import { init } from 'recast-navigation';

await init();

import { generateSoloNavMesh } from 'recast-navigation/generators';

const positions = [
  /* flat array of positions */
  /* e.g. x1, y1, z1, x2, y2, z2, ... */
];

const indices = [
  /* flat array of indices */
];

const navMeshConfig = {
  /* ... */
};

const { success, navMesh } = generateSoloNavMesh(
  positions,
  indices,
  navMeshConfig
);

import { NavMeshQuery } from 'recast-navigation';

const navMeshQuery = new NavMeshQuery({ navMesh });

/* find the closest point on the NavMesh to the given position */
const position = { x: 0, y: 0, z: 0 };
const { success, status, point, polyRef, isPointOverPoly } =
  navMeshQuery.findClosestPoint(position);

/* get a random point around the given position */
const radius = 0.5;
const {
  success,
  status,
  randomPolyRef,
  randomPoint: initialAgentPosition,
} = navMeshQuery.findRandomPointAroundCircle(position, radius);

/* compute a straight path between two points */
const start = { x: 0, y: 0, z: 0 };
const end = { x: 2, y: 0, z: 0 };
const { success, error, path } = navMeshQuery.computePath(start, end);

import { Crowd } from 'recast-navigation';

const maxAgents = 10;
const maxAgentRadius = 0.6;

const crowd = new Crowd({ maxAgents, maxAgentRadius, navMesh });

const position = { x: 0, y: 0, z: 0 };
const radius = 2;

const {
  success,
  status,
  randomPolyRef,
  randomPoint: initialAgentPosition,
} = navMeshQuery.findRandomPointAroundCircle(position, radius);

const agent = crowd.addAgent(initialAgentPosition, {
  radius: 0.5,
  height: 0.5,
  maxAcceleration: 4.0,
  maxSpeed: 1.0,
  collisionQueryRange: 0.5,
  pathOptimizationRange: 0.0,
  separationWeight: 1.0,
});

/* get information about the agent */
const agentPosition = agent.position();
const agentVelocity = agent.velocity();
const agentNextTargetPath = agent.nextTargetPath();
const agentState = agent.state();
const agentCorners = agent.corners();
const agentParameters = agent.parameters();

/* tell the agent to move to a target position */
const targetPosition = { x: 0, y: 0, z: 0 };
agent.requestMoveTarget(targetPosition);

/* tell the agent to move in a direction */
const targetVelocity = { x: 0, y: 0, z: 0 };
agent.requestMoveVelocity(targetVelocity);

/* reset the agents target */
agent.resetMoveTarget();

/* teleport the agent to a position */
agent.teleport(targetPosition);

/* update an agent parameter */
agent.maxAcceleration = 4;

/* update multiple parameters for an agent */
agent.updateParameters({
  maxAcceleration: 2,
});

/* set all parameters for an agent */
agent.setParameters({
  // any omitted parameters will be set to their default values
});

/* remove the agent */
crowd.removeAgent(agent);

const dt = 1 / 60;
crowd.timeStep = dt;

// you should call this every frame
crowd.update(dt);

import { generateTileCache } from 'recast-navigation/generators';

/* create a tile cache */
const { success, navMesh, tileCache } = generateTileCache(positions, indices, {
  /* ... */
  tileSize: 16,
});

/* add a Box obstacle to the NavMesh */
const position = { x: 0, y: 0, z: 0 };
const extent = { x: 1, y: 1, z: 1 };
const angle = 0;
const addBoxObstacleResult = tileCache.addBoxObstacle(position, extent, angle);
const boxObstacle = addBoxObstacleResult.obstacle;

/* add a Cylinder obstacle to the NavMesh */
const radius = 1;
const height = 1;
const addCylinderObstacleResult = tileCache.addCylinderObstacle(
  position,
  radius,
  height,
  angle
);
const cylinderObstacle = addCylinderObstacleResult.obstacle;

/* remove the obstacles from the NavMesh */
const removeObstacleResult = tileCache.removeObstacle(boxObstacle);

/* update to reflect obstacle changes */
// if few obstacles are added/removed between updates, you could call tileCache.update every game update
tileCache.update(navMesh);

// if your obstacle requests affect many tiles, you may need to call update multiple times
const maxTileCacheUpdates = 5;
for (let i = 0; i < maxTileCacheUpdates; i++) {
  const { upToDate } = tileCache.update(navMesh);
  if (upToDate) break;
}

const { success, navMesh } = generateSoloNavMesh(positions, indices, {
  // ...
  offMeshConnections: [
    {
      startPosition: { x: 0, y: 5, z: 0 },
      endPosition: { x: 2, y: 0, z: 0 },
      radius: 0.5,
      bidirectional: false,
      area: 0,
      flags: 1,
      userId: 0, // optional
    },
  ],
});

const tileCacheMeshProcess = new TileCacheMeshProcess(
  (navMeshCreateParams, polyAreas, polyFlags) => {
    for (let i = 0; i < navMeshCreateParams.polyCount(); ++i) {
      polyAreas.set(i, 0);
      polyFlags.set(i, 1);
    }

    navMeshCreateParams.setOffMeshConnections([
      {
        startPosition: { x: 0, y: 5, z: 0 },
        endPosition: { x: 2, y: 0, z: 0 },
        radius: 0.5,
        bidirectional: false,
        area: 0,
        flags: 1,
      },
    ]);
  }
);

const tileCacheGeneratorConfig = {
  // ... other config ...
  tileCacheMeshProcess,
};

const { success, navMesh, tileCache } = generateTileCache(
  positions,
  indices,
  tileCacheGeneratorConfig
);

const debugNavMesh = navMesh.getDebugNavMesh();

const { positions, indices } = debugNavMesh;

import { statusToReadableString } from 'recast-navigation';

console.log(statusToReadableString(status));

import {
  statusSucceed,
  statusInProgress,
  statusFailed,
  statusDetail,
} from 'recast-navigation';

// returns true if the status is a success
const succeeded = statusSucceed(status);

// returns true if the status is in progress
const inProgress = statusInProgress(status);

// returns true if the status is a failure
const failed = statusFailed(status);

// get the detail of the status
const detail = statusDetail(status);

// Raw.Detour.WRONG_MAGIC;
// Raw.Detour.WRONG_VERSION;
// Raw.Detour.OUT_OF_MEMORY;
// Raw.Detour.INVALID_PARAM;
// Raw.Detour.BUFFER_TOO_SMALL;
// Raw.Detour.OUT_OF_NODES;
// Raw.Detour.PARTIAL_RESULT;
// Raw.Detour.ALREADY_OCCUPIED;

import { exportNavMesh, importNavMesh } from 'recast-navigation';

/* export */
const navMeshExport: Uint8Array = exportNavMesh(navMesh);

/* import */
const { navMesh } = importNavMesh(navMeshExport);

import { exportNavMesh, importNavMesh } from 'recast-navigation';

/* exporting */
// pass both the navMesh and the tileCache
const navMeshExport: Uint8Array = exportNavMesh(navMesh, tileCache);

/* importing */
// also pass the TileCacheMeshProcess implementation for the tile cache
// if you used `generateTileCache` and didn't provide one, `createDefaultTileCacheMeshProcess` returns the default TileCacheMeshProcess `generateTileCache` uses
const tileCacheMeshProcess = createDefaultTileCacheMeshProcess();

const { navMesh, tileCache } = importNavMesh(
  navMeshExport,
  tileCacheMeshProcess
);