feat: move common three and playcanvas debug drawer code into @recast…

…-navigation/core

packages/recast-navigation-core/src/debug-drawer-utils.ts

@@ -0,0 +1,289 @@
+import { NavMesh } from './nav-mesh';
+import { NavMeshQuery } from './nav-mesh-query';
+import { Raw, RawModule } from './raw';
+import {
+  RecastCompactHeightfield,
+  RecastContourSet,
+  RecastHeightfield,
+  RecastHeightfieldLayer,
+  RecastHeightfieldLayerSet,
+  RecastPolyMesh,
+  RecastPolyMeshDetail,
+} from './recast';
+
+export type DebugDrawerPrimitiveType = 'lines' | 'tris' | 'quads' | 'points';
+
+export type DebugDrawerPrimitive = {
+  type: DebugDrawerPrimitiveType;
+  vertices: [x: number, y: number, z: number, r: number, g: number, b: number, a: number][];
+};
+
+/**
+ * Represents a helper class to visualize navigation cur and related data in PlayCanvas.
+ */
+export class DebugDrawerUtils {
+  private debugDrawImpl: RawModule.DebugDrawImpl;
+
+  private currentPrimitiveType: number = 0;
+  private currentVertices: DebugDrawerPrimitive['vertices'] = [];
+
+  private primitives: DebugDrawerPrimitive[] = [];
+
+  constructor() {
+    this.debugDrawImpl = new Raw.Module.DebugDrawImpl();
+
+    // Bind the debug draw implementation handlers
+    this.debugDrawImpl.handleBegin = (primitive: number, _size: number) => {
+      this.currentPrimitiveType = primitive;
+      this.currentVertices = [];
+    };
+
+    this.debugDrawImpl.handleDepthMask = (_state: number) => {
+      // unused for now...
+    };
+
+    this.debugDrawImpl.handleTexture = (_state: number) => {
+      // unused for now...
+    };
+
+    this.debugDrawImpl.handleVertexWithColor = (
+      x: number,
+      y: number,
+      z: number,
+      color: number
+    ) => {
+      this.vertex(x, y, z, color);
+    };
+
+    this.debugDrawImpl.handleVertexWithColorAndUV = (
+      x: number,
+      y: number,
+      z: number,
+      color: number,
+      _u: number,
+      _v: number
+    ) => {
+      this.vertex(x, y, z, color);
+    };
+
+    const primitiveMap: Record<number, DebugDrawerPrimitiveType> = {
+      [Raw.Module.DU_DRAW_LINES]: 'lines',
+      [Raw.Module.DU_DRAW_TRIS]: 'tris',
+      [Raw.Module.DU_DRAW_QUADS]: 'quads',
+      [Raw.Module.DU_DRAW_POINTS]: 'points',
+    };
+
+    this.debugDrawImpl.handleEnd = () => {
+      const type = primitiveMap[this.currentPrimitiveType];
+
+      this.primitives.push({
+        type,
+        vertices: this.currentVertices,
+      });
+    };
+  }
+
+  private flush(): DebugDrawerPrimitive[] {
+    const cur = this.primitives;
+    this.primitives = [];
+    return cur;
+  }
+
+  drawHeightfieldSolid(hf: RecastHeightfield): DebugDrawerPrimitive[] {
+    Raw.RecastDebugDraw.debugDrawHeightfieldSolid(this.debugDrawImpl, hf.raw);
+    return this.flush();
+  }
+
+  drawHeightfieldWalkable(hf: RecastHeightfield): DebugDrawerPrimitive[] {
+    Raw.RecastDebugDraw.debugDrawHeightfieldWalkable(
+      this.debugDrawImpl,
+      hf.raw
+    );
+    return this.flush();
+  }
+
+  drawCompactHeightfieldSolid(
+    chf: RecastCompactHeightfield
+  ): DebugDrawerPrimitive[] {
+    Raw.RecastDebugDraw.debugDrawCompactHeightfieldSolid(
+      this.debugDrawImpl,
+      chf.raw
+    );
+    return this.flush();
+  }
+
+  drawCompactHeightfieldRegions(
+    chf: RecastCompactHeightfield
+  ): DebugDrawerPrimitive[] {
+    Raw.RecastDebugDraw.debugDrawCompactHeightfieldRegions(
+      this.debugDrawImpl,
+      chf.raw
+    );
+    return this.flush();
+  }
+
+  drawCompactHeightfieldDistance(
+    chf: RecastCompactHeightfield
+  ): DebugDrawerPrimitive[] {
+    Raw.RecastDebugDraw.debugDrawCompactHeightfieldDistance(
+      this.debugDrawImpl,
+      chf.raw
+    );
+    return this.flush();
+  }
+
+  drawHeightfieldLayer(
+    layer: RecastHeightfieldLayer,
+    idx: number
+  ): DebugDrawerPrimitive[] {
+    Raw.RecastDebugDraw.debugDrawHeightfieldLayer(
+      this.debugDrawImpl,
+      layer.raw,
+      idx
+    );
+    return this.flush();
+  }
+
+  drawHeightfieldLayers(
+    lset: RecastHeightfieldLayerSet
+  ): DebugDrawerPrimitive[] {
+    Raw.RecastDebugDraw.debugDrawHeightfieldLayers(
+      this.debugDrawImpl,
+      lset.raw
+    );
+    return this.flush();
+  }
+
+  drawRegionConnections(
+    cset: RecastContourSet,
+    alpha: number = 1
+  ): DebugDrawerPrimitive[] {
+    Raw.RecastDebugDraw.debugDrawRegionConnections(
+      this.debugDrawImpl,
+      cset.raw,
+      alpha
+    );
+    return this.flush();
+  }
+
+  drawRawContours(
+    cset: RecastContourSet,
+    alpha: number = 1
+  ): DebugDrawerPrimitive[] {
+    Raw.RecastDebugDraw.debugDrawRawContours(
+      this.debugDrawImpl,
+      cset.raw,
+      alpha
+    );
+    return this.flush();
+  }
+
+  drawContours(
+    cset: RecastContourSet,
+    alpha: number = 1
+  ): DebugDrawerPrimitive[] {
+    Raw.RecastDebugDraw.debugDrawContours(this.debugDrawImpl, cset.raw, alpha);
+    return this.flush();
+  }
+
+  drawPolyMesh(mesh: RecastPolyMesh): DebugDrawerPrimitive[] {
+    Raw.RecastDebugDraw.debugDrawPolyMesh(this.debugDrawImpl, mesh.raw);
+    return this.flush();
+  }
+
+  drawPolyMeshDetail(dmesh: RecastPolyMeshDetail): DebugDrawerPrimitive[] {
+    Raw.RecastDebugDraw.debugDrawPolyMeshDetail(this.debugDrawImpl, dmesh.raw);
+    return this.flush();
+  }
+
+  drawNavMesh(mesh: NavMesh, flags: number = 0): DebugDrawerPrimitive[] {
+    Raw.DetourDebugDraw.debugDrawNavMesh(
+      this.debugDrawImpl,
+      mesh.raw.getNavMesh(),
+      flags
+    );
+    return this.flush();
+  }
+
+  drawNavMeshWithClosedList(
+    mesh: NavMesh,
+    query: NavMeshQuery,
+    flags: number = 0
+  ): DebugDrawerPrimitive[] {
+    Raw.DetourDebugDraw.debugDrawNavMeshWithClosedList(
+      this.debugDrawImpl,
+      mesh.raw.m_navMesh,
+      query.raw.m_navQuery,
+      flags
+    );
+    return this.flush();
+  }
+
+  drawNavMeshNodes(query: NavMeshQuery): DebugDrawerPrimitive[] {
+    Raw.DetourDebugDraw.debugDrawNavMeshNodes(
+      this.debugDrawImpl,
+      query.raw.m_navQuery
+    );
+    return this.flush();
+  }
+
+  drawNavMeshBVTree(mesh: NavMesh): DebugDrawerPrimitive[] {
+    Raw.DetourDebugDraw.debugDrawNavMeshBVTree(
+      this.debugDrawImpl,
+      mesh.raw.m_navMesh
+    );
+    return this.flush();
+  }
+
+  drawNavMeshPortals(mesh: NavMesh): DebugDrawerPrimitive[] {
+    Raw.DetourDebugDraw.debugDrawNavMeshPortals(
+      this.debugDrawImpl,
+      mesh.raw.m_navMesh
+    );
+    return this.flush();
+  }
+
+  drawNavMeshPolysWithFlags(
+    mesh: NavMesh,
+    flags: number,
+    col: number
+  ): DebugDrawerPrimitive[] {
+    Raw.DetourDebugDraw.debugDrawNavMeshPolysWithFlags(
+      this.debugDrawImpl,
+      mesh.raw.m_navMesh,
+      flags,
+      col
+    );
+    return this.flush();
+  }
+
+  drawNavMeshPoly(
+    mesh: NavMesh,
+    ref: number,
+    col: number
+  ): DebugDrawerPrimitive[] {
+    Raw.DetourDebugDraw.debugDrawNavMeshPoly(
+      this.debugDrawImpl,
+      mesh.raw.m_navMesh,
+      ref,
+      col
+    );
+    return this.flush();
+  }
+
+  /**
+   * Disposes of the debug drawer and releases resources.
+   */
+  dispose(): void {
+    Raw.Module.destroy(this.debugDrawImpl);
+  }
+
+  private vertex(x: number, y: number, z: number, color: number) {
+    const r = ((color >> 16) & 0xff) / 255;
+    const g = ((color >> 8) & 0xff) / 255;
+    const b = (color & 0xff) / 255;
+    const a = ((color >> 24) & 0xff) / 255;
+
+    this.currentVertices.push([x, y, z, r, g, b, a]);
+  }
+}

packages/recast-navigation-core/src/index.ts

@@ -1,5 +1,6 @@
 export * from './arrays';
 export * from './crowd';
+export * from './debug-drawer-utils';
 export * from './detour';
 export * from './nav-mesh';
 export * from './nav-mesh-query';