NavGrid

Defined in: ai/nav/NavGrid.ts:52

A uniform-cost square grid with a walkability mask. gy increases with world +Y; a Y-down source (e.g. a tilemap) flips rows when it builds the grid, so NavGrid itself stays direction-agnostic.

Implements

• NavSurface

Constructors

Constructor

new NavGrid(opts): NavGrid

Defined in: ai/nav/NavGrid.ts:71

Parameters

opts

NavGridOptions

Returns

NavGrid

Properties

cellSize

readonly cellSize: number

Defined in: ai/nav/NavGrid.ts:57

---

height

readonly height: number

Defined in: ai/nav/NavGrid.ts:56

---

originX

readonly originX: number

Defined in: ai/nav/NavGrid.ts:59

Cell (0,0)’s centre.

---

originY

readonly originY: number

Defined in: ai/nav/NavGrid.ts:60

---

originZ

readonly originZ: number

Defined in: ai/nav/NavGrid.ts:62

The depth the grid lies at — carried onto every waypoint it hands back.

---

up

readonly up: Vec3

Defined in: ai/nav/NavGrid.ts:54

The grid lies in x/y, so off it is toward whoever is looking at the scene.

Implementation of

NavSurface.up

---

walkable

readonly walkable: Uint8Array

Defined in: ai/nav/NavGrid.ts:64

Row-major walkability, 1 = walkable. Mutable via setWalkable.

---

width

readonly width: number

Defined in: ai/nav/NavGrid.ts:55

Methods

cellToWorld()

cellToWorld(gx, gy): Vec3

Defined in: ai/nav/NavGrid.ts:170

Centre of cell (gx, gy) in world space.

Parameters

gx

number

gy

number

Returns

Vec3

---

clearanceAt()

clearanceAt(gx, gy): number

Defined in: ai/nav/NavGrid.ts:161

Cells from here to the nearest thing that blocks — off the grid counts as blocked. An agent is a body: a path hugging a wall is walkable for the cell it was planned through and a wall for the half hanging over the next. Computed on first ask, dropped when walkability changes.

Parameters

gx

number

gy

number

Returns

number

---

clearCosts()

clearCosts(): void

Defined in: ai/nav/NavGrid.ts:151

Put every cell back to open-ground price, before the areas are re-marked.

Returns

void

---

clearObstructions()

clearObstructions(): void

Defined in: ai/nav/NavGrid.ts:124

Lift everything off the ground at once, before the obstacles are re-marked.

Returns

void

---

costAt()

costAt(gx, gy): number

Defined in: ai/nav/NavGrid.ts:136

What crossing a cell costs, against 1 for open ground. Cheap makes a route prefer it and dear makes it go round; it never blocks, because a price an agent will not pay when there is another way is still one it pays when there is not.

Parameters

gx

number

gy

number

Returns

number

---

describe()

describe(sink): void

Defined in: ai/nav/NavGrid.ts:223

Every walkable cell as a quad, and every edge where the walkable world stops. The corner array is reused between calls — see NavSurfaceSink.

Parameters

sink

NavSurfaceSink

Returns

void

Implementation of

NavSurface.describe

---

findWorldPath()

findWorldPath(from, to, opts?): Vec3[] | null

Defined in: ai/nav/NavGrid.ts:207

Plan a world-space route between two world points, or null when there is no way. The waypoints carry all three axes: on a flat surface the third is the plane the scene is drawn on, on a spatial one it is the ground the route walks over.

Parameters

from

NavPoint

to

NavPoint

opts?

NavQueryOptions

Returns

Vec3[] | null

Implementation of

NavSurface.findWorldPath

---

inBounds()

inBounds(gx, gy): boolean

Defined in: ai/nav/NavGrid.ts:92

Parameters

gx

number

gy

number

Returns

boolean

---

index()

index(gx, gy): number

Defined in: ai/nav/NavGrid.ts:88

Parameters

gx

number

gy

number

Returns

number

---

isNavigable()

isNavigable(p): boolean

Defined in: ai/nav/NavGrid.ts:214

Whether an agent may stand at a world point. Asked of a place the agent has not been routed to — a step sideways to get round another body — which is why it is not the same question as “is there a route here”.

Parameters

p

NavPoint

Returns

boolean

Implementation of

NavSurface.isNavigable

---

isWalkable()

isWalkable(gx, gy): boolean

Defined in: ai/nav/NavGrid.ts:96

Parameters

gx

number

gy

number

Returns

boolean

---

nearestWalkable()

nearestWalkable(gx, gy, maxRadius?, clearance?): Cell | null

Defined in: ai/nav/NavGrid.ts:191

Nearest walkable cell to (gx, gy) by outward ring search, or null if the whole grid is blocked. Used to snap a start/goal that lands on a wall onto a usable cell before searching.

Parameters

gx

number

gy

number

maxRadius?

number = 8

clearance?

number = 0

Returns

Cell | null

---

setCost()

setCost(gx, gy, cost): void

Defined in: ai/nav/NavGrid.ts:141

Parameters

gx

number

gy

number

cost

number

Returns

void

---

setObstructed()

setObstructed(gx, gy, obstructed): void

Defined in: ai/nav/NavGrid.ts:113

Put something in the way of a cell, or take it out again. The map’s own walkability is untouched: an obstacle is a thing standing ON the ground, and lifting it has to give back exactly the ground that was there.

Parameters

gx

number

gy

number

obstructed

boolean

Returns

void

---

setWalkable()

setWalkable(gx, gy, walkable): void

Defined in: ai/nav/NavGrid.ts:102

Parameters

gx

number

gy

number

walkable

boolean

Returns

void

---

worldToCell()

worldToCell(p): Cell

Defined in: ai/nav/NavGrid.ts:179

Cell containing a world point. May be out of bounds — caller checks.

Parameters

p

NavPoint

Returns

Cell