feat(TileCache): expose detour result when adding and removing obstacles

isaac-mason · Apr 10, 2024 · d490a5c · d490a5c
1 parent e570811
commit d490a5c
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Showing 8 changed files with 172 additions and 33 deletions.
diff --git a/.changeset/eleven-waves-itch.md b/.changeset/eleven-waves-itch.md
@@ -0,0 +1,7 @@
+---
+"@recast-navigation/core": minor
+"@recast-navigation/wasm": minor
+"recast-navigation": minor
+---
+
+feat(TileCache): expose detour result when adding and removing obstacles
diff --git a/packages/recast-navigation-core/src/tile-cache.ts b/packages/recast-navigation-core/src/tile-cache.ts
@@ -22,6 +22,21 @@ export type CylinderObstacle = {
   height: number;
 };
 
+export type AddObstacleResult<T> = {
+  success: true;
+  status: number;
+  obstacle: T;
+} | {
+  success: false;
+  status: number;
+  obstacle?: T;
+};
+
+export type RemoveObstacleResult = {
+  success: boolean;
+  status: number;
+};
+
 export type Obstacle = BoxObstacle | CylinderObstacle;
 
 export type TileCacheParamsType = {
@@ -128,13 +143,22 @@ export class TileCache {
     position: Vector3,
     radius: number,
     height: number
-  ): CylinderObstacle {
-    const ref = this.raw.addCylinderObstacle(
+  ): AddObstacleResult<CylinderObstacle> {
+    const result = this.raw.addCylinderObstacle(
       vec3.toRaw(position),
       radius,
       height
     );
 
+    if (result.status !== Raw.Detour.SUCCESS) {
+      return {
+        success: false,
+        status: result.status,
+      };
+    }
+
+    const ref = result.ref;
+
     const obstacle: CylinderObstacle = {
       type: 'cylinder',
       ref,
@@ -145,7 +169,11 @@ export class TileCache {
 
     this.obstacles.set(ref, obstacle);
 
-    return obstacle;
+    return {
+      success: true,
+      status: result.status,
+      obstacle,
+    };
   }
 
   /**
@@ -155,13 +183,22 @@ export class TileCache {
     position: Vector3,
     extent: Vector3,
     angle: number
-  ): BoxObstacle {
-    const ref = this.raw.addBoxObstacle(
+  ): AddObstacleResult<BoxObstacle> {
+    const result = this.raw.addBoxObstacle(
       vec3.toRaw(position),
       vec3.toRaw(extent),
       angle
     );
 
+    if (result.status !== Raw.Detour.SUCCESS) {
+      return {
+        success: false,
+        status: result.status,
+      };
+    }
+
+    const ref = result.ref;
+
     const obstacle: BoxObstacle = {
       type: 'box',
       ref,
@@ -172,13 +209,17 @@ export class TileCache {
 
     this.obstacles.set(ref, obstacle);
 
-    return obstacle;
+    return {
+      success: true,
+      status: result.status,
+      obstacle,
+    };
   }
 
   /**
    * Removes an obstacle from the navigation mesh.
    */
-  removeObstacle(obstacle: Obstacle | ObstacleRef): void {
+  removeObstacle(obstacle: Obstacle | ObstacleRef): RemoveObstacleResult {
     let ref: ObstacleRef;
 
     if (typeof obstacle === 'object') {
@@ -188,7 +229,13 @@ export class TileCache {
     }
 
     this.obstacles.delete(ref);
-    this.raw.removeObstacle(ref);
+
+    const status = this.raw.removeObstacle(ref);
+
+    return {
+      success: Raw.Detour.statusSucceed(status),
+      status,
+    };
   }
 
   addTile(

diff --git a/packages/recast-navigation-wasm/recast-navigation.idl b/packages/recast-navigation-wasm/recast-navigation.idl
@@ -506,6 +506,11 @@ interface TileCacheUpdateResult {
     attribute boolean upToDate;
 };
 
+interface TileCacheAddObstacleResult {
+    attribute unsigned long status;
+    attribute dtObstacleRef ref;
+};
+
 interface dtTileCacheCompressor {
 };
 
@@ -541,9 +546,9 @@ interface TileCache {
     unsigned long buildNavMeshTile([Const] dtCompressedTileRef ref, NavMesh navMesh);
     unsigned long buildNavMeshTilesAt([Const] long tx, [Const] long ty, NavMesh navMesh);
     [Value] TileCacheUpdateResult update(NavMesh navMesh);
-    dtObstacleRef addCylinderObstacle([Const, Ref] Vec3 position, float radius, float height);
-    dtObstacleRef addBoxObstacle([Const, Ref] Vec3 position, [Const, Ref] Vec3 extent, float angle);
-    void removeObstacle(dtObstacleRef obstacle);
+    [Value] TileCacheAddObstacleResult addCylinderObstacle([Const, Ref] Vec3 position, float radius, float height);
+    [Value] TileCacheAddObstacleResult addBoxObstacle([Const, Ref] Vec3 position, [Const, Ref] Vec3 extent, float angle);
+    unsigned long removeObstacle(dtObstacleRef obstacle);
     void destroy();
 };
 

diff --git a/packages/recast-navigation-wasm/src/TileCache.cpp b/packages/recast-navigation-wasm/src/TileCache.cpp
@@ -50,45 +50,64 @@ TileCacheUpdateResult TileCache::update(NavMesh *navMesh)
     return *result;
 };
 
-dtObstacleRef *TileCache::addCylinderObstacle(const Vec3 &position, float radius, float height)
+TileCacheAddObstacleResult TileCache::addCylinderObstacle(const Vec3 &position, float radius, float height)
 {
     dtObstacleRef ref(-1);
+
+    TileCacheAddObstacleResult *result = new TileCacheAddObstacleResult;
+
     if (!m_tileCache)
     {
-        return nullptr;
+        result->status = DT_FAILURE;
+        return *result;
     }
 
-    m_tileCache->addObstacle(&position.x, radius, height, &ref);
+    result->status = m_tileCache->addObstacle(&position.x, radius, height, &ref);
+
     m_obstacles.push_back(ref);
-    return &m_obstacles.back();
+
+    result->ref = &m_obstacles.back();
+
+    return *result;
 }
 
-dtObstacleRef *TileCache::addBoxObstacle(const Vec3 &position, const Vec3 &extent, float angle)
+TileCacheAddObstacleResult TileCache::addBoxObstacle(const Vec3 &position, const Vec3 &extent, float angle)
 {
     dtObstacleRef ref(-1);
+
+    TileCacheAddObstacleResult *result = new TileCacheAddObstacleResult;
+
     if (!m_tileCache)
     {
-        return nullptr;
+        result->status = DT_FAILURE; 
+        return *result;
     }
 
-    m_tileCache->addBoxObstacle(&position.x, &extent.x, angle, &ref);
+    result->status = m_tileCache->addBoxObstacle(&position.x, &extent.x, angle, &ref);
+
     m_obstacles.push_back(ref);
-    return &m_obstacles.back();
+
+    result->ref = &m_obstacles.back();
+
+    return *result;
 }
 
-void TileCache::removeObstacle(dtObstacleRef *obstacle)
+dtStatus TileCache::removeObstacle(dtObstacleRef *obstacle)
 {
     if (!m_tileCache || !obstacle || *obstacle == -1)
     {
-        return;
+        return DT_FAILURE;
     }
 
-    m_tileCache->removeObstacle(*obstacle);
+    dtStatus status = m_tileCache->removeObstacle(*obstacle);
+
     auto iter = std::find(m_obstacles.begin(), m_obstacles.end(), *obstacle);
     if (iter != m_obstacles.end())
     {
         m_obstacles.erase(iter);
     }
+
+    return status;
 }
 
 void TileCache::destroy()

diff --git a/packages/recast-navigation-wasm/src/TileCache.h b/packages/recast-navigation-wasm/src/TileCache.h
@@ -142,6 +142,12 @@ struct TileCacheUpdateResult
     bool upToDate;
 };
 
+struct TileCacheAddObstacleResult
+{
+    unsigned int status;
+    dtObstacleRef *ref;
+};
+
 class TileCache
 {
 public:
@@ -162,11 +168,11 @@ class TileCache
 
     TileCacheUpdateResult update(NavMesh *navMesh);
 
-    dtObstacleRef *addCylinderObstacle(const Vec3 &position, float radius, float height);
+    TileCacheAddObstacleResult addCylinderObstacle(const Vec3 &position, float radius, float height);
 
-    dtObstacleRef *addBoxObstacle(const Vec3 &position, const Vec3 &extent, float angle);
+    TileCacheAddObstacleResult addBoxObstacle(const Vec3 &position, const Vec3 &extent, float angle);
 
-    void removeObstacle(dtObstacleRef *obstacle);
+    dtStatus removeObstacle(dtObstacleRef *obstacle);
 
     void destroy();
 

diff --git a/packages/recast-navigation/.storybook/stories/obstacles/obstacles-crowd.stories.tsx b/packages/recast-navigation/.storybook/stories/obstacles/obstacles-crowd.stories.tsx
@@ -131,6 +131,8 @@ export const CrowdExample = () => {
 
       crowd.destroy();
       navMesh.destroy();
+      tileCache.destroy();
+      navMeshQuery.destroy();
     };
   }, [group]);
 
@@ -139,24 +141,34 @@ export const CrowdExample = () => {
 
     if (boxObstacle.current) {
       tileCache.removeObstacle(boxObstacle.current);
+      boxObstacle.current = undefined;
     }
 
     if (cylinderObstacle.current) {
       tileCache.removeObstacle(cylinderObstacle.current);
+      cylinderObstacle.current = undefined;
     }
 
-    boxObstacle.current = tileCache.addBoxObstacle(
+    const boxObstacleResult = tileCache.addBoxObstacle(
       boxObstacleTarget.current!.getWorldPosition(new Vector3()),
       { x: 1, y: 1, z: 1 },
       0.2
     );
 
-    cylinderObstacle.current = tileCache.addCylinderObstacle(
+    if (boxObstacleResult.success) {
+      boxObstacle.current = boxObstacleResult.obstacle;
+    }
+
+    const cylinderObstacleResult =  tileCache.addCylinderObstacle(
       cylinderObstacleTarget.current!.getWorldPosition(new Vector3()),
       1,
       0.5
     );
 
+    if (cylinderObstacleResult.success) {
+      cylinderObstacle.current = cylinderObstacleResult.obstacle;
+    }
+
     let upToDate = false;
     while (!upToDate) {
       const result = tileCache.update(navMesh);

diff --git a/packages/recast-navigation/.storybook/stories/obstacles/obstacles-path.stories.tsx b/packages/recast-navigation/.storybook/stories/obstacles/obstacles-path.stories.tsx
@@ -79,22 +79,34 @@ export const PathExample = () => {
       setTileCache(undefined);
 
       navMesh.destroy();
+      tileCache.destroy();
+      navMeshQuery.destroy();
     };
   }, [group]);
 
   const update = () => {
     if (!navMesh || !tileCache || !navMeshQuery) return;
 
+    console.log('box', boxObstacle.current)
     if (boxObstacle.current) {
-      tileCache.removeObstacle(boxObstacle.current);
+      console.log('removeObstacle')
+      const status = tileCache.removeObstacle(boxObstacle.current);
+
+      console.log(status);
+
+      boxObstacle.current = undefined;
     }
 
-    boxObstacle.current = tileCache.addBoxObstacle(
+    const addObstacleResult = tileCache.addBoxObstacle(
       boxObstacleTarget.current!.getWorldPosition(new Vector3()),
       { x: 1, y: 1, z: 1 },
       0.2
     );
 
+    if (addObstacleResult.success) {
+      boxObstacle.current = addObstacleResult.obstacle;
+    }
+
     let upToDate = false;
     while (!upToDate) {
       const result = tileCache.update(navMesh);