feat: expose duDebugDraw, add temporary duplicate NavMeshHelper2 that…

… uses duDebugDrawNavMesh

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

@@ -12,6 +12,8 @@ const instances = [
   'NavMeshExporter',
   'CrowdUtils',
   'ChunkyTriMeshUtils',
+  'RecastDebugDraw',
+  'DetourDebugDraw',
 ] as const satisfies readonly ModuleKey[];
 
 const classes = [
@@ -32,6 +34,7 @@ const classes = [
   'UnsignedCharRef',
   'UnsignedShortRef',
   'FloatRef',
+
 ] as const satisfies readonly ModuleKey[];
 
 const arrays = [

packages/recast-navigation-three/src/debug-draw.ts

@@ -0,0 +1,266 @@
+import { Raw } from '@recast-navigation/core';
+import * as THREE from 'three';
+import {
+  LineMaterial,
+  LineSegments2,
+  LineSegmentsGeometry,
+} from 'three-stdlib';
+
+type VertexData = {
+  x: number;
+  y: number;
+  z: number;
+  r: number;
+  g: number;
+  b: number;
+  a: number;
+};
+
+const _color = new THREE.Color();
+
+export type DebugDrawParams = {
+  triMaterial?: THREE.Material;
+  pointMaterial?: THREE.Material;
+  lineMaterial?: LineMaterial;
+};
+
+export class DebugDraw {
+  raw: InstanceType<typeof Raw.Module.DebugDrawImpl>;
+
+  group: THREE.Group = new THREE.Group();
+
+  currentVertices: VertexData[] = [];
+  currentPrimitive = 0;
+  currentSize = 1;
+
+  triMaterial: THREE.Material;
+  pointMaterial: THREE.Material;
+  lineMaterial: LineMaterial;
+
+  pointGeometry = new THREE.SphereGeometry(0.02, 32, 32);
+
+  constructor({
+    triMaterial,
+    pointMaterial,
+    lineMaterial,
+  }: DebugDrawParams = {}) {
+    this.triMaterial =
+      triMaterial ??
+      new THREE.MeshBasicMaterial({
+        vertexColors: true,
+        transparent: true,
+        opacity: 0.4,
+        depthWrite: false,
+      });
+
+    this.pointMaterial = pointMaterial ?? new THREE.MeshBasicMaterial();
+
+    this.lineMaterial =
+      lineMaterial ??
+      new LineMaterial({
+        color: 0xffffff,
+        linewidth: 3,
+        vertexColors: true,
+        transparent: true,
+        opacity: 0.4,
+        depthWrite: false,
+      });
+
+    this.raw = new Raw.Module.DebugDrawImpl();
+
+    /**
+     * DU_DRAW_POINTS = 0
+     * DU_DRAW_LINES = 1
+     * DU_DRAW_TRIS = 2
+     * DU_DRAW_QUADS = 3
+     */
+    this.raw.handleBegin = (primitive: number, size: number) => {
+      this.currentPrimitive = primitive;
+      this.currentSize = size;
+      this.currentVertices = [];
+    };
+
+    this.raw.handleDepthMask = (_state: number) => {
+      // all methods must be implemented
+    };
+
+    this.raw.handleTexture = (_state: number) => {
+      // all methods must be implemented
+    };
+
+    this.raw.handleVertexWithColor = (
+      x: number,
+      y: number,
+      z: number,
+      color: number
+    ) => {
+      this.vertex(x, y, z, color);
+    };
+
+    this.raw.handleVertexWithColorAndUV = (
+      x: number,
+      y: number,
+      z: number,
+      color: number,
+      _u: number,
+      _v: number
+    ) => {
+      this.vertex(x, y, z, color);
+    };
+
+    this.raw.handleEnd = () => {
+      if (this.currentPrimitive === Raw.Module.DU_DRAW_LINES) {
+        this.endLines();
+      } else if (this.currentPrimitive === Raw.Module.DU_DRAW_TRIS) {
+        this.endTris();
+      } else if (this.currentPrimitive === Raw.Module.DU_DRAW_QUADS) {
+        this.endQuads();
+      } else if (this.currentPrimitive === Raw.Module.DU_DRAW_POINTS) {
+        this.endPoints();
+      }
+    };
+  }
+
+  resize(width: number, height: number): void {
+    this.lineMaterial.resolution.set(width, height);
+  }
+
+  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 });
+  }
+
+  endPoints(): void {
+    const geometry = this.pointGeometry;
+
+    const instancedMesh = new THREE.InstancedMesh(
+      geometry,
+      this.pointMaterial,
+      this.currentVertices.length
+    );
+
+    for (let i = 0; i < this.currentVertices.length; i++) {
+      const point = this.currentVertices[i];
+
+      instancedMesh.setMatrixAt(
+        i,
+        new THREE.Matrix4().setPosition(point.x, point.y, point.z)
+      );
+
+      instancedMesh.setColorAt(i, _color.setRGB(point.r, point.g, point.b));
+    }
+
+    instancedMesh.instanceMatrix.needsUpdate = true;
+
+    this.group.add(instancedMesh);
+  }
+
+  endLines(): void {
+    const lineSegmentsGeometry = new LineSegmentsGeometry();
+
+    const positions: number[] = [];
+    const colors: number[] = [];
+
+    for (let i = 0; i < this.currentVertices.length; i += 2) {
+      const p1 = this.currentVertices[i];
+      const p2 = this.currentVertices[i + 1];
+
+      positions.push(p1.x, p1.y, p1.z);
+      positions.push(p2.x, p2.y, p2.z);
+
+      colors.push(p1.r, p1.g, p1.b);
+      colors.push(p2.r, p2.g, p2.b);
+    }
+
+    lineSegmentsGeometry.setPositions(positions);
+    lineSegmentsGeometry.setColors(colors);
+
+    const lineSegments = new LineSegments2(
+      lineSegmentsGeometry,
+      this.lineMaterial
+    );
+
+    this.group.add(lineSegments);
+  }
+
+  endTris(): void {
+    const geometry = new THREE.BufferGeometry();
+    const positions = new Float32Array(this.currentVertices.length * 3);
+    const colors = new Float32Array(this.currentVertices.length * 3);
+
+    for (let i = 0; i < this.currentVertices.length; i++) {
+      const point = this.currentVertices[i];
+      positions[i * 3 + 0] = point.x;
+      positions[i * 3 + 1] = point.y;
+      positions[i * 3 + 2] = point.z;
+
+      colors[i * 3 + 0] = point.r;
+      colors[i * 3 + 1] = point.g;
+      colors[i * 3 + 2] = point.b;
+    }
+
+    geometry.setAttribute('position', new THREE.BufferAttribute(positions, 3));
+    geometry.setAttribute('color', new THREE.BufferAttribute(colors, 3));
+
+    const material = this.triMaterial;
+    const mesh = new THREE.Mesh(geometry, material);
+
+    this.group.add(mesh);
+  }
+
+  endQuads(): void {
+    const positions: number[] = [];
+    const colors: number[] = [];
+
+    for (let i = 0; i < this.currentVertices.length; i += 4) {
+      const vertices = [
+        this.currentVertices[i],
+        this.currentVertices[i + 1],
+        this.currentVertices[i + 2],
+
+        this.currentVertices[i],
+        this.currentVertices[i + 2],
+        this.currentVertices[i + 3],
+      ];
+
+      for (const vertex of vertices) {
+        positions.push(vertex.x, vertex.y, vertex.z);
+        colors.push(vertex.r, vertex.g, vertex.b);
+      }
+    }
+
+    const geometry = new THREE.BufferGeometry();
+    geometry.setAttribute(
+      'position',
+      new THREE.BufferAttribute(new Float32Array(positions), 3)
+    );
+    geometry.setAttribute(
+      'color',
+      new THREE.BufferAttribute(new Float32Array(colors), 3)
+    );
+
+    const material = this.triMaterial;
+
+    const mesh = new THREE.Mesh(geometry, material);
+
+    this.group.add(mesh);
+  }
+
+  reset(): void {
+    for (const child of this.group.children) {
+      if (child instanceof THREE.Mesh || child instanceof LineSegments2) {
+        child.geometry.dispose();
+      }
+
+      this.group.remove(child);
+    }
+  }
+
+  dispose(): void {
+    Raw.Module.destroy(this.raw);
+  }
+}

packages/recast-navigation-three/src/helpers/nav-mesh-helper-2.ts

@@ -0,0 +1,46 @@
+import { NavMesh, Raw } from '@recast-navigation/core';
+import { Object3D } from 'three';
+import { DebugDraw } from '../debug-draw';
+
+export type NavMeshHelperParams = {
+  navMesh: NavMesh;
+};
+
+export class NavMeshHelper2 extends Object3D {
+  private navMesh: NavMesh;
+
+  private debugDraw: DebugDraw;
+
+  constructor({ navMesh }: NavMeshHelperParams) {
+    super();
+
+    this.navMesh = navMesh;
+
+    this.debugDraw = new DebugDraw();
+    this.add(this.debugDraw.group);
+
+    this.update();
+  }
+
+  /**
+   * Handle resizing the canvas.
+   * @param width canvas width
+   * @param height canvas height
+   */
+  resize(width: number, height: number) {
+    this.debugDraw.resize(width, height);
+  }
+
+  /**
+   * Update the three debug nav mesh.
+   *
+   * This should be called after updating the nav mesh.
+   */
+  update() {
+    Raw.DetourDebugDraw.debugDrawNavMesh(
+      this.debugDraw.raw,
+      this.navMesh.raw.getNavMesh(),
+      0
+    );
+  }
+}

packages/recast-navigation-wasm/CMakeLists.txt

@@ -27,6 +27,7 @@ file(GLOB_RECURSE RECASTDETOUR_FILES
     ${CMAKE_SOURCE_DIR}/recastnavigation/DetourCrowd/*
     ${CMAKE_SOURCE_DIR}/recastnavigation/DetourTileCache/*
     ${CMAKE_SOURCE_DIR}/recastnavigation/Recast/*
+    ${CMAKE_SOURCE_DIR}/recastnavigation/DebugUtils/*
     ${CMAKE_SOURCE_DIR}/recastnavigation/RecastDemo/Source/ChunkyTriMesh.cpp
     ${CMAKE_SOURCE_DIR}/recastnavigation/RecastDemo/Contrib/fastlz/fastlz.c
 )

packages/recast-navigation-wasm/recast-navigation.idl

@@ -1173,3 +1173,41 @@ interface NavMeshExporter {
     [Value] NavMeshExport exportNavMesh(NavMesh navMesh, TileCache tileCache);
     void freeNavMeshExport(NavMeshExport navMeshExport);
 };
+
+enum duDebugDrawPrimitives {
+    "duDebugDrawPrimitives::DU_DRAW_POINTS",
+    "duDebugDrawPrimitives::DU_DRAW_LINES",
+    "duDebugDrawPrimitives::DU_DRAW_TRIS",
+    "duDebugDrawPrimitives::DU_DRAW_QUADS"
+};
+
+interface duDebugDraw {
+};
+
+interface DebugDraw {
+};
+DebugDraw implements duDebugDraw;
+
+[JSImplementation="DebugDraw"]
+interface DebugDrawImpl {
+    void DebugDrawImpl();
+
+    void handleDepthMask(boolean state);
+    void handleTexture(boolean state);
+    void handleBegin([Const] duDebugDrawPrimitives prim, float size);
+    void handleVertexWithColor([Const] float x, [Const] float y, [Const] float z, [Const] unsigned long color);
+    void handleVertexWithColorAndUV([Const] float x, [Const] float y, [Const] float z, [Const] unsigned long color, [Const] float u, [Const] float v);
+    void handleEnd();
+};
+
+interface RecastDebugDraw {
+    void RecastDebugDraw();
+
+    void debugDrawPolyMesh(duDebugDraw dd, [Const, Ref] rcPolyMesh mesh);
+};
+
+interface DetourDebugDraw {
+    void DetourDebugDraw();
+
+    void debugDrawNavMesh(duDebugDraw dd, [Const, Ref] dtNavMesh mesh, [Const] unsigned long flags);
+};