| 1 |
- {"ast":null,"code":"import { Logger } from \"../../Misc/logger.js\";\nimport { VertexData } from \"../../Meshes/mesh.vertexData.js\";\nimport { Mesh } from \"../../Meshes/mesh.js\";\nimport { Epsilon, Vector3, Matrix } from \"../../Maths/math.js\";\nimport { Observable } from \"../../Misc/observable.js\";\nimport { VertexBuffer } from \"../../Buffers/buffer.js\";\n/**\n * RecastJS navigation plugin\n */\nexport class RecastJSPlugin {\n /**\n * Initializes the recastJS plugin\n * @param recastInjection can be used to inject your own recast reference\n */\n constructor(recastInjection = Recast) {\n /**\n * Reference to the Recast library\n */\n this.bjsRECAST = {};\n /**\n * plugin name\n */\n this.name = \"RecastJSPlugin\";\n this._maximumSubStepCount = 10;\n this._timeStep = 1 / 60;\n this._timeFactor = 1;\n this._worker = null;\n if (typeof recastInjection === \"function\") {\n Logger.Error(\"RecastJS is not ready. Please make sure you await Recast() before using the plugin.\");\n } else {\n this.bjsRECAST = recastInjection;\n }\n if (!this.isSupported()) {\n Logger.Error(\"RecastJS is not available. Please make sure you included the js file.\");\n return;\n }\n this.setTimeStep();\n this._tempVec1 = new this.bjsRECAST.Vec3();\n this._tempVec2 = new this.bjsRECAST.Vec3();\n }\n /**\n * Set worker URL to be used when generating a new navmesh\n * @param workerURL url string\n * @returns boolean indicating if worker is created\n */\n setWorkerURL(workerURL) {\n if (window && window.Worker) {\n this._worker = new Worker(workerURL);\n return true;\n }\n return false;\n }\n /**\n * Set the time step of the navigation tick update.\n * Default is 1/60.\n * A value of 0 will disable fixed time update\n * @param newTimeStep the new timestep to apply to this world.\n */\n setTimeStep(newTimeStep = 1 / 60) {\n this._timeStep = newTimeStep;\n }\n /**\n * Get the time step of the navigation tick update.\n * @returns the current time step\n */\n getTimeStep() {\n return this._timeStep;\n }\n /**\n * If delta time in navigation tick update is greater than the time step\n * a number of sub iterations are done. If more iterations are need to reach deltatime\n * they will be discarded.\n * A value of 0 will set to no maximum and update will use as many substeps as needed\n * @param newStepCount the maximum number of iterations\n */\n setMaximumSubStepCount(newStepCount = 10) {\n this._maximumSubStepCount = newStepCount;\n }\n /**\n * Get the maximum number of iterations per navigation tick update\n * @returns the maximum number of iterations\n */\n getMaximumSubStepCount() {\n return this._maximumSubStepCount;\n }\n /**\n * Time factor applied when updating crowd agents (default 1). A value of 0 will pause crowd updates.\n * @param value the time factor applied at update\n */\n set timeFactor(value) {\n this._timeFactor = Math.max(value, 0);\n }\n /**\n * Get the time factor used for crowd agent update\n * @returns the time factor\n */\n get timeFactor() {\n return this._timeFactor;\n }\n /**\n * Creates a navigation mesh\n * @param meshes array of all the geometry used to compute the navigation mesh\n * @param parameters bunch of parameters used to filter geometry\n * @param completion callback when data is available from the worker. Not used without a worker\n */\n createNavMesh(meshes, parameters, completion) {\n if (this._worker && !completion) {\n Logger.Warn(\"A worker is avaible but no completion callback. Defaulting to blocking navmesh creation\");\n } else if (!this._worker && completion) {\n Logger.Warn(\"A completion callback is avaible but no worker. Defaulting to blocking navmesh creation\");\n }\n this.navMesh = new this.bjsRECAST.NavMesh();\n let index;\n let tri;\n let pt;\n const indices = [];\n const positions = [];\n let offset = 0;\n for (index = 0; index < meshes.length; index++) {\n if (meshes[index]) {\n const mesh = meshes[index];\n const meshIndices = mesh.getIndices();\n if (!meshIndices) {\n continue;\n }\n const meshPositions = mesh.getVerticesData(VertexBuffer.PositionKind, false, false);\n if (!meshPositions) {\n continue;\n }\n const worldMatrices = [];\n const worldMatrix = mesh.computeWorldMatrix(true);\n if (mesh.hasThinInstances) {\n const thinMatrices = mesh.thinInstanceGetWorldMatrices();\n for (let instanceIndex = 0; instanceIndex < thinMatrices.length; instanceIndex++) {\n const tmpMatrix = new Matrix();\n const thinMatrix = thinMatrices[instanceIndex];\n thinMatrix.multiplyToRef(worldMatrix, tmpMatrix);\n worldMatrices.push(tmpMatrix);\n }\n } else {\n worldMatrices.push(worldMatrix);\n }\n for (let matrixIndex = 0; matrixIndex < worldMatrices.length; matrixIndex++) {\n const wm = worldMatrices[matrixIndex];\n for (tri = 0; tri < meshIndices.length; tri++) {\n indices.push(meshIndices[tri] + offset);\n }\n const transformed = Vector3.Zero();\n const position = Vector3.Zero();\n for (pt = 0; pt < meshPositions.length; pt += 3) {\n Vector3.FromArrayToRef(meshPositions, pt, position);\n Vector3.TransformCoordinatesToRef(position, wm, transformed);\n positions.push(transformed.x, transformed.y, transformed.z);\n }\n offset += meshPositions.length / 3;\n }\n }\n }\n if (this._worker && completion) {\n // spawn worker and send message\n this._worker.postMessage([positions, offset, indices, indices.length, parameters]);\n this._worker.onmessage = function (e) {\n completion(e.data);\n };\n } else {\n // blocking calls\n const rc = new this.bjsRECAST.rcConfig();\n rc.cs = parameters.cs;\n rc.ch = parameters.ch;\n rc.borderSize = parameters.borderSize ? parameters.borderSize : 0;\n rc.tileSize = parameters.tileSize ? parameters.tileSize : 0;\n rc.walkableSlopeAngle = parameters.walkableSlopeAngle;\n rc.walkableHeight = parameters.walkableHeight;\n rc.walkableClimb = parameters.walkableClimb;\n rc.walkableRadius = parameters.walkableRadius;\n rc.maxEdgeLen = parameters.maxEdgeLen;\n rc.maxSimplificationError = parameters.maxSimplificationError;\n rc.minRegionArea = parameters.minRegionArea;\n rc.mergeRegionArea = parameters.mergeRegionArea;\n rc.maxVertsPerPoly = parameters.maxVertsPerPoly;\n rc.detailSampleDist = parameters.detailSampleDist;\n rc.detailSampleMaxError = parameters.detailSampleMaxError;\n this.navMesh.build(positions, offset, indices, indices.length, rc);\n }\n }\n /**\n * Create a navigation mesh debug mesh\n * @param scene is where the mesh will be added\n * @returns debug display mesh\n */\n createDebugNavMesh(scene) {\n let tri;\n let pt;\n const debugNavMesh = this.navMesh.getDebugNavMesh();\n const triangleCount = debugNavMesh.getTriangleCount();\n const indices = [];\n const positions = [];\n for (tri = 0; tri < triangleCount * 3; tri++) {\n indices.push(tri);\n }\n for (tri = 0; tri < triangleCount; tri++) {\n for (pt = 0; pt < 3; pt++) {\n const point = debugNavMesh.getTriangle(tri).getPoint(pt);\n positions.push(point.x, point.y, point.z);\n }\n }\n const mesh = new Mesh(\"NavMeshDebug\", scene);\n const vertexData = new VertexData();\n vertexData.indices = indices;\n vertexData.positions = positions;\n vertexData.applyToMesh(mesh, false);\n return mesh;\n }\n /**\n * Get a navigation mesh constrained position, closest to the parameter position\n * @param position world position\n * @returns the closest point to position constrained by the navigation mesh\n */\n getClosestPoint(position) {\n this._tempVec1.x = position.x;\n this._tempVec1.y = position.y;\n this._tempVec1.z = position.z;\n const ret = this.navMesh.getClosestPoint(this._tempVec1);\n const pr = new Vector3(ret.x, ret.y, ret.z);\n return pr;\n }\n /**\n * Get a navigation mesh constrained position, closest to the parameter position\n * @param position world position\n * @param result output the closest point to position constrained by the navigation mesh\n */\n getClosestPointToRef(position, result) {\n this._tempVec1.x = position.x;\n this._tempVec1.y = position.y;\n this._tempVec1.z = position.z;\n const ret = this.navMesh.getClosestPoint(this._tempVec1);\n result.set(ret.x, ret.y, ret.z);\n }\n /**\n * Get a navigation mesh constrained position, within a particular radius\n * @param position world position\n * @param maxRadius the maximum distance to the constrained world position\n * @returns the closest point to position constrained by the navigation mesh\n */\n getRandomPointAround(position, maxRadius) {\n this._tempVec1.x = position.x;\n this._tempVec1.y = position.y;\n this._tempVec1.z = position.z;\n const ret = this.navMesh.getRandomPointAround(this._tempVec1, maxRadius);\n const pr = new Vector3(ret.x, ret.y, ret.z);\n return pr;\n }\n /**\n * Get a navigation mesh constrained position, within a particular radius\n * @param position world position\n * @param maxRadius the maximum distance to the constrained world position\n * @param result output the closest point to position constrained by the navigation mesh\n */\n getRandomPointAroundToRef(position, maxRadius, result) {\n this._tempVec1.x = position.x;\n this._tempVec1.y = position.y;\n this._tempVec1.z = position.z;\n const ret = this.navMesh.getRandomPointAround(this._tempVec1, maxRadius);\n result.set(ret.x, ret.y, ret.z);\n }\n /**\n * Compute the final position from a segment made of destination-position\n * @param position world position\n * @param destination world position\n * @returns the resulting point along the navmesh\n */\n moveAlong(position, destination) {\n this._tempVec1.x = position.x;\n this._tempVec1.y = position.y;\n this._tempVec1.z = position.z;\n this._tempVec2.x = destination.x;\n this._tempVec2.y = destination.y;\n this._tempVec2.z = destination.z;\n const ret = this.navMesh.moveAlong(this._tempVec1, this._tempVec2);\n const pr = new Vector3(ret.x, ret.y, ret.z);\n return pr;\n }\n /**\n * Compute the final position from a segment made of destination-position\n * @param position world position\n * @param destination world position\n * @param result output the resulting point along the navmesh\n */\n moveAlongToRef(position, destination, result) {\n this._tempVec1.x = position.x;\n this._tempVec1.y = position.y;\n this._tempVec1.z = position.z;\n this._tempVec2.x = destination.x;\n this._tempVec2.y = destination.y;\n this._tempVec2.z = destination.z;\n const ret = this.navMesh.moveAlong(this._tempVec1, this._tempVec2);\n result.set(ret.x, ret.y, ret.z);\n }\n _convertNavPathPoints(navPath) {\n let pt;\n const pointCount = navPath.getPointCount();\n const positions = [];\n for (pt = 0; pt < pointCount; pt++) {\n const p = navPath.getPoint(pt);\n positions.push(new Vector3(p.x, p.y, p.z));\n }\n return positions;\n }\n /**\n * Compute a navigation path from start to end. Returns an empty array if no path can be computed\n * Path is straight.\n * @param start world position\n * @param end world position\n * @returns array containing world position composing the path\n */\n computePath(start, end) {\n this._tempVec1.x = start.x;\n this._tempVec1.y = start.y;\n this._tempVec1.z = start.z;\n this._tempVec2.x = end.x;\n this._tempVec2.y = end.y;\n this._tempVec2.z = end.z;\n const navPath = this.navMesh.computePath(this._tempVec1, this._tempVec2);\n return this._convertNavPathPoints(navPath);\n }\n /**\n * Compute a navigation path from start to end. Returns an empty array if no path can be computed.\n * Path follows navigation mesh geometry.\n * @param start world position\n * @param end world position\n * @returns array containing world position composing the path\n */\n computePathSmooth(start, end) {\n this._tempVec1.x = start.x;\n this._tempVec1.y = start.y;\n this._tempVec1.z = start.z;\n this._tempVec2.x = end.x;\n this._tempVec2.y = end.y;\n this._tempVec2.z = end.z;\n const navPath = this.navMesh.computePathSmooth(this._tempVec1, this._tempVec2);\n return this._convertNavPathPoints(navPath);\n }\n /**\n * Create a new Crowd so you can add agents\n * @param maxAgents the maximum agent count in the crowd\n * @param maxAgentRadius the maximum radius an agent can have\n * @param scene to attach the crowd to\n * @returns the crowd you can add agents to\n */\n createCrowd(maxAgents, maxAgentRadius, scene) {\n const crowd = new RecastJSCrowd(this, maxAgents, maxAgentRadius, scene);\n return crowd;\n }\n /**\n * Set the Bounding box extent for doing spatial queries (getClosestPoint, getRandomPointAround, ...)\n * The queries will try to find a solution within those bounds\n * default is (1,1,1)\n * @param extent x,y,z value that define the extent around the queries point of reference\n */\n setDefaultQueryExtent(extent) {\n this._tempVec1.x = extent.x;\n this._tempVec1.y = extent.y;\n this._tempVec1.z = extent.z;\n this.navMesh.setDefaultQueryExtent(this._tempVec1);\n }\n /**\n * Get the Bounding box extent specified by setDefaultQueryExtent\n * @returns the box extent values\n */\n getDefaultQueryExtent() {\n const p = this.navMesh.getDefaultQueryExtent();\n return new Vector3(p.x, p.y, p.z);\n }\n /**\n * build the navmesh from a previously saved state using getNavmeshData\n * @param data the Uint8Array returned by getNavmeshData\n */\n buildFromNavmeshData(data) {\n const nDataBytes = data.length * data.BYTES_PER_ELEMENT;\n const dataPtr = this.bjsRECAST._malloc(nDataBytes);\n const dataHeap = new Uint8Array(this.bjsRECAST.HEAPU8.buffer, dataPtr, nDataBytes);\n dataHeap.set(data);\n const buf = new this.bjsRECAST.NavmeshData();\n buf.dataPointer = dataHeap.byteOffset;\n buf.size = data.length;\n this.navMesh = new this.bjsRECAST.NavMesh();\n this.navMesh.buildFromNavmeshData(buf);\n // Free memory\n this.bjsRECAST._free(dataHeap.byteOffset);\n }\n /**\n * returns the navmesh data that can be used later. The navmesh must be built before retrieving the data\n * @returns data the Uint8Array that can be saved and reused\n */\n getNavmeshData() {\n const navmeshData = this.navMesh.getNavmeshData();\n const arrView = new Uint8Array(this.bjsRECAST.HEAPU8.buffer, navmeshData.dataPointer, navmeshData.size);\n const ret = new Uint8Array(navmeshData.size);\n ret.set(arrView);\n this.navMesh.freeNavmeshData(navmeshData);\n return ret;\n }\n /**\n * Get the Bounding box extent result specified by setDefaultQueryExtent\n * @param result output the box extent values\n */\n getDefaultQueryExtentToRef(result) {\n const p = this.navMesh.getDefaultQueryExtent();\n result.set(p.x, p.y, p.z);\n }\n /**\n * Disposes\n */\n dispose() {}\n /**\n * Creates a cylinder obstacle and add it to the navigation\n * @param position world position\n * @param radius cylinder radius\n * @param height cylinder height\n * @returns the obstacle freshly created\n */\n addCylinderObstacle(position, radius, height) {\n this._tempVec1.x = position.x;\n this._tempVec1.y = position.y;\n this._tempVec1.z = position.z;\n return this.navMesh.addCylinderObstacle(this._tempVec1, radius, height);\n }\n /**\n * Creates an oriented box obstacle and add it to the navigation\n * @param position world position\n * @param extent box size\n * @param angle angle in radians of the box orientation on Y axis\n * @returns the obstacle freshly created\n */\n addBoxObstacle(position, extent, angle) {\n this._tempVec1.x = position.x;\n this._tempVec1.y = position.y;\n this._tempVec1.z = position.z;\n this._tempVec2.x = extent.x;\n this._tempVec2.y = extent.y;\n this._tempVec2.z = extent.z;\n return this.navMesh.addBoxObstacle(this._tempVec1, this._tempVec2, angle);\n }\n /**\n * Removes an obstacle created by addCylinderObstacle or addBoxObstacle\n * @param obstacle obstacle to remove from the navigation\n */\n removeObstacle(obstacle) {\n this.navMesh.removeObstacle(obstacle);\n }\n /**\n * If this plugin is supported\n * @returns true if plugin is supported\n */\n isSupported() {\n return this.bjsRECAST !== undefined;\n }\n /**\n * Returns the seed used for randomized functions like `getRandomPointAround`\n * @returns seed number\n */\n getRandomSeed() {\n return this.bjsRECAST._getRandomSeed();\n }\n /**\n * Set the seed used for randomized functions like `getRandomPointAround`\n * @param seed number used as seed for random functions\n */\n setRandomSeed(seed) {\n this.bjsRECAST._setRandomSeed(seed);\n }\n}\n/**\n * Recast detour crowd implementation\n */\nexport class RecastJSCrowd {\n /**\n * Constructor\n * @param plugin recastJS plugin\n * @param maxAgents the maximum agent count in the crowd\n * @param maxAgentRadius the maximum radius an agent can have\n * @param scene to attach the crowd to\n * @returns the crowd you can add agents to\n */\n constructor(plugin, maxAgents, maxAgentRadius, scene) {\n /**\n * Link to the detour crowd\n */\n this.recastCrowd = {};\n /**\n * One transform per agent\n */\n this.transforms = new Array();\n /**\n * All agents created\n */\n this.agents = new Array();\n /**\n * agents reach radius\n */\n this.reachRadii = new Array();\n /**\n * true when a destination is active for an agent and notifier hasn't been notified of reach\n */\n this._agentDestinationArmed = new Array();\n /**\n * agent current target\n */\n this._agentDestination = new Array();\n /**\n * Observer for crowd updates\n */\n this._onBeforeAnimationsObserver = null;\n /**\n * Fires each time an agent is in reach radius of its destination\n */\n this.onReachTargetObservable = new Observable();\n this.bjsRECASTPlugin = plugin;\n this.recastCrowd = new this.bjsRECASTPlugin.bjsRECAST.Crowd(maxAgents, maxAgentRadius, this.bjsRECASTPlugin.navMesh.getNavMesh());\n this._scene = scene;\n this._onBeforeAnimationsObserver = scene.onBeforeAnimationsObservable.add(() => {\n this.update(scene.getEngine().getDeltaTime() * 0.001 * plugin.timeFactor);\n });\n }\n /**\n * Add a new agent to the crowd with the specified parameter a corresponding transformNode.\n * You can attach anything to that node. The node position is updated in the scene update tick.\n * @param pos world position that will be constrained by the navigation mesh\n * @param parameters agent parameters\n * @param transform hooked to the agent that will be update by the scene\n * @returns agent index\n */\n addAgent(pos, parameters, transform) {\n const agentParams = new this.bjsRECASTPlugin.bjsRECAST.dtCrowdAgentParams();\n agentParams.radius = parameters.radius;\n agentParams.height = parameters.height;\n agentParams.maxAcceleration = parameters.maxAcceleration;\n agentParams.maxSpeed = parameters.maxSpeed;\n agentParams.collisionQueryRange = parameters.collisionQueryRange;\n agentParams.pathOptimizationRange = parameters.pathOptimizationRange;\n agentParams.separationWeight = parameters.separationWeight;\n agentParams.updateFlags = 7;\n agentParams.obstacleAvoidanceType = 0;\n agentParams.queryFilterType = 0;\n agentParams.userData = 0;\n const agentIndex = this.recastCrowd.addAgent(new this.bjsRECASTPlugin.bjsRECAST.Vec3(pos.x, pos.y, pos.z), agentParams);\n this.transforms.push(transform);\n this.agents.push(agentIndex);\n this.reachRadii.push(parameters.reachRadius ? parameters.reachRadius : parameters.radius);\n this._agentDestinationArmed.push(false);\n this._agentDestination.push(new Vector3(0, 0, 0));\n return agentIndex;\n }\n /**\n * Returns the agent position in world space\n * @param index agent index returned by addAgent\n * @returns world space position\n */\n getAgentPosition(index) {\n const agentPos = this.recastCrowd.getAgentPosition(index);\n return new Vector3(agentPos.x, agentPos.y, agentPos.z);\n }\n /**\n * Returns the agent position result in world space\n * @param index agent index returned by addAgent\n * @param result output world space position\n */\n getAgentPositionToRef(index, result) {\n const agentPos = this.recastCrowd.getAgentPosition(index);\n result.set(agentPos.x, agentPos.y, agentPos.z);\n }\n /**\n * Returns the agent velocity in world space\n * @param index agent index returned by addAgent\n * @returns world space velocity\n */\n getAgentVelocity(index) {\n const agentVel = this.recastCrowd.getAgentVelocity(index);\n return new Vector3(agentVel.x, agentVel.y, agentVel.z);\n }\n /**\n * Returns the agent velocity result in world space\n * @param index agent index returned by addAgent\n * @param result output world space velocity\n */\n getAgentVelocityToRef(index, result) {\n const agentVel = this.recastCrowd.getAgentVelocity(index);\n result.set(agentVel.x, agentVel.y, agentVel.z);\n }\n /**\n * Returns the agent next target point on the path\n * @param index agent index returned by addAgent\n * @returns world space position\n */\n getAgentNextTargetPath(index) {\n const pathTargetPos = this.recastCrowd.getAgentNextTargetPath(index);\n return new Vector3(pathTargetPos.x, pathTargetPos.y, pathTargetPos.z);\n }\n /**\n * Returns the agent next target point on the path\n * @param index agent index returned by addAgent\n * @param result output world space position\n */\n getAgentNextTargetPathToRef(index, result) {\n const pathTargetPos = this.recastCrowd.getAgentNextTargetPath(index);\n result.set(pathTargetPos.x, pathTargetPos.y, pathTargetPos.z);\n }\n /**\n * Gets the agent state\n * @param index agent index returned by addAgent\n * @returns agent state\n */\n getAgentState(index) {\n return this.recastCrowd.getAgentState(index);\n }\n /**\n * returns true if the agent in over an off mesh link connection\n * @param index agent index returned by addAgent\n * @returns true if over an off mesh link connection\n */\n overOffmeshConnection(index) {\n return this.recastCrowd.overOffmeshConnection(index);\n }\n /**\n * Asks a particular agent to go to a destination. That destination is constrained by the navigation mesh\n * @param index agent index returned by addAgent\n * @param destination targeted world position\n */\n agentGoto(index, destination) {\n this.recastCrowd.agentGoto(index, new this.bjsRECASTPlugin.bjsRECAST.Vec3(destination.x, destination.y, destination.z));\n // arm observer\n const item = this.agents.indexOf(index);\n if (item > -1) {\n this._agentDestinationArmed[item] = true;\n this._agentDestination[item].set(destination.x, destination.y, destination.z);\n }\n }\n /**\n * Teleport the agent to a new position\n * @param index agent index returned by addAgent\n * @param destination targeted world position\n */\n agentTeleport(index, destination) {\n this.recastCrowd.agentTeleport(index, new this.bjsRECASTPlugin.bjsRECAST.Vec3(destination.x, destination.y, destination.z));\n }\n /**\n * Update agent parameters\n * @param index agent index returned by addAgent\n * @param parameters agent parameters\n */\n updateAgentParameters(index, parameters) {\n const agentParams = this.recastCrowd.getAgentParameters(index);\n if (parameters.radius !== undefined) {\n agentParams.radius = parameters.radius;\n }\n if (parameters.height !== undefined) {\n agentParams.height = parameters.height;\n }\n if (parameters.maxAcceleration !== undefined) {\n agentParams.maxAcceleration = parameters.maxAcceleration;\n }\n if (parameters.maxSpeed !== undefined) {\n agentParams.maxSpeed = parameters.maxSpeed;\n }\n if (parameters.collisionQueryRange !== undefined) {\n agentParams.collisionQueryRange = parameters.collisionQueryRange;\n }\n if (parameters.pathOptimizationRange !== undefined) {\n agentParams.pathOptimizationRange = parameters.pathOptimizationRange;\n }\n if (parameters.separationWeight !== undefined) {\n agentParams.separationWeight = parameters.separationWeight;\n }\n this.recastCrowd.setAgentParameters(index, agentParams);\n }\n /**\n * remove a particular agent previously created\n * @param index agent index returned by addAgent\n */\n removeAgent(index) {\n this.recastCrowd.removeAgent(index);\n const item = this.agents.indexOf(index);\n if (item > -1) {\n this.agents.splice(item, 1);\n this.transforms.splice(item, 1);\n this.reachRadii.splice(item, 1);\n this._agentDestinationArmed.splice(item, 1);\n this._agentDestination.splice(item, 1);\n }\n }\n /**\n * get the list of all agents attached to this crowd\n * @returns list of agent indices\n */\n getAgents() {\n return this.agents;\n }\n /**\n * Tick update done by the Scene. Agent position/velocity/acceleration is updated by this function\n * @param deltaTime in seconds\n */\n update(deltaTime) {\n // update obstacles\n this.bjsRECASTPlugin.navMesh.update();\n if (deltaTime <= Epsilon) {\n return;\n }\n // update crowd\n const timeStep = this.bjsRECASTPlugin.getTimeStep();\n const maxStepCount = this.bjsRECASTPlugin.getMaximumSubStepCount();\n if (timeStep <= Epsilon) {\n this.recastCrowd.update(deltaTime);\n } else {\n let iterationCount = Math.floor(deltaTime / timeStep);\n if (maxStepCount && iterationCount > maxStepCount) {\n iterationCount = maxStepCount;\n }\n if (iterationCount < 1) {\n iterationCount = 1;\n }\n const step = deltaTime / iterationCount;\n for (let i = 0; i < iterationCount; i++) {\n this.recastCrowd.update(step);\n }\n }\n // update transforms\n for (let index = 0; index < this.agents.length; index++) {\n // update transform position\n const agentIndex = this.agents[index];\n const agentPosition = this.getAgentPosition(agentIndex);\n this.transforms[index].position = agentPosition;\n // check agent reach destination\n if (this._agentDestinationArmed[index]) {\n const dx = agentPosition.x - this._agentDestination[index].x;\n const dz = agentPosition.z - this._agentDestination[index].z;\n const radius = this.reachRadii[index];\n const groundY = this._agentDestination[index].y - this.reachRadii[index];\n const ceilingY = this._agentDestination[index].y + this.reachRadii[index];\n const distanceXZSquared = dx * dx + dz * dz;\n if (agentPosition.y > groundY && agentPosition.y < ceilingY && distanceXZSquared < radius * radius) {\n this._agentDestinationArmed[index] = false;\n this.onReachTargetObservable.notifyObservers({\n agentIndex: agentIndex,\n destination: this._agentDestination[index]\n });\n }\n }\n }\n }\n /**\n * Set the Bounding box extent for doing spatial queries (getClosestPoint, getRandomPointAround, ...)\n * The queries will try to find a solution within those bounds\n * default is (1,1,1)\n * @param extent x,y,z value that define the extent around the queries point of reference\n */\n setDefaultQueryExtent(extent) {\n const ext = new this.bjsRECASTPlugin.bjsRECAST.Vec3(extent.x, extent.y, extent.z);\n this.recastCrowd.setDefaultQueryExtent(ext);\n }\n /**\n * Get the Bounding box extent specified by setDefaultQueryExtent\n * @returns the box extent values\n */\n getDefaultQueryExtent() {\n const p = this.recastCrowd.getDefaultQueryExtent();\n return new Vector3(p.x, p.y, p.z);\n }\n /**\n * Get the Bounding box extent result specified by setDefaultQueryExtent\n * @param result output the box extent values\n */\n getDefaultQueryExtentToRef(result) {\n const p = this.recastCrowd.getDefaultQueryExtent();\n result.set(p.x, p.y, p.z);\n }\n /**\n * Get the next corner points composing the path (max 4 points)\n * @param index agent index returned by addAgent\n * @returns array containing world position composing the path\n */\n getCorners(index) {\n let pt;\n const navPath = this.recastCrowd.getCorners(index);\n const pointCount = navPath.getPointCount();\n const positions = [];\n for (pt = 0; pt < pointCount; pt++) {\n const p = navPath.getPoint(pt);\n positions.push(new Vector3(p.x, p.y, p.z));\n }\n return positions;\n }\n /**\n * Release all resources\n */\n dispose() {\n this.recastCrowd.destroy();\n this._scene.onBeforeAnimationsObservable.remove(this._onBeforeAnimationsObserver);\n this._onBeforeAnimationsObserver = null;\n this.onReachTargetObservable.clear();\n }\n}","map":{"version":3,"names":["Logger","VertexData","Mesh","Epsilon","Vector3","Matrix","Observable","VertexBuffer","RecastJSPlugin","constructor","recastInjection","Recast","bjsRECAST","name","_maximumSubStepCount","_timeStep","_timeFactor","_worker","Error","isSupported","setTimeStep","_tempVec1","Vec3","_tempVec2","setWorkerURL","workerURL","window","Worker","newTimeStep","getTimeStep","setMaximumSubStepCount","newStepCount","getMaximumSubStepCount","timeFactor","value","Math","max","createNavMesh","meshes","parameters","completion","Warn","navMesh","NavMesh","index","tri","pt","indices","positions","offset","length","mesh","meshIndices","getIndices","meshPositions","getVerticesData","PositionKind","worldMatrices","worldMatrix","computeWorldMatrix","hasThinInstances","thinMatrices","thinInstanceGetWorldMatrices","instanceIndex","tmpMatrix","thinMatrix","multiplyToRef","push","matrixIndex","wm","transformed","Zero","position","FromArrayToRef","TransformCoordinatesToRef","x","y","z","postMessage","onmessage","e","data","rc","rcConfig","cs","ch","borderSize","tileSize","walkableSlopeAngle","walkableHeight","walkableClimb","walkableRadius","maxEdgeLen","maxSimplificationError","minRegionArea","mergeRegionArea","maxVertsPerPoly","detailSampleDist","detailSampleMaxError","build","createDebugNavMesh","scene","debugNavMesh","getDebugNavMesh","triangleCount","getTriangleCount","point","getTriangle","getPoint","vertexData","applyToMesh","getClosestPoint","ret","pr","getClosestPointToRef","result","set","getRandomPointAround","maxRadius","getRandomPointAroundToRef","moveAlong","destination","moveAlongToRef","_convertNavPathPoints","navPath","pointCount","getPointCount","p","computePath","start","end","computePathSmooth","createCrowd","maxAgents","maxAgentRadius","crowd","RecastJSCrowd","setDefaultQueryExtent","extent","getDefaultQueryExtent","buildFromNavmeshData","nDataBytes","BYTES_PER_ELEMENT","dataPtr","_malloc","dataHeap","Uint8Array","HEAPU8","buffer","buf","NavmeshData","dataPointer","byteOffset","size","_free","getNavmeshData","navmeshData","arrView","freeNavmeshData","getDefaultQueryExtentToRef","dispose","addCylinderObstacle","radius","height","addBoxObstacle","angle","removeObstacle","obstacle","undefined","getRandomSeed","_getRandomSeed","setRandomSeed","seed","_setRandomSeed","plugin","recastCrowd","transforms","Array","agents","reachRadii","_agentDestinationArmed","_agentDestination","_onBeforeAnimationsObserver","onReachTargetObservable","bjsRECASTPlugin","Crowd","getNavMesh","_scene","onBeforeAnimationsObservable","add","update","getEngine","getDeltaTime","addAgent","pos","transform","agentParams","dtCrowdAgentParams","maxAcceleration","maxSpeed","collisionQueryRange","pathOptimizationRange","separationWeight","updateFlags","obstacleAvoidanceType","queryFilterType","userData","agentIndex","reachRadius","getAgentPosition","agentPos","getAgentPositionToRef","getAgentVelocity","agentVel","getAgentVelocityToRef","getAgentNextTargetPath","pathTargetPos","getAgentNextTargetPathToRef","getAgentState","overOffmeshConnection","agentGoto","item","indexOf","agentTeleport","updateAgentParameters","getAgentParameters","setAgentParameters","removeAgent","splice","getAgents","deltaTime","timeStep","maxStepCount","iterationCount","floor","step","i","agentPosition","dx","dz","groundY","ceilingY","distanceXZSquared","notifyObservers","ext","getCorners","destroy","remove","clear"],"sources":["F:/workspace/202226701027/huinongbao-app/node_modules/@babylonjs/core/Navigation/Plugins/recastJSPlugin.js"],"sourcesContent":["import { Logger } from \"../../Misc/logger.js\";\nimport { VertexData } from \"../../Meshes/mesh.vertexData.js\";\nimport { Mesh } from \"../../Meshes/mesh.js\";\nimport { Epsilon, Vector3, Matrix } from \"../../Maths/math.js\";\nimport { Observable } from \"../../Misc/observable.js\";\nimport { VertexBuffer } from \"../../Buffers/buffer.js\";\n/**\n * RecastJS navigation plugin\n */\nexport class RecastJSPlugin {\n /**\n * Initializes the recastJS plugin\n * @param recastInjection can be used to inject your own recast reference\n */\n constructor(recastInjection = Recast) {\n /**\n * Reference to the Recast library\n */\n this.bjsRECAST = {};\n /**\n * plugin name\n */\n this.name = \"RecastJSPlugin\";\n this._maximumSubStepCount = 10;\n this._timeStep = 1 / 60;\n this._timeFactor = 1;\n this._worker = null;\n if (typeof recastInjection === \"function\") {\n Logger.Error(\"RecastJS is not ready. Please make sure you await Recast() before using the plugin.\");\n }\n else {\n this.bjsRECAST = recastInjection;\n }\n if (!this.isSupported()) {\n Logger.Error(\"RecastJS is not available. Please make sure you included the js file.\");\n return;\n }\n this.setTimeStep();\n this._tempVec1 = new this.bjsRECAST.Vec3();\n this._tempVec2 = new this.bjsRECAST.Vec3();\n }\n /**\n * Set worker URL to be used when generating a new navmesh\n * @param workerURL url string\n * @returns boolean indicating if worker is created\n */\n setWorkerURL(workerURL) {\n if (window && window.Worker) {\n this._worker = new Worker(workerURL);\n return true;\n }\n return false;\n }\n /**\n * Set the time step of the navigation tick update.\n * Default is 1/60.\n * A value of 0 will disable fixed time update\n * @param newTimeStep the new timestep to apply to this world.\n */\n setTimeStep(newTimeStep = 1 / 60) {\n this._timeStep = newTimeStep;\n }\n /**\n * Get the time step of the navigation tick update.\n * @returns the current time step\n */\n getTimeStep() {\n return this._timeStep;\n }\n /**\n * If delta time in navigation tick update is greater than the time step\n * a number of sub iterations are done. If more iterations are need to reach deltatime\n * they will be discarded.\n * A value of 0 will set to no maximum and update will use as many substeps as needed\n * @param newStepCount the maximum number of iterations\n */\n setMaximumSubStepCount(newStepCount = 10) {\n this._maximumSubStepCount = newStepCount;\n }\n /**\n * Get the maximum number of iterations per navigation tick update\n * @returns the maximum number of iterations\n */\n getMaximumSubStepCount() {\n return this._maximumSubStepCount;\n }\n /**\n * Time factor applied when updating crowd agents (default 1). A value of 0 will pause crowd updates.\n * @param value the time factor applied at update\n */\n set timeFactor(value) {\n this._timeFactor = Math.max(value, 0);\n }\n /**\n * Get the time factor used for crowd agent update\n * @returns the time factor\n */\n get timeFactor() {\n return this._timeFactor;\n }\n /**\n * Creates a navigation mesh\n * @param meshes array of all the geometry used to compute the navigation mesh\n * @param parameters bunch of parameters used to filter geometry\n * @param completion callback when data is available from the worker. Not used without a worker\n */\n createNavMesh(meshes, parameters, completion) {\n if (this._worker && !completion) {\n Logger.Warn(\"A worker is avaible but no completion callback. Defaulting to blocking navmesh creation\");\n }\n else if (!this._worker && completion) {\n Logger.Warn(\"A completion callback is avaible but no worker. Defaulting to blocking navmesh creation\");\n }\n this.navMesh = new this.bjsRECAST.NavMesh();\n let index;\n let tri;\n let pt;\n const indices = [];\n const positions = [];\n let offset = 0;\n for (index = 0; index < meshes.length; index++) {\n if (meshes[index]) {\n const mesh = meshes[index];\n const meshIndices = mesh.getIndices();\n if (!meshIndices) {\n continue;\n }\n const meshPositions = mesh.getVerticesData(VertexBuffer.PositionKind, false, false);\n if (!meshPositions) {\n continue;\n }\n const worldMatrices = [];\n const worldMatrix = mesh.computeWorldMatrix(true);\n if (mesh.hasThinInstances) {\n const thinMatrices = mesh.thinInstanceGetWorldMatrices();\n for (let instanceIndex = 0; instanceIndex < thinMatrices.length; instanceIndex++) {\n const tmpMatrix = new Matrix();\n const thinMatrix = thinMatrices[instanceIndex];\n thinMatrix.multiplyToRef(worldMatrix, tmpMatrix);\n worldMatrices.push(tmpMatrix);\n }\n }\n else {\n worldMatrices.push(worldMatrix);\n }\n for (let matrixIndex = 0; matrixIndex < worldMatrices.length; matrixIndex++) {\n const wm = worldMatrices[matrixIndex];\n for (tri = 0; tri < meshIndices.length; tri++) {\n indices.push(meshIndices[tri] + offset);\n }\n const transformed = Vector3.Zero();\n const position = Vector3.Zero();\n for (pt = 0; pt < meshPositions.length; pt += 3) {\n Vector3.FromArrayToRef(meshPositions, pt, position);\n Vector3.TransformCoordinatesToRef(position, wm, transformed);\n positions.push(transformed.x, transformed.y, transformed.z);\n }\n offset += meshPositions.length / 3;\n }\n }\n }\n if (this._worker && completion) {\n // spawn worker and send message\n this._worker.postMessage([positions, offset, indices, indices.length, parameters]);\n this._worker.onmessage = function (e) {\n completion(e.data);\n };\n }\n else {\n // blocking calls\n const rc = new this.bjsRECAST.rcConfig();\n rc.cs = parameters.cs;\n rc.ch = parameters.ch;\n rc.borderSize = parameters.borderSize ? parameters.borderSize : 0;\n rc.tileSize = parameters.tileSize ? parameters.tileSize : 0;\n rc.walkableSlopeAngle = parameters.walkableSlopeAngle;\n rc.walkableHeight = parameters.walkableHeight;\n rc.walkableClimb = parameters.walkableClimb;\n rc.walkableRadius = parameters.walkableRadius;\n rc.maxEdgeLen = parameters.maxEdgeLen;\n rc.maxSimplificationError = parameters.maxSimplificationError;\n rc.minRegionArea = parameters.minRegionArea;\n rc.mergeRegionArea = parameters.mergeRegionArea;\n rc.maxVertsPerPoly = parameters.maxVertsPerPoly;\n rc.detailSampleDist = parameters.detailSampleDist;\n rc.detailSampleMaxError = parameters.detailSampleMaxError;\n this.navMesh.build(positions, offset, indices, indices.length, rc);\n }\n }\n /**\n * Create a navigation mesh debug mesh\n * @param scene is where the mesh will be added\n * @returns debug display mesh\n */\n createDebugNavMesh(scene) {\n let tri;\n let pt;\n const debugNavMesh = this.navMesh.getDebugNavMesh();\n const triangleCount = debugNavMesh.getTriangleCount();\n const indices = [];\n const positions = [];\n for (tri = 0; tri < triangleCount * 3; tri++) {\n indices.push(tri);\n }\n for (tri = 0; tri < triangleCount; tri++) {\n for (pt = 0; pt < 3; pt++) {\n const point = debugNavMesh.getTriangle(tri).getPoint(pt);\n positions.push(point.x, point.y, point.z);\n }\n }\n const mesh = new Mesh(\"NavMeshDebug\", scene);\n const vertexData = new VertexData();\n vertexData.indices = indices;\n vertexData.positions = positions;\n vertexData.applyToMesh(mesh, false);\n return mesh;\n }\n /**\n * Get a navigation mesh constrained position, closest to the parameter position\n * @param position world position\n * @returns the closest point to position constrained by the navigation mesh\n */\n getClosestPoint(position) {\n this._tempVec1.x = position.x;\n this._tempVec1.y = position.y;\n this._tempVec1.z = position.z;\n const ret = this.navMesh.getClosestPoint(this._tempVec1);\n const pr = new Vector3(ret.x, ret.y, ret.z);\n return pr;\n }\n /**\n * Get a navigation mesh constrained position, closest to the parameter position\n * @param position world position\n * @param result output the closest point to position constrained by the navigation mesh\n */\n getClosestPointToRef(position, result) {\n this._tempVec1.x = position.x;\n this._tempVec1.y = position.y;\n this._tempVec1.z = position.z;\n const ret = this.navMesh.getClosestPoint(this._tempVec1);\n result.set(ret.x, ret.y, ret.z);\n }\n /**\n * Get a navigation mesh constrained position, within a particular radius\n * @param position world position\n * @param maxRadius the maximum distance to the constrained world position\n * @returns the closest point to position constrained by the navigation mesh\n */\n getRandomPointAround(position, maxRadius) {\n this._tempVec1.x = position.x;\n this._tempVec1.y = position.y;\n this._tempVec1.z = position.z;\n const ret = this.navMesh.getRandomPointAround(this._tempVec1, maxRadius);\n const pr = new Vector3(ret.x, ret.y, ret.z);\n return pr;\n }\n /**\n * Get a navigation mesh constrained position, within a particular radius\n * @param position world position\n * @param maxRadius the maximum distance to the constrained world position\n * @param result output the closest point to position constrained by the navigation mesh\n */\n getRandomPointAroundToRef(position, maxRadius, result) {\n this._tempVec1.x = position.x;\n this._tempVec1.y = position.y;\n this._tempVec1.z = position.z;\n const ret = this.navMesh.getRandomPointAround(this._tempVec1, maxRadius);\n result.set(ret.x, ret.y, ret.z);\n }\n /**\n * Compute the final position from a segment made of destination-position\n * @param position world position\n * @param destination world position\n * @returns the resulting point along the navmesh\n */\n moveAlong(position, destination) {\n this._tempVec1.x = position.x;\n this._tempVec1.y = position.y;\n this._tempVec1.z = position.z;\n this._tempVec2.x = destination.x;\n this._tempVec2.y = destination.y;\n this._tempVec2.z = destination.z;\n const ret = this.navMesh.moveAlong(this._tempVec1, this._tempVec2);\n const pr = new Vector3(ret.x, ret.y, ret.z);\n return pr;\n }\n /**\n * Compute the final position from a segment made of destination-position\n * @param position world position\n * @param destination world position\n * @param result output the resulting point along the navmesh\n */\n moveAlongToRef(position, destination, result) {\n this._tempVec1.x = position.x;\n this._tempVec1.y = position.y;\n this._tempVec1.z = position.z;\n this._tempVec2.x = destination.x;\n this._tempVec2.y = destination.y;\n this._tempVec2.z = destination.z;\n const ret = this.navMesh.moveAlong(this._tempVec1, this._tempVec2);\n result.set(ret.x, ret.y, ret.z);\n }\n _convertNavPathPoints(navPath) {\n let pt;\n const pointCount = navPath.getPointCount();\n const positions = [];\n for (pt = 0; pt < pointCount; pt++) {\n const p = navPath.getPoint(pt);\n positions.push(new Vector3(p.x, p.y, p.z));\n }\n return positions;\n }\n /**\n * Compute a navigation path from start to end. Returns an empty array if no path can be computed\n * Path is straight.\n * @param start world position\n * @param end world position\n * @returns array containing world position composing the path\n */\n computePath(start, end) {\n this._tempVec1.x = start.x;\n this._tempVec1.y = start.y;\n this._tempVec1.z = start.z;\n this._tempVec2.x = end.x;\n this._tempVec2.y = end.y;\n this._tempVec2.z = end.z;\n const navPath = this.navMesh.computePath(this._tempVec1, this._tempVec2);\n return this._convertNavPathPoints(navPath);\n }\n /**\n * Compute a navigation path from start to end. Returns an empty array if no path can be computed.\n * Path follows navigation mesh geometry.\n * @param start world position\n * @param end world position\n * @returns array containing world position composing the path\n */\n computePathSmooth(start, end) {\n this._tempVec1.x = start.x;\n this._tempVec1.y = start.y;\n this._tempVec1.z = start.z;\n this._tempVec2.x = end.x;\n this._tempVec2.y = end.y;\n this._tempVec2.z = end.z;\n const navPath = this.navMesh.computePathSmooth(this._tempVec1, this._tempVec2);\n return this._convertNavPathPoints(navPath);\n }\n /**\n * Create a new Crowd so you can add agents\n * @param maxAgents the maximum agent count in the crowd\n * @param maxAgentRadius the maximum radius an agent can have\n * @param scene to attach the crowd to\n * @returns the crowd you can add agents to\n */\n createCrowd(maxAgents, maxAgentRadius, scene) {\n const crowd = new RecastJSCrowd(this, maxAgents, maxAgentRadius, scene);\n return crowd;\n }\n /**\n * Set the Bounding box extent for doing spatial queries (getClosestPoint, getRandomPointAround, ...)\n * The queries will try to find a solution within those bounds\n * default is (1,1,1)\n * @param extent x,y,z value that define the extent around the queries point of reference\n */\n setDefaultQueryExtent(extent) {\n this._tempVec1.x = extent.x;\n this._tempVec1.y = extent.y;\n this._tempVec1.z = extent.z;\n this.navMesh.setDefaultQueryExtent(this._tempVec1);\n }\n /**\n * Get the Bounding box extent specified by setDefaultQueryExtent\n * @returns the box extent values\n */\n getDefaultQueryExtent() {\n const p = this.navMesh.getDefaultQueryExtent();\n return new Vector3(p.x, p.y, p.z);\n }\n /**\n * build the navmesh from a previously saved state using getNavmeshData\n * @param data the Uint8Array returned by getNavmeshData\n */\n buildFromNavmeshData(data) {\n const nDataBytes = data.length * data.BYTES_PER_ELEMENT;\n const dataPtr = this.bjsRECAST._malloc(nDataBytes);\n const dataHeap = new Uint8Array(this.bjsRECAST.HEAPU8.buffer, dataPtr, nDataBytes);\n dataHeap.set(data);\n const buf = new this.bjsRECAST.NavmeshData();\n buf.dataPointer = dataHeap.byteOffset;\n buf.size = data.length;\n this.navMesh = new this.bjsRECAST.NavMesh();\n this.navMesh.buildFromNavmeshData(buf);\n // Free memory\n this.bjsRECAST._free(dataHeap.byteOffset);\n }\n /**\n * returns the navmesh data that can be used later. The navmesh must be built before retrieving the data\n * @returns data the Uint8Array that can be saved and reused\n */\n getNavmeshData() {\n const navmeshData = this.navMesh.getNavmeshData();\n const arrView = new Uint8Array(this.bjsRECAST.HEAPU8.buffer, navmeshData.dataPointer, navmeshData.size);\n const ret = new Uint8Array(navmeshData.size);\n ret.set(arrView);\n this.navMesh.freeNavmeshData(navmeshData);\n return ret;\n }\n /**\n * Get the Bounding box extent result specified by setDefaultQueryExtent\n * @param result output the box extent values\n */\n getDefaultQueryExtentToRef(result) {\n const p = this.navMesh.getDefaultQueryExtent();\n result.set(p.x, p.y, p.z);\n }\n /**\n * Disposes\n */\n dispose() { }\n /**\n * Creates a cylinder obstacle and add it to the navigation\n * @param position world position\n * @param radius cylinder radius\n * @param height cylinder height\n * @returns the obstacle freshly created\n */\n addCylinderObstacle(position, radius, height) {\n this._tempVec1.x = position.x;\n this._tempVec1.y = position.y;\n this._tempVec1.z = position.z;\n return this.navMesh.addCylinderObstacle(this._tempVec1, radius, height);\n }\n /**\n * Creates an oriented box obstacle and add it to the navigation\n * @param position world position\n * @param extent box size\n * @param angle angle in radians of the box orientation on Y axis\n * @returns the obstacle freshly created\n */\n addBoxObstacle(position, extent, angle) {\n this._tempVec1.x = position.x;\n this._tempVec1.y = position.y;\n this._tempVec1.z = position.z;\n this._tempVec2.x = extent.x;\n this._tempVec2.y = extent.y;\n this._tempVec2.z = extent.z;\n return this.navMesh.addBoxObstacle(this._tempVec1, this._tempVec2, angle);\n }\n /**\n * Removes an obstacle created by addCylinderObstacle or addBoxObstacle\n * @param obstacle obstacle to remove from the navigation\n */\n removeObstacle(obstacle) {\n this.navMesh.removeObstacle(obstacle);\n }\n /**\n * If this plugin is supported\n * @returns true if plugin is supported\n */\n isSupported() {\n return this.bjsRECAST !== undefined;\n }\n /**\n * Returns the seed used for randomized functions like `getRandomPointAround`\n * @returns seed number\n */\n getRandomSeed() {\n return this.bjsRECAST._getRandomSeed();\n }\n /**\n * Set the seed used for randomized functions like `getRandomPointAround`\n * @param seed number used as seed for random functions\n */\n setRandomSeed(seed) {\n this.bjsRECAST._setRandomSeed(seed);\n }\n}\n/**\n * Recast detour crowd implementation\n */\nexport class RecastJSCrowd {\n /**\n * Constructor\n * @param plugin recastJS plugin\n * @param maxAgents the maximum agent count in the crowd\n * @param maxAgentRadius the maximum radius an agent can have\n * @param scene to attach the crowd to\n * @returns the crowd you can add agents to\n */\n constructor(plugin, maxAgents, maxAgentRadius, scene) {\n /**\n * Link to the detour crowd\n */\n this.recastCrowd = {};\n /**\n * One transform per agent\n */\n this.transforms = new Array();\n /**\n * All agents created\n */\n this.agents = new Array();\n /**\n * agents reach radius\n */\n this.reachRadii = new Array();\n /**\n * true when a destination is active for an agent and notifier hasn't been notified of reach\n */\n this._agentDestinationArmed = new Array();\n /**\n * agent current target\n */\n this._agentDestination = new Array();\n /**\n * Observer for crowd updates\n */\n this._onBeforeAnimationsObserver = null;\n /**\n * Fires each time an agent is in reach radius of its destination\n */\n this.onReachTargetObservable = new Observable();\n this.bjsRECASTPlugin = plugin;\n this.recastCrowd = new this.bjsRECASTPlugin.bjsRECAST.Crowd(maxAgents, maxAgentRadius, this.bjsRECASTPlugin.navMesh.getNavMesh());\n this._scene = scene;\n this._onBeforeAnimationsObserver = scene.onBeforeAnimationsObservable.add(() => {\n this.update(scene.getEngine().getDeltaTime() * 0.001 * plugin.timeFactor);\n });\n }\n /**\n * Add a new agent to the crowd with the specified parameter a corresponding transformNode.\n * You can attach anything to that node. The node position is updated in the scene update tick.\n * @param pos world position that will be constrained by the navigation mesh\n * @param parameters agent parameters\n * @param transform hooked to the agent that will be update by the scene\n * @returns agent index\n */\n addAgent(pos, parameters, transform) {\n const agentParams = new this.bjsRECASTPlugin.bjsRECAST.dtCrowdAgentParams();\n agentParams.radius = parameters.radius;\n agentParams.height = parameters.height;\n agentParams.maxAcceleration = parameters.maxAcceleration;\n agentParams.maxSpeed = parameters.maxSpeed;\n agentParams.collisionQueryRange = parameters.collisionQueryRange;\n agentParams.pathOptimizationRange = parameters.pathOptimizationRange;\n agentParams.separationWeight = parameters.separationWeight;\n agentParams.updateFlags = 7;\n agentParams.obstacleAvoidanceType = 0;\n agentParams.queryFilterType = 0;\n agentParams.userData = 0;\n const agentIndex = this.recastCrowd.addAgent(new this.bjsRECASTPlugin.bjsRECAST.Vec3(pos.x, pos.y, pos.z), agentParams);\n this.transforms.push(transform);\n this.agents.push(agentIndex);\n this.reachRadii.push(parameters.reachRadius ? parameters.reachRadius : parameters.radius);\n this._agentDestinationArmed.push(false);\n this._agentDestination.push(new Vector3(0, 0, 0));\n return agentIndex;\n }\n /**\n * Returns the agent position in world space\n * @param index agent index returned by addAgent\n * @returns world space position\n */\n getAgentPosition(index) {\n const agentPos = this.recastCrowd.getAgentPosition(index);\n return new Vector3(agentPos.x, agentPos.y, agentPos.z);\n }\n /**\n * Returns the agent position result in world space\n * @param index agent index returned by addAgent\n * @param result output world space position\n */\n getAgentPositionToRef(index, result) {\n const agentPos = this.recastCrowd.getAgentPosition(index);\n result.set(agentPos.x, agentPos.y, agentPos.z);\n }\n /**\n * Returns the agent velocity in world space\n * @param index agent index returned by addAgent\n * @returns world space velocity\n */\n getAgentVelocity(index) {\n const agentVel = this.recastCrowd.getAgentVelocity(index);\n return new Vector3(agentVel.x, agentVel.y, agentVel.z);\n }\n /**\n * Returns the agent velocity result in world space\n * @param index agent index returned by addAgent\n * @param result output world space velocity\n */\n getAgentVelocityToRef(index, result) {\n const agentVel = this.recastCrowd.getAgentVelocity(index);\n result.set(agentVel.x, agentVel.y, agentVel.z);\n }\n /**\n * Returns the agent next target point on the path\n * @param index agent index returned by addAgent\n * @returns world space position\n */\n getAgentNextTargetPath(index) {\n const pathTargetPos = this.recastCrowd.getAgentNextTargetPath(index);\n return new Vector3(pathTargetPos.x, pathTargetPos.y, pathTargetPos.z);\n }\n /**\n * Returns the agent next target point on the path\n * @param index agent index returned by addAgent\n * @param result output world space position\n */\n getAgentNextTargetPathToRef(index, result) {\n const pathTargetPos = this.recastCrowd.getAgentNextTargetPath(index);\n result.set(pathTargetPos.x, pathTargetPos.y, pathTargetPos.z);\n }\n /**\n * Gets the agent state\n * @param index agent index returned by addAgent\n * @returns agent state\n */\n getAgentState(index) {\n return this.recastCrowd.getAgentState(index);\n }\n /**\n * returns true if the agent in over an off mesh link connection\n * @param index agent index returned by addAgent\n * @returns true if over an off mesh link connection\n */\n overOffmeshConnection(index) {\n return this.recastCrowd.overOffmeshConnection(index);\n }\n /**\n * Asks a particular agent to go to a destination. That destination is constrained by the navigation mesh\n * @param index agent index returned by addAgent\n * @param destination targeted world position\n */\n agentGoto(index, destination) {\n this.recastCrowd.agentGoto(index, new this.bjsRECASTPlugin.bjsRECAST.Vec3(destination.x, destination.y, destination.z));\n // arm observer\n const item = this.agents.indexOf(index);\n if (item > -1) {\n this._agentDestinationArmed[item] = true;\n this._agentDestination[item].set(destination.x, destination.y, destination.z);\n }\n }\n /**\n * Teleport the agent to a new position\n * @param index agent index returned by addAgent\n * @param destination targeted world position\n */\n agentTeleport(index, destination) {\n this.recastCrowd.agentTeleport(index, new this.bjsRECASTPlugin.bjsRECAST.Vec3(destination.x, destination.y, destination.z));\n }\n /**\n * Update agent parameters\n * @param index agent index returned by addAgent\n * @param parameters agent parameters\n */\n updateAgentParameters(index, parameters) {\n const agentParams = this.recastCrowd.getAgentParameters(index);\n if (parameters.radius !== undefined) {\n agentParams.radius = parameters.radius;\n }\n if (parameters.height !== undefined) {\n agentParams.height = parameters.height;\n }\n if (parameters.maxAcceleration !== undefined) {\n agentParams.maxAcceleration = parameters.maxAcceleration;\n }\n if (parameters.maxSpeed !== undefined) {\n agentParams.maxSpeed = parameters.maxSpeed;\n }\n if (parameters.collisionQueryRange !== undefined) {\n agentParams.collisionQueryRange = parameters.collisionQueryRange;\n }\n if (parameters.pathOptimizationRange !== undefined) {\n agentParams.pathOptimizationRange = parameters.pathOptimizationRange;\n }\n if (parameters.separationWeight !== undefined) {\n agentParams.separationWeight = parameters.separationWeight;\n }\n this.recastCrowd.setAgentParameters(index, agentParams);\n }\n /**\n * remove a particular agent previously created\n * @param index agent index returned by addAgent\n */\n removeAgent(index) {\n this.recastCrowd.removeAgent(index);\n const item = this.agents.indexOf(index);\n if (item > -1) {\n this.agents.splice(item, 1);\n this.transforms.splice(item, 1);\n this.reachRadii.splice(item, 1);\n this._agentDestinationArmed.splice(item, 1);\n this._agentDestination.splice(item, 1);\n }\n }\n /**\n * get the list of all agents attached to this crowd\n * @returns list of agent indices\n */\n getAgents() {\n return this.agents;\n }\n /**\n * Tick update done by the Scene. Agent position/velocity/acceleration is updated by this function\n * @param deltaTime in seconds\n */\n update(deltaTime) {\n // update obstacles\n this.bjsRECASTPlugin.navMesh.update();\n if (deltaTime <= Epsilon) {\n return;\n }\n // update crowd\n const timeStep = this.bjsRECASTPlugin.getTimeStep();\n const maxStepCount = this.bjsRECASTPlugin.getMaximumSubStepCount();\n if (timeStep <= Epsilon) {\n this.recastCrowd.update(deltaTime);\n }\n else {\n let iterationCount = Math.floor(deltaTime / timeStep);\n if (maxStepCount && iterationCount > maxStepCount) {\n iterationCount = maxStepCount;\n }\n if (iterationCount < 1) {\n iterationCount = 1;\n }\n const step = deltaTime / iterationCount;\n for (let i = 0; i < iterationCount; i++) {\n this.recastCrowd.update(step);\n }\n }\n // update transforms\n for (let index = 0; index < this.agents.length; index++) {\n // update transform position\n const agentIndex = this.agents[index];\n const agentPosition = this.getAgentPosition(agentIndex);\n this.transforms[index].position = agentPosition;\n // check agent reach destination\n if (this._agentDestinationArmed[index]) {\n const dx = agentPosition.x - this._agentDestination[index].x;\n const dz = agentPosition.z - this._agentDestination[index].z;\n const radius = this.reachRadii[index];\n const groundY = this._agentDestination[index].y - this.reachRadii[index];\n const ceilingY = this._agentDestination[index].y + this.reachRadii[index];\n const distanceXZSquared = dx * dx + dz * dz;\n if (agentPosition.y > groundY && agentPosition.y < ceilingY && distanceXZSquared < radius * radius) {\n this._agentDestinationArmed[index] = false;\n this.onReachTargetObservable.notifyObservers({ agentIndex: agentIndex, destination: this._agentDestination[index] });\n }\n }\n }\n }\n /**\n * Set the Bounding box extent for doing spatial queries (getClosestPoint, getRandomPointAround, ...)\n * The queries will try to find a solution within those bounds\n * default is (1,1,1)\n * @param extent x,y,z value that define the extent around the queries point of reference\n */\n setDefaultQueryExtent(extent) {\n const ext = new this.bjsRECASTPlugin.bjsRECAST.Vec3(extent.x, extent.y, extent.z);\n this.recastCrowd.setDefaultQueryExtent(ext);\n }\n /**\n * Get the Bounding box extent specified by setDefaultQueryExtent\n * @returns the box extent values\n */\n getDefaultQueryExtent() {\n const p = this.recastCrowd.getDefaultQueryExtent();\n return new Vector3(p.x, p.y, p.z);\n }\n /**\n * Get the Bounding box extent result specified by setDefaultQueryExtent\n * @param result output the box extent values\n */\n getDefaultQueryExtentToRef(result) {\n const p = this.recastCrowd.getDefaultQueryExtent();\n result.set(p.x, p.y, p.z);\n }\n /**\n * Get the next corner points composing the path (max 4 points)\n * @param index agent index returned by addAgent\n * @returns array containing world position composing the path\n */\n getCorners(index) {\n let pt;\n const navPath = this.recastCrowd.getCorners(index);\n const pointCount = navPath.getPointCount();\n const positions = [];\n for (pt = 0; pt < pointCount; pt++) {\n const p = navPath.getPoint(pt);\n positions.push(new Vector3(p.x, p.y, p.z));\n }\n return positions;\n }\n /**\n * Release all resources\n */\n dispose() {\n this.recastCrowd.destroy();\n this._scene.onBeforeAnimationsObservable.remove(this._onBeforeAnimationsObserver);\n this._onBeforeAnimationsObserver = null;\n this.onReachTargetObservable.clear();\n 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