 0, z: 3 }, 1);
 61 | 
 62 |       crowd.addAgent(position, {
 63 |         radius: 0.1 + Math.random() * 0.05,
 64 |         height: 0.5,
 65 |         maxAcceleration: 4.0,
 66 |         maxSpeed: 1.0,
 67 |         separationWeight: 1.0,
 68 |       });
 69 |     }
 70 | 
 71 |     setNavMesh(navMesh);
 72 |     setNavMeshQuery(navMeshQuery);
 73 |     setCrowd(crowd);
 74 | 
 75 |     return () => {
 76 |       navMeshQuery.destroy();
 77 |       crowd.destroy();
 78 |       navMesh.destroy();
 79 | 
 80 |       setNavMesh(undefined);
 81 |       setNavMeshQuery(undefined);
 82 |       setCrowd(undefined);
 83 |     };
 84 |   }, [group]);
 85 | 
 86 |   useFrame((_, delta) => {
 87 |     if (!crowd) return;
 88 | 
 89 |     const clampedDelta = Math.min(delta, 0.1);
 90 | 
 91 |     crowd.update(clampedDelta);
 92 |   });
 93 | 
 94 |   const onClick = (e: ThreeEvent) => {
 95 |     if (!navMesh || !navMeshQuery || !crowd) return;
 96 | 
 97 |     const { point: target } = navMeshQuery.findClosestPoint(e.point);
 98 | 
 99 |     for (const agent of crowd.getAgents()) {
100 |       agent.requestMoveTarget(target);
101 |     }
102 |   };
103 | 
104 |   return (
105 |     <>
106 |       
107 |         
108 |       
109 | 
110 |       
111 | 
112 |       
113 |     
114 |   );
115 | };
116 | 


--------------------------------------------------------------------------------
/packages/recast-navigation/.storybook/stories/nav-mesh-query/compute-path.stories.tsx:
--------------------------------------------------------------------------------
 1 | import { Line, OrbitControls } from '@react-three/drei';
 2 | import { NavMesh, NavMeshQuery } from '@recast-navigation/core';
 3 | import { threeToSoloNavMesh } from '@recast-navigation/three';
 4 | import React, { useEffect, useState } from 'react';
 5 | import { Group, Mesh, MeshBasicMaterial, Vector3Tuple } from 'three';
 6 | import { Debug } from '../../common/debug';
 7 | import { NavTestEnvironment } from '../../common/nav-test-environment';
 8 | import { decorators } from '../../decorators';
 9 | import { parameters } from '../../parameters';
10 | 
11 | export default {
12 |   title: 'NavMeshQuery / Compute Path',
13 |   decorators,
14 |   parameters,
15 | };
16 | 
17 | const navMeshMaterial = new MeshBasicMaterial({
18 |   wireframe: true,
19 |   color: 'red',
20 | });
21 | 
22 | export const ComputePath = () => {
23 |   const [group, setGroup] = useState(null);
24 | 
25 |   const [navMesh, setNavMesh] = useState();
26 |   const [path, setPath] = useState();
27 | 
28 |   useEffect(() => {
29 |     if (!group) return;
30 | 
31 |     const meshes: Mesh[] = [];
32 | 
33 |     group.traverse((child) => {
34 |       if (child instanceof Mesh) {
35 |         meshes.push(child);
36 |       }
37 |     });
38 | 
39 |     const { success, navMesh } = threeToSoloNavMesh(meshes, {
40 |       cs: 0.05,
41 |       ch: 0.2,
42 |     });
43 | 
44 |     if (!success) return;
45 | 
46 |     const navMeshQuery = new NavMeshQuery(navMesh);
47 | 
48 |     const { point: start } = navMeshQuery.findClosestPoint({
49 |       x: -4.128927083678903,
50 |       y: 0.2664172349988201,
51 |       z: 4.8521110263641685,
52 |     });
53 | 
54 |     const { point: end } = navMeshQuery.findClosestPoint({
55 |       x: 2.0756323479723005,
56 |       y: 2.38756142461898,
57 |       z: -1.9437325288048717,
58 |     });
59 | 
60 |     const { path } = navMeshQuery.computePath(start, end);
61 | 
62 |     setNavMesh(navMesh);
63 |     setPath(path ? path.map((v) => [v.x, v.y, v.z]) : undefined);
64 | 
65 |     return () => {
66 |       navMesh.destroy();
67 |       navMeshQuery.destroy();
68 | 
69 |       setNavMesh(undefined);
70 |       setPath(undefined);
71 |     };
72 |   }, [group]);
73 | 
74 |   return (
75 |     <>
76 |       
77 |         
78 |       
79 | 
80 |       {path && }
81 | 
82 |       
83 | 
84 |       
85 |     
86 |   );
87 | };
88 | 


--------------------------------------------------------------------------------
/packages/recast-navigation/.storybook/stories/nav-mesh-query/find-random-point.stories.tsx:
--------------------------------------------------------------------------------
  1 | import { NavMesh, NavMeshQuery } from '@recast-navigation/core';
  2 | import { threeToSoloNavMesh } from '@recast-navigation/three';
  3 | import React, { useEffect, useState } from 'react';
  4 | import { Group, Mesh, MeshBasicMaterial, Vector3Tuple } from 'three';
  5 | import { Debug } from '../../common/debug';
  6 | import { NavTestEnvironment } from '../../common/nav-test-environment';
  7 | import { decorators, htmlTunnel } from '../../decorators';
  8 | import { parameters } from '../../parameters';
  9 | import { OrbitControls } from '@react-three/drei';
 10 | import { setRandomSeed } from '@recast-navigation/core';
 11 | 
 12 | export default {
 13 |   title: 'NavMeshQuery / Find Random Point',
 14 |   decorators,
 15 |   parameters,
 16 | };
 17 | 
 18 | const navMeshMaterial = new MeshBasicMaterial({
 19 |   wireframe: true,
 20 |   color: 'red',
 21 | });
 22 | 
 23 | export const FindRandomPoint = () => {
 24 |   const [group, setGroup] = useState(null);
 25 | 
 26 |   const [navMesh, setNavMesh] = useState();
 27 |   const [navMeshQuery, setNavMeshQuery] = useState();
 28 |   const [point, setPoint] = useState([0, 0, 0]);
 29 | 
 30 |   const newPoint = async function () {
 31 |     if (!navMeshQuery) return;
 32 | 
 33 |     const result = navMeshQuery.findRandomPoint();
 34 |     if (!result) return;
 35 | 
 36 |     const point = result.randomPoint;
 37 |     setPoint([point.x, point.y, point.z]);
 38 |   };
 39 | 
 40 |   useEffect(() => {
 41 |     if (!group) return;
 42 | 
 43 |     setRandomSeed(1337);
 44 | 
 45 |     const meshes: Mesh[] = [];
 46 | 
 47 |     group.traverse((child) => {
 48 |       if (child instanceof Mesh) {
 49 |         meshes.push(child);
 50 |       }
 51 |     });
 52 | 
 53 |     const { success, navMesh } = threeToSoloNavMesh(meshes, {
 54 |       cs: 0.05,
 55 |       ch: 0.2,
 56 |     });
 57 | 
 58 |     if (!success) return;
 59 | 
 60 |     const navMeshQuery = new NavMeshQuery(navMesh);
 61 | 
 62 |     setNavMesh(navMesh);
 63 |     setNavMeshQuery(navMeshQuery);
 64 | 
 65 |     return () => {
 66 |       setNavMesh(undefined);
 67 |       setNavMeshQuery(undefined);
 68 | 
 69 |       navMeshQuery.destroy();
 70 |       navMesh.destroy();
 71 |     };
 72 |   }, [group]);
 73 | 
 74 |   useEffect(() => {
 75 |     newPoint();
 76 |   }, [navMeshQuery]);
 77 | 
 78 |   return (
 79 |     <>
 80 |       
 81 |         
 82 |       
 83 | 
 84 |       {point && (
 85 |         
 86 |           
 87 |           
 88 |         
 89 |       )}
 90 | 
 91 |       
 92 | 
 93 |       
 94 | 
 95 |       
 96 |         

104 |           
115 |         

116 |       
117 |     
118 |   );
119 | };
120 | 


--------------------------------------------------------------------------------
/packages/recast-navigation/.storybook/stories/nav-mesh/custom-bounds.stories.tsx:
--------------------------------------------------------------------------------
 1 | import { OrbitControls } from '@react-three/drei';
 2 | import { NavMesh, NavMeshQuery } from '@recast-navigation/core';
 3 | import { threeToSoloNavMesh } from '@recast-navigation/three';
 4 | import React, { useEffect, useState } from 'react';
 5 | import { Box3, Group, Mesh } from 'three';
 6 | import { Debug } from '../../common/debug';
 7 | import { NavTestEnvironment } from '../../common/nav-test-environment';
 8 | import { decorators } from '../../decorators';
 9 | import { parameters } from '../../parameters';
10 | 
11 | export default {
12 |   title: 'NavMesh / Custom Bounds',
13 |   decorators,
14 |   parameters,
15 | };
16 | 
17 | const BOUNDS = new Box3();
18 | BOUNDS.min.set(-3, -1, -5);
19 | BOUNDS.max.set(9, 5, 3);
20 | 
21 | export const CustomBounds = () => {
22 |   const [group, setGroup] = useState(null);
23 | 
24 |   const [navMesh, setNavMesh] = useState();
25 |   const [navMeshQuery, setNavMeshQuery] = useState();
26 | 
27 |   useEffect(() => {
28 |     if (!group) return;
29 | 
30 |     const meshes: Mesh[] = [];
31 | 
32 |     group.traverse((child) => {
33 |       if (child instanceof Mesh) {
34 |         meshes.push(child);
35 |       }
36 |     });
37 | 
38 |     const walkableRadiusWorld = 0.1;
39 |     const cellSize = 0.05;
40 | 
41 |     const { success, navMesh } = threeToSoloNavMesh(meshes, {
42 |       cs: cellSize,
43 |       ch: 0.2,
44 |       walkableRadius: Math.ceil(walkableRadiusWorld / cellSize),
45 |       bounds: [BOUNDS.min.toArray(), BOUNDS.max.toArray()],
46 |     });
47 | 
48 |     if (!success) {
49 |       return;
50 |     }
51 | 
52 |     setNavMesh(navMesh);
53 |     setNavMeshQuery(navMeshQuery);
54 | 
55 |     return () => {
56 |       navMesh.destroy();
57 | 
58 |       setNavMesh(undefined);
59 |       setNavMeshQuery(undefined);
60 |     };
61 |   }, [group]);
62 | 
63 |   return (
64 |     <>
65 |       
66 |         
67 |       
68 | 
69 |       
70 | 
71 |       
72 | 
73 |       
74 |     
75 |   );
76 | };
77 | 


--------------------------------------------------------------------------------
/packages/recast-navigation/.storybook/stories/nav-mesh/non-indexed-geometry.stories.tsx:
--------------------------------------------------------------------------------
 1 | import { Bounds, OrbitControls } from '@react-three/drei';
 2 | import { NavMesh } from '@recast-navigation/core';
 3 | import { threeToSoloNavMesh } from '@recast-navigation/three';
 4 | import React, { useEffect, useState } from 'react';
 5 | import { BoxGeometry, Group, Mesh } from 'three';
 6 | import { Debug } from '../../common/debug';
 7 | import { decorators } from '../../decorators';
 8 | import { parameters } from '../../parameters';
 9 | 
10 | export default {
11 |   title: 'NavMesh / Non Indexed Geometry',
12 |   decorators,
13 |   parameters,
14 | };
15 | 
16 | const boxGeometry = new BoxGeometry(10, 10, 10);
17 | const nonIndexedBoxGeometry = boxGeometry.clone().toNonIndexed();
18 | 
19 | export const NonIndexedGeometry = () => {
20 |   const [group, setGroup] = useState(null);
21 | 
22 |   const [navMesh, setNavMesh] = useState();
23 | 
24 |   useEffect(() => {
25 |     if (!group) return;
26 | 
27 |     const meshes: Mesh[] = [];
28 | 
29 |     group.traverse((child) => {
30 |       if (child instanceof Mesh) {
31 |         meshes.push(child);
32 |       }
33 |     });
34 | 
35 |     const { navMesh } = threeToSoloNavMesh(meshes, {
36 |       cs: 0.15,
37 |       ch: 0.2,
38 |       walkableRadius: 0.6,
39 |       walkableClimb: 2.1,
40 |       walkableSlopeAngle: 60,
41 |     });
42 | 
43 |     setNavMesh(navMesh);
44 | 
45 |     return () => {
46 |       setNavMesh(undefined);
47 |     };
48 |   }, [group]);
49 | 
50 |   return (
51 |     <>
52 |       
53 |         
54 |           
55 |             
56 |             
57 |           
58 | 
59 |           
60 |             
61 |             
62 |           
63 |         
64 |       
65 | 
66 |       
67 | 
68 |       
69 |     
70 |   );
71 | };
72 | 


--------------------------------------------------------------------------------
/packages/recast-navigation/.storybook/stories/nav-mesh/walkable-slope-angle.stories.tsx:
--------------------------------------------------------------------------------
 1 | import { Bounds, OrbitControls } from '@react-three/drei';
 2 | import { NavMesh } from '@recast-navigation/core';
 3 | import { threeToSoloNavMesh } from '@recast-navigation/three';
 4 | import { useControls } from 'leva';
 5 | import React, { useEffect, useState } from 'react';
 6 | import { Group, Mesh } from 'three';
 7 | import { DEG2RAD } from 'three/src/math/MathUtils.js';
 8 | import { Debug } from '../../common/debug';
 9 | import { decorators } from '../../decorators';
10 | import { parameters } from '../../parameters';
11 | 
12 | export default {
13 |   title: 'NavMesh / Walkable Slope',
14 |   decorators,
15 |   parameters,
16 | };
17 | 
18 | const DEGREES = [0, 5, 10, 15, 20, 25, 30, 35, 40, 45];
19 | 
20 | const ANGLES = DEGREES.map((angle, idx) => ({
21 |   degrees: angle,
22 |   rad: angle * DEG2RAD,
23 |   position: [(-DEGREES.length * 5) / 2 + idx * 5, 0, 0] as const,
24 | }));
25 | 
26 | export const WalkableSlope = () => {
27 |   const [group, setGroup] = useState(null);
28 | 
29 |   const [navMesh, setNavMesh] = useState();
30 | 
31 |   const { walkableSlopeAngle } = useControls('walkable-slope-angle', {
32 |     walkableSlopeAngle: {
33 |       value: 24,
34 |       step: 1,
35 |       min: 5,
36 |       max: 50,
37 |     },
38 |   });
39 | 
40 |   useEffect(() => {
41 |     if (!group) return;
42 | 
43 |     const meshes: Mesh[] = [];
44 | 
45 |     group.traverse((child) => {
46 |       if (child instanceof Mesh) {
47 |         meshes.push(child);
48 |       }
49 |     });
50 | 
51 |     const { navMesh } = threeToSoloNavMesh(meshes, {
52 |       cs: 0.05,
53 |       ch: 0.05,
54 |       walkableSlopeAngle,
55 |     });
56 | 
57 |     setNavMesh(navMesh);
58 | 
59 |     return () => {
60 |       setNavMesh(undefined);
61 |     };
62 |   }, [group, walkableSlopeAngle]);
63 | 
64 |   return (
65 |     <>
66 |       
67 |         
68 |           {ANGLES.map(({ degrees, rad, position }) => (
69 |             
70 |               
71 |               
72 |             
73 |           ))}
74 |         
75 |       
76 | 
77 |       
78 | 
79 |       
80 |     
81 |   );
82 | };
83 | 


--------------------------------------------------------------------------------
/packages/recast-navigation/.storybook/stories/vite-env.d.ts:
--------------------------------------------------------------------------------
1 | /// 


--------------------------------------------------------------------------------
/packages/recast-navigation/.storybook/styles.css:
--------------------------------------------------------------------------------
1 | body {
2 |     padding: 0 !important; /* :) */
3 | }


--------------------------------------------------------------------------------
/packages/recast-navigation/LICENSE:
--------------------------------------------------------------------------------
 1 | The MIT License
 2 | 
 3 | Copyright © 2025 Isaac Mason
 4 | 
 5 | Permission is hereby granted, free of charge, to any person obtaining a copy
 6 | of this software and associated documentation files (the "Software"), to deal
 7 | in the Software without restriction, including without limitation the rights
 8 | to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
 9 | copies of the Software, and to permit persons to whom the Software is
10 | furnished to do so, subject to the following conditions:
11 | 
12 | The above copyright notice and this permission notice shall be included in
13 | all copies or substantial portions of the Software.
14 | 
15 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
16 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
17 | FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
18 | AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
19 | LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
20 | OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
21 | THE SOFTWARE.
22 | 


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/packages/recast-navigation/cover.png:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/isaac-mason/recast-navigation-js/416da48186b9e95736c7e1555e40858c610d78b1/packages/recast-navigation/cover.png


--------------------------------------------------------------------------------
/packages/recast-navigation/eslint.config.mjs:
--------------------------------------------------------------------------------
1 | import config from '@isaac-mason/eslint-config-typescript'
2 | 
3 | export default [...config]
4 | 


--------------------------------------------------------------------------------
/packages/recast-navigation/package.json:
--------------------------------------------------------------------------------
  1 | {
  2 |   "name": "recast-navigation",
  3 |   "description": "Recast Navigation for JavaScript!",
  4 |   "keywords": [
  5 |     "recastnavigation",
  6 |     "recast-navigation",
  7 |     "recast",
  8 |     "detour",
  9 |     "navmesh",
 10 |     "pathfinding",
 11 |     "navigation",
 12 |     "crowd-simulation",
 13 |     "wasm",
 14 |     "webassembly"
 15 |   ],
 16 |   "author": {
 17 |     "name": "Isaac Mason",
 18 |     "email": "isaac@isaacmason.com",
 19 |     "url": "https://isaacmason.com/"
 20 |   },
 21 |   "version": "0.39.0",
 22 |   "license": "MIT",
 23 |   "homepage": "https://github.com/isaac-mason/recast-navigation-js",
 24 |   "bugs": {
 25 |     "url": "https://github.com/isaac-mason/recast-navigation-js/issues"
 26 |   },
 27 |   "type": "module",
 28 |   "main": "./index.mjs",
 29 |   "module": "./index.mjs",
 30 |   "types": "./index.d.ts",
 31 |   "exports": {
 32 |     ".": {
 33 |       "types": "./index.d.ts",
 34 |       "import": "./index.mjs",
 35 |       "default": "./index.mjs"
 36 |     },
 37 |     "./generators": {
 38 |       "types": "./generators.d.ts",
 39 |       "import": "./generators.mjs",
 40 |       "default": "./generators.mjs"
 41 |     }
 42 |   },
 43 |   "files": [
 44 |     "index.mjs",
 45 |     "index.mjs.map",
 46 |     "index.d.ts",
 47 |     "generators.mjs",
 48 |     "generators.mjs.map",
 49 |     "generators.d.ts",
 50 |     "LICENSE",
 51 |     "README.md"
 52 |   ],
 53 |   "scripts": {
 54 |     "clean": "(rm index.mjs index.d.ts generators.mjs generators.d.ts || true)",
 55 |     "build": "yarn clean && rollup --config rollup.config.js --bundleConfigAsCjs",
 56 |     "storybook": "storybook dev -p 6006",
 57 |     "build-storybook": "storybook build",
 58 |     "test": "tsc && vitest run",
 59 |     "lint": "eslint src"
 60 |   },
 61 |   "dependencies": {
 62 |     "@recast-navigation/core": "0.39.0",
 63 |     "@recast-navigation/generators": "0.39.0"
 64 |   },
 65 |   "devDependencies": {
 66 |     "@babel/core": "^7.24.5",
 67 |     "@babel/preset-env": "^7.24.5",
 68 |     "@babel/preset-typescript": "^7.24.1",
 69 |     "@isaac-mason/eslint-config-typescript": "^0.0.9",
 70 |     "@mdx-js/react": "^2.3.0",
 71 |     "@pmndrs/assets": "^1.6.0",
 72 |     "@react-three/drei": "^9.105.4",
 73 |     "@react-three/fiber": "^8.16.3",
 74 |     "@rollup/plugin-babel": "^6.0.4",
 75 |     "@rollup/plugin-commonjs": "^25.0.7",
 76 |     "@rollup/plugin-node-resolve": "^15.0.1",
 77 |     "@rollup/plugin-typescript": "^11.1.6",
 78 |     "@storybook/addon-actions": "^8.0.9",
 79 |     "@storybook/addon-essentials": "^8.0.9",
 80 |     "@storybook/addon-interactions": "^8.0.9",
 81 |     "@storybook/addon-links": "^8.0.9",
 82 |     "@storybook/addon-mdx-gfm": "^8.0.9",
 83 |     "@storybook/react": "^8.0.9",
 84 |     "@storybook/react-vite": "^8.0.9",
 85 |     "@types/react": "^18.3.1",
 86 |     "@types/react-dom": "^18.2.8",
 87 |     "@types/three": "^0.172.0",
 88 |     "@vitejs/plugin-react": "^4.2.1",
 89 |     "eslint": "^9.6.0",
 90 |     "leva": "^0.9.35",
 91 |     "react": "^18.3.1",
 92 |     "react-dom": "^18.2.0",
 93 |     "rollup": "^4.14.0",
 94 |     "rollup-plugin-copy": "^3.4.0",
 95 |     "rollup-plugin-filesize": "^10.0.0",
 96 |     "storybook": "^8.0.9",
 97 |     "suspend-react": "^0.1.3",
 98 |     "three": "^0.172.0",
 99 |     "three-pathfinding": "^1.2.0",
100 |     "typescript": "^5.4.3",
101 |     "vite": "^5.4.8",
102 |     "vitest": "^2.1.2",
103 |     "zustand": "^4.5.2"
104 |   },
105 |   "packageManager": "yarn@3.2.2"
106 | }
107 | 


--------------------------------------------------------------------------------
/packages/recast-navigation/rollup.config.js:
--------------------------------------------------------------------------------
 1 | import babel from '@rollup/plugin-babel';
 2 | import commonjs from '@rollup/plugin-commonjs';
 3 | import resolve from '@rollup/plugin-node-resolve';
 4 | import typescript from '@rollup/plugin-typescript';
 5 | import path from 'path';
 6 | import filesize from 'rollup-plugin-filesize';
 7 | 
 8 | const babelOptions = {
 9 |   babelrc: false,
10 |   extensions: ['.ts'],
11 |   exclude: '**/node_modules/**',
12 |   babelHelpers: 'bundled',
13 |   presets: [
14 |     [
15 |       '@babel/preset-env',
16 |       {
17 |         loose: true,
18 |         modules: false,
19 |         targets: '>1%, not dead, not ie 11, not op_mini all',
20 |       },
21 |     ],
22 |     '@babel/preset-typescript',
23 |   ],
24 | };
25 | 
26 | const plugins = [
27 |   resolve(),
28 |   commonjs(),
29 |   typescript({
30 |     tsconfig: path.resolve(__dirname, `tsconfig.json`),
31 |     emitDeclarationOnly: true,
32 |   }),
33 |   babel(babelOptions),
34 |   filesize(),
35 | ];
36 | 
37 | const entrypoint = ({ name, external }) => ({
38 |   input: `./src/${name}.ts`,
39 |   external,
40 |   output: [
41 |     {
42 |       file: `./${name}.mjs`,
43 |       format: 'es',
44 |     },
45 |   ],
46 |   plugins,
47 | });
48 | 
49 | export default [
50 |   entrypoint({ name: 'index', external: ['@recast-navigation/core'] }),
51 |   entrypoint({
52 |     name: 'generators',
53 |     external: ['@recast-navigation/core', '@recast-navigation/generators'],
54 |   }),
55 | ];
56 | 


--------------------------------------------------------------------------------
/packages/recast-navigation/src/generators.ts:
--------------------------------------------------------------------------------
1 | export * from '@recast-navigation/generators';
2 | 


--------------------------------------------------------------------------------
/packages/recast-navigation/src/index.ts:
--------------------------------------------------------------------------------
1 | export * from '@recast-navigation/core';
2 | 


--------------------------------------------------------------------------------
/packages/recast-navigation/src/types.d.ts:
--------------------------------------------------------------------------------
 1 | import type { Object3DNode } from '@react-three/fiber';
 2 | 
 3 | declare global {
 4 |   namespace JSX {
 5 |     interface IntrinsicElements {
 6 |       /** `object` assumed to extend `THREE.Object3D` */
 7 |       primitive: Object3DNode & { object: THREE.Object3D };
 8 |     }
 9 |   }
10 | }
11 | 
12 | export {}
13 | 


--------------------------------------------------------------------------------
/packages/recast-navigation/tsconfig.json:
--------------------------------------------------------------------------------
 1 | {
 2 |   "compilerOptions": {
 3 |     "target": "ES2022",
 4 |     "useDefineForClassFields": true,
 5 |     "module": "ES2022",
 6 |     "lib": ["ES2022", "DOM"],
 7 |     "moduleResolution": "Bundler",
 8 |     "strict": true,
 9 |     "resolveJsonModule": true,
10 |     "isolatedModules": true,
11 |     "esModuleInterop": true,
12 |     "noEmit": true,
13 |     "declaration": true,
14 |     "noUnusedLocals": true,
15 |     "noUnusedParameters": true,
16 |     "noImplicitReturns": true,
17 |     "skipLibCheck": true,
18 |     "baseUrl": "./",
19 |     "rootDir": "./src",
20 |     "allowSyntheticDefaultImports": true,
21 |     "outDir": ".",
22 |   },
23 |   "files": ["./src/index.ts", "./src/generators.ts"]
24 | }
25 | 


--------------------------------------------------------------------------------
/packages/recast-navigation/tst/crowd.spec.ts:
--------------------------------------------------------------------------------
 1 | import { Crowd, NavMesh, init } from 'recast-navigation';
 2 | import { generateSoloNavMesh } from 'recast-navigation/generators';
 3 | import { BoxGeometry, BufferAttribute, Mesh } from 'three';
 4 | import { beforeEach, describe, expect, test } from 'vitest';
 5 | import { expectVectorToBeCloseTo } from './utils';
 6 | 
 7 | describe('Crowd', () => {
 8 |   let navMesh: NavMesh;
 9 |   let crowd: Crowd;
10 | 
11 |   beforeEach(async () => {
12 |     await init();
13 | 
14 |     const mesh = new Mesh(new BoxGeometry(5, 0.1, 5));
15 | 
16 |     const positions = (
17 |       mesh.geometry.getAttribute('position') as BufferAttribute
18 |     ).array;
19 |     const indices = mesh.geometry.getIndex()!.array;
20 | 
21 |     const result = generateSoloNavMesh(positions, indices);
22 | 
23 |     if (!result.success) throw new Error('nav mesh generation failed');
24 | 
25 |     navMesh = result.navMesh;
26 | 
27 |     crowd = new Crowd(navMesh, {
28 |       maxAgents: 10,
29 |       maxAgentRadius: 0.5,
30 |     });
31 |   });
32 | 
33 |   test('goto', () => {
34 |     const agent = crowd.addAgent(
35 |       { x: 0, y: 0, z: 0 },
36 |       {
37 |         radius: 0.5,
38 |       }
39 |     );
40 | 
41 |     expectVectorToBeCloseTo(agent.position(), { x: 0, y: 0, z: 0 }, 0.3);
42 | 
43 |     agent.requestMoveTarget({ x: 2, y: 0, z: 2 });
44 | 
45 |     for (let i = 0; i < 120; i++) {
46 |       crowd.update(1 / 60);
47 |     }
48 | 
49 |     expectVectorToBeCloseTo(agent.position(), { x: 2, y: 0, z: 2 }, 0.3);
50 |   });
51 | 
52 |   test('teleport', () => {
53 |     const agent = crowd.addAgent(
54 |       { x: 0, y: 0, z: 0 },
55 |       {
56 |         radius: 0.5,
57 |       }
58 |     );
59 | 
60 |     expectVectorToBeCloseTo(agent.position(), { x: 0, y: 0, z: 0 }, 0.3);
61 | 
62 |     agent.teleport({ x: 2, y: 0, z: 2 });
63 | 
64 |     expectVectorToBeCloseTo(agent.position(), { x: 2, y: 0, z: 2 }, 0.3);
65 |   });
66 | 
67 |   test('parameter getters and setters', () => {
68 |     const agent = crowd.addAgent(
69 |       { x: 0, y: 0, z: 0 },
70 |       {
71 |         radius: 0.5,
72 |       }
73 |     );
74 | 
75 |     expect(agent.radius).toBeCloseTo(0.5);
76 | 
77 |     agent.radius = 0.2;
78 | 
79 |     expect(agent.radius).toBeCloseTo(0.2);
80 |   });
81 | });
82 | 


--------------------------------------------------------------------------------
/packages/recast-navigation/tst/nav-mesh-query.spec.ts:
--------------------------------------------------------------------------------
 1 | import { NavMesh, NavMeshQuery, init } from 'recast-navigation';
 2 | import { generateSoloNavMesh } from 'recast-navigation/generators';
 3 | import { BoxGeometry, BufferAttribute, Mesh } from 'three';
 4 | import { beforeEach, describe, test, expect } from 'vitest';
 5 | import { expectVectorToBeCloseTo } from './utils';
 6 | 
 7 | describe('NavMeshQuery', () => {
 8 |   let navMesh: NavMesh;
 9 |   let navMeshQuery: NavMeshQuery;
10 | 
11 |   beforeEach(async () => {
12 |     await init();
13 | 
14 |     const mesh = new Mesh(new BoxGeometry(5, 0.1, 5));
15 | 
16 |     const positions = (
17 |       mesh.geometry.getAttribute('position') as BufferAttribute
18 |     ).array;
19 |     const indices = mesh.geometry.getIndex()!.array;
20 | 
21 |     const result = generateSoloNavMesh(positions, indices);
22 | 
23 |     if (!result.success) throw new Error('nav mesh generation failed');
24 | 
25 |     navMesh = result.navMesh;
26 | 
27 |     navMeshQuery = new NavMeshQuery(navMesh);
28 |   });
29 | 
30 |   test('findClosestPoint', () => {
31 |     const { point: closestPoint } = navMeshQuery.findClosestPoint({
32 |       x: 2,
33 |       y: 1,
34 |       z: 2,
35 |     });
36 | 
37 |     expect(closestPoint.x).toBe(2);
38 |     expect(closestPoint.y).toBeCloseTo(0.15, 0.01);
39 |     expect(closestPoint.z).toBe(2);
40 |   });
41 | 
42 |   test('computePath', () => {
43 |     const { point: start } = navMeshQuery.findClosestPoint({
44 |       x: -2,
45 |       y: 0,
46 |       z: -2,
47 |     });
48 | 
49 |     const { point: end } = navMeshQuery.findClosestPoint({
50 |       x: 2,
51 |       y: 0,
52 |       z: 2,
53 |     });
54 | 
55 |     const { path } = navMeshQuery.computePath(start, end);
56 | 
57 |     expect(path.length).toBeGreaterThan(0);
58 | 
59 |     expectVectorToBeCloseTo(path[0], start, 0.01);
60 | 
61 |     expectVectorToBeCloseTo(path[path.length - 1], end, 0.01);
62 |   });
63 | });
64 | 


--------------------------------------------------------------------------------
/packages/recast-navigation/tst/utils.ts:
--------------------------------------------------------------------------------
 1 | import { expect } from 'vitest';
 2 | import { Vector3 } from '@recast-navigation/core/src';
 3 | 
 4 | export const expectVectorToBeCloseTo = (
 5 |   expected: Vector3,
 6 |   actual: Vector3,
 7 |   numDigits?: number
 8 | ) => {
 9 |   expect(expected.x).toBeCloseTo(actual.x, numDigits);
10 |   expect(expected.y).toBeCloseTo(actual.y, numDigits);
11 |   expect(expected.z).toBeCloseTo(actual.z, numDigits);
12 | };
13 | 


--------------------------------------------------------------------------------
/packages/recast-navigation/vite.config.mts:
--------------------------------------------------------------------------------
1 | import { defineConfig } from "vite";
2 | import react from "@vitejs/plugin-react";
3 | 
4 | export default defineConfig({
5 |   plugins: [react()],
6 | });


--------------------------------------------------------------------------------
/packages/recast-navigation/vitest.config.mts:
--------------------------------------------------------------------------------
1 | import { defineConfig } from 'vitest/config';
2 | 
3 | export default defineConfig({
4 |   test: {
5 |     name: 'recast-navigation',
6 |   },
7 | });
8 | 


--------------------------------------------------------------------------------