testing navmesh

package.json

@@ -47,7 +47,7 @@
     "fix-signatures": "npx ts-node ./scripts/fixSignatures.ts && npm run prettier_sources",
     "gen-doc": "npm run updt-doc-config && npx typedoc",
     "updt-doc-config": "npx ts-node ./scripts/updateTypeDoc.ts",
-    "start": "node --experimental-require-module ./scripts/h1z1-server-demo-2016.js",
+    "start": "node --no-warnings --experimental-require-module ./scripts/h1z1-server-demo-2016.js",
     "start-dev": "npm run build && npm start",
     "start-echo": "npm run build && npm run build-benchs && node --inspect ./benchmarks/out/echo/echo-server-start.js",
     "lint": "npx eslint src",

src/servers/ZoneServer2016/handlers/commands/dev.ts

@@ -152,6 +152,15 @@ const dev: any = {
     server._npcs[characterId] = zombie;
     const e = new EntityFromJs(EntityType.Zombie, zombie);
     server.aiManager.add_entity(e);
+    setInterval(() => {
+      const p = server.navigator.testNavMesh(
+        zombie.state.position,
+        client.character.state.position
+      );
+      if (p.length) {
+        p.forEach((v) => zombie.goTo(v));
+      }
+    }, 1000);
   },
   abilities: function (
     server: ZoneServer2016,

src/servers/ZoneServer2016/zoneserver.ts

@@ -250,6 +250,8 @@ import { RewardManager } from "./managers/rewardmanager";
 import { DynamicAppearance } from "types/zonedata";
 import { AiManager, EntityFromJs, EntityType } from "h1emu-ai";
 import { setInterval } from "node:timers";
+import { readFileSync } from "node:fs";
+import { Navig } from "../../utils/recast";
 
 const spawnLocations2 = require("../../../data/2016/zoneData/Z1_gridSpawns.json"),
   deprecatedDoors = require("../../../data/2016/sampleData/deprecatedDoors.json"),
@@ -463,6 +465,7 @@ export class ZoneServer2016 extends EventEmitter {
   crowbarHitRewardChance!: number;
   crowbarHitDamage!: number;
   /*                          */
+  navigator: Navig;
 
   constructor(
     serverPort: number,
@@ -495,6 +498,7 @@ export class ZoneServer2016 extends EventEmitter {
     this.commandHandler = new CommandHandler();
     this.playTimeManager = new PlayTimeManager();
     this.aiManager = new AiManager();
+    this.navigator = new Navig();
     /* CONFIG MANAGER MUST BE INSTANTIATED LAST ! */
     this.configManager = new ConfigManager(this, process.env.CONFIG_PATH);
     this.enableWorldSaves =
@@ -1599,6 +1603,11 @@ export class ZoneServer2016 extends EventEmitter {
   }
 
   private async setupServer() {
+    const z1_nav = new Uint8Array(
+      readFileSync(__dirname + "/../../../data/2016/navData/z1.bin")
+    );
+    await this.navigator.loadNav(z1_nav);
+
     this.weatherManager.init();
     this.playTimeManager.init(this);
     this.initModelsDataSource();

src/utils/recast.ts

@@ -0,0 +1,45 @@
+// ======================================================================
+//
+//   GNU GENERAL PUBLIC LICENSE
+//   Version 3, 29 June 2007
+//   copyright (C) 2020 - 2021 Quentin Gruber
+//   copyright (C) 2021 - 2024 H1emu community
+//
+//   https://github.com/QuentinGruber/h1z1-server
+//   https://www.npmjs.com/package/h1z1-server
+//
+//   Based on https://github.com/psemu/soe-network
+// ======================================================================
+
+import { init as initRecast, NavMesh } from "recast-navigation";
+import { NavMeshQuery } from "recast-navigation";
+import { importNavMesh } from "recast-navigation";
+
+export class Navig {
+  navmesh!: NavMesh;
+  constructor() {}
+  async loadNav(navData: Uint8Array) {
+    await initRecast();
+    const { navMesh } = importNavMesh(navData);
+    this.navmesh = navMesh;
+  }
+  testNavMesh(a: Float32Array, b: Float32Array): Float32Array[] {
+    console.time("calculating path");
+    const navMeshQuery = new NavMeshQuery(this.navmesh);
+
+    const start = { x: a[0], y: a[1], z: a[2] };
+    const end = { x: b[0], y: b[1], z: b[2] };
+    const { success, error, path } = navMeshQuery.computePath(start, end);
+    console.log(success);
+    console.log(error);
+    console.log(path);
+    console.timeEnd("calculating path");
+    const pathNodes: Float32Array[] = [];
+    if (path) {
+      path.forEach((v) => {
+        pathNodes.push(new Float32Array([v.x, v.y, v.z]));
+      });
+    }
+    return pathNodes;
+  }
+}