feat: add example for computing a smooth path

isaac-mason · Jun 23, 2024 · fea697b · fea697b
1 parent 0576950
commit fea697b
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Showing 8 changed files with 695 additions and 9 deletions.
diff --git a/packages/recast-navigation-core/src/detour.ts b/packages/recast-navigation-core/src/detour.ts
@@ -95,7 +95,7 @@ export class DetourLink {
   }
 
   next(): number {
-    return this.raw.next;
+    return this.raw.get_next();
   }
 
   edge(): number {

diff --git a/packages/recast-navigation-core/src/nav-mesh-query.ts b/packages/recast-navigation-core/src/nav-mesh-query.ts
@@ -873,7 +873,7 @@ export class NavMeshQuery {
   findStraightPath(
     start: Vector3,
     end: Vector3,
-    path: UnsignedIntArray,
+    path: number[] | UnsignedIntArray,
     options?: {
       /**
        * The maximum number of points the straight path arrays can hold. [Limit: > 0]
@@ -925,6 +925,15 @@ export class NavMeshQuery {
     const maxStraightPathPoints = options?.maxStraightPathPoints ?? 256;
     const straightPathOptions = options?.straightPathOptions ?? 0;
 
+    let pathPolys;
+
+    if (Array.isArray(path)) {
+      pathPolys = new UnsignedIntArray();
+      pathPolys.copy(path);
+    } else {
+      pathPolys = path;
+    }
+
     const straightPath = new FloatArray();
     straightPath.resize(maxStraightPathPoints * 3);
 
@@ -939,7 +948,7 @@ export class NavMeshQuery {
     const status = this.raw.findStraightPath(
       vec3.toArray(start),
       vec3.toArray(end),
-      path.raw,
+      pathPolys.raw,
       straightPath.raw,
       straightPathFlags.raw,
       straightPathRefs.raw,
@@ -951,6 +960,10 @@ export class NavMeshQuery {
     const straightPathCount = straightPathCountRaw.value;
     Raw.destroy(straightPathCountRaw);
 
+    if (Array.isArray(path)) {
+      pathPolys.destroy();
+    }
+
     return {
       success: Raw.Detour.statusSucceed(status),
       status,

diff --git a/packages/recast-navigation-core/src/nav-mesh.ts b/packages/recast-navigation-core/src/nav-mesh.ts
@@ -403,6 +403,7 @@ export class NavMesh {
     Raw.destroy(endRaw);
 
     return {
+      success: statusSucceed(status),
       status,
       start,
       end,

diff --git a/packages/recast-navigation-wasm/recast-navigation.idl b/packages/recast-navigation-wasm/recast-navigation.idl
@@ -590,6 +590,10 @@ interface Detour {
     attribute octet TILECACHE_WALKABLE_AREA;
     attribute unsigned short TILECACHE_NULL_IDX;
 
+    attribute unsigned long NULL_LINK;
+    attribute unsigned short EXT_LINK;
+    attribute unsigned long OFFMESH_CON_BIDIR;
+
     boolean statusSucceed(unsigned long status);
     boolean statusFailed(unsigned long status);
     boolean statusInProgress(unsigned long status);

diff --git a/packages/recast-navigation-wasm/src/Detour.h b/packages/recast-navigation-wasm/src/Detour.h
@@ -35,6 +35,10 @@ class Detour
     unsigned char TILECACHE_WALKABLE_AREA = DT_TILECACHE_WALKABLE_AREA;
     unsigned short TILECACHE_NULL_IDX = DT_TILECACHE_NULL_IDX;
 
+    unsigned int NULL_LINK = DT_NULL_LINK;
+    unsigned short EXT_LINK = DT_EXT_LINK;
+    unsigned int OFFMESH_CON_BIDIR = DT_OFFMESH_CON_BIDIR;
+
     bool statusSucceed(dtStatus status)
     {
         return dtStatusSucceed(status);

diff --git a/packages/recast-navigation/.storybook/stories/advanced/flood-fill-pruning.stories.tsx b/packages/recast-navigation/.storybook/stories/advanced/flood-fill-pruning.stories.tsx
@@ -1,6 +1,6 @@
 import { OrbitControls } from '@react-three/drei';
 import { ThreeEvent } from '@react-three/fiber';
-import { NavMeshQuery } from '@recast-navigation/core';
+import { NavMeshQuery, Raw } from '@recast-navigation/core';
 import { DebugDrawer, threeToSoloNavMesh } from '@recast-navigation/three';
 import React, { useEffect, useState } from 'react';
 import * as THREE from 'three';
@@ -69,10 +69,10 @@ export const FloodFillPruning = () => {
       const { poly, tile } = navMesh.getTileAndPolyByRefUnsafe(ref);
 
       // visit linked polys
-      const DT_NULL_LINK = 0xffffffff;
       for (
         let i = poly.firstLink();
-        i !== DT_NULL_LINK && i !== -1;
+        // https://github.com/emscripten-core/emscripten/issues/22134
+        i !== Raw.Detour.NULL_LINK && i !== -1;
         i = tile.links(i).next()
       ) {
         const neiRef = tile.links(i).ref();

diff --git a/packages/recast-navigation/.storybook/stories/crowd/single-agent.stories.tsx b/packages/recast-navigation/.storybook/stories/crowd/single-agent.stories.tsx
@@ -25,6 +25,8 @@ const agentMaterial = new MeshStandardMaterial({
   color: 'red',
 });
 
+const _navMeshOnPointerDownVector = new Vector3();
+
 export const CrowdWithSingleAgent = () => {
   const agentTargetSpanRef = useRef<HTMLSpanElement>(null!);
   const agentNextTargetPathSpanRef = useRef<HTMLSpanElement>(null!);
@@ -51,16 +53,21 @@ export const CrowdWithSingleAgent = () => {
 
     const agentRadius = 0.1;
     const cellSize = 0.05;
+    const cellHeight = 0.05;
 
     const { success, navMesh } = threeToSoloNavMesh(meshes, {
       cs: cellSize,
-      ch: 0.2,
-      walkableRadius: Math.ceil(agentRadius / cellSize),
+      ch: cellHeight,
+      walkableRadius: Math.ceil(0.3 / cellSize),
+      borderSize: 5,
+      // maxEdgeLen: 2,
+      // walkableHeight: Math.floor(1 / cellHeight),
     });
 
     if (!success) return;
 
     const navMeshQuery = new NavMeshQuery(navMesh);
+    // navMeshQuery.defaultQueryHalfExtents = { x: 0.5, y: 0.1, z: 0.5 }
 
     const crowd = new Crowd(navMesh, { maxAgents: 1, maxAgentRadius: 0.2 });
 
@@ -118,7 +125,13 @@ export const CrowdWithSingleAgent = () => {
 
     e.stopPropagation();
 
-    const { point: target } = navMeshQuery.findClosestPoint(e.point);
+    const point = _navMeshOnPointerDownVector.copy(e.point)
+
+    navMeshQuery.defaultQueryHalfExtents.x = 0.01;
+    navMeshQuery.defaultQueryHalfExtents.z = 0.01;
+    navMeshQuery.defaultQueryHalfExtents.y = 0.01;
+    const { nearestPoint: target } = navMeshQuery.findNearestPoly(point);
+
 
     if (e.button === 2) {
       agent.teleport(target);
-Original file line number
+Diff line change
@@ Expand Up / @@ -403,6 +403,7 @@ export class NavMesh { @@
         Raw.destroy(endRaw);
         return {
+          success: statusSucceed(status),
           status,
           start,
           end,
@@ Expand Down @@