import * as THREE from 'three'; import { AStar } from 'AStar'; import { showNavMeshOnStart } from 'config'; const DEFAULT_Y_OFFSET = 0.05; const POINT_SIZE = 0.05; const POINT_COLOR = 0xff00ff; const LINE_COLOR = 0x00ffff; const MAX_CONNECTION_DISTANCE_FACTOR = 1.75; export class NavMesh { constructor(scene, blockMap, tileSize) { this.THREE = THREE; this.scene = scene; this.blockMap = blockMap; this.tileSize = tileSize; if (!this.scene || !this.blockMap || !this.tileSize) { console.error("NavMesh: Missing required constructor parameters (scene, blockMap, tileSize)."); return; } if (this.blockMap.length === 0 || this.blockMap[0].length === 0) { console.error("NavMesh: blockMap is empty."); return; } this.config = { pointSize: POINT_SIZE, pointColor: POINT_COLOR, lineColor: LINE_COLOR, yOffset: DEFAULT_Y_OFFSET, maxConnectionDistance: this.tileSize * MAX_CONNECTION_DISTANCE_FACTOR }; this.points = []; this.visualElements = new this.THREE.Group(); this.visualElements.name = "NavMeshVisuals"; this.visualElements.visible = showNavMeshOnStart; this.aStarInstance = null; try { this.generateGrid(); this.aStarInstance = new AStar(this, this.scene); this.createVisualization(); this.scene.add(this.visualElements); } catch (error) { console.error('NavMesh: Initialization failed:', error); } } isBlockTile(tileX, tileZ) { const mapHeightTiles = this.blockMap.length; const mapWidthTiles = this.blockMap[0].length; if (tileX < 0 || tileX >= mapWidthTiles || tileZ < 0 || tileZ >= mapHeightTiles) { return true; } return this.blockMap[tileZ][tileX] === 1; } isCornerNearBlock(cornerX, cornerZ) { const tilesToCheck = [ { x: cornerX - 1, z: cornerZ - 1 }, { x: cornerX, z: cornerZ - 1 }, { x: cornerX - 1, z: cornerZ }, { x: cornerX, z: cornerZ } ]; return tilesToCheck.some(tile => this.isBlockTile(tile.x, tile.z)); } generateGrid() { this.points = []; const mapWidthTiles = this.blockMap[0].length; const mapHeightTiles = this.blockMap.length; const yPos = this.config.yOffset; for (let cz = 0; cz <= mapHeightTiles; cz++) { for (let cx = 0; cx <= mapWidthTiles; cx++) { if (!this.isCornerNearBlock(cx, cz)) { const worldX = (cx - mapWidthTiles / 2) * this.tileSize; const worldZ = (cz - mapHeightTiles / 2) * this.tileSize; this.addPoint(worldX, yPos, worldZ); } } } for (let tz = 0; tz < mapHeightTiles; tz++) { for (let tx = 0; tx < mapWidthTiles; tx++) { if (!this.isBlockTile(tx, tz)) { const worldX = (tx - mapWidthTiles / 2 + 0.5) * this.tileSize; const worldZ = (tz - mapHeightTiles / 2 + 0.5) * this.tileSize; this.addPoint(worldX, yPos, worldZ); } } } const uniquePointsMap = new Map(); this.points.forEach(p => { const key = `${p.x.toFixed(3)},${p.y.toFixed(3)},${p.z.toFixed(3)}`; if (!uniquePointsMap.has(key)) { uniquePointsMap.set(key, p); } }); this.points = Array.from(uniquePointsMap.values()); } addPoint(x, y, z) { const point = new this.THREE.Vector3(x, y, z); this.points.push(point); } createVisualization() { this.removeVisualization(); const pointGeometry = new this.THREE.SphereGeometry(this.config.pointSize, 6, 6); const pointMaterial = new this.THREE.MeshBasicMaterial({ color: this.config.pointColor }); this.points.forEach(point => { const pointMesh = new this.THREE.Mesh(pointGeometry, pointMaterial); pointMesh.position.copy(point); this.visualElements.add(pointMesh); }); const lineMaterial = new this.THREE.LineBasicMaterial({ color: this.config.lineColor }); for (let i = 0; i < this.points.length; i++) { for (let j = i + 1; j < this.points.length; j++) { const p1 = this.points[i]; const p2 = this.points[j]; const distance = p1.distanceTo(p2); if (distance <= this.config.maxConnectionDistance) { const lineGeometry = new this.THREE.BufferGeometry().setFromPoints([p1, p2]); const line = new this.THREE.Line(lineGeometry, lineMaterial); this.visualElements.add(line); } } } } removeVisualization() { while (this.visualElements.children.length > 0) { const child = this.visualElements.children[0]; this.visualElements.remove(child); if (child.geometry) child.geometry.dispose(); } } dispose() { if (this.visualElements.children.length > 0) { const firstChild = this.visualElements.children[0]; if (firstChild && firstChild.geometry && firstChild.geometry instanceof THREE.SphereGeometry) { firstChild.geometry.dispose(); } if (firstChild && firstChild.material && firstChild.material.color.getHex() === this.config.pointColor) { firstChild.material.dispose(); } const aLine = this.visualElements.children.find(c => c instanceof THREE.Line); if (aLine && aLine.material && aLine.material.color.getHex() === this.config.lineColor) { aLine.material.dispose(); } } this.removeVisualization(); if (this.scene && this.visualElements.parent === this.scene) { this.scene.remove(this.visualElements); } this.points = []; if (this.aStarInstance) { this.aStarInstance.dispose(); this.aStarInstance = null; } } setVisible(visible) { this.visualElements.visible = visible; if (this.aStarInstance) { this.aStarInstance.setPathVisibility(visible && this.visualElements.visible); } } findPath(startWorldPos, endWorldPos) { if (!this.aStarInstance) { console.error("NavMesh: AStar instance not initialized."); return null; } const path = this.aStarInstance.findPath(startWorldPos, endWorldPos); if (path) { if (this.visualElements.visible) { this.aStarInstance.visualizePath(path); } } else { if (this.aStarInstance && this.visualElements.visible) { this.aStarInstance.visualizePath(null); } } return path; } getClosestNode(worldPosition) { if (!this.points || this.points.length === 0) return null; let closestPoint = null; let minDistanceSq = Infinity; for (const point of this.points) { const distanceSq = point.distanceToSquared(worldPosition); if (distanceSq < minDistanceSq) { minDistanceSq = distanceSq; closestPoint = point; } } return closestPoint; } }