【recast-navigation-js】通过websocket获取navmesh数据并初始化

说在前面

操作系统：windows 11
浏览器：edge版本 124.0.2478.97
recast-navigation-js版本：0.29.0
golang版本：1.21.5

目录结构

D:.
│  go.mod
│  go.sum
│  main.go // websocket server
└─public│  index.html└─jsmesh.js

websocket_18">websocket服务器

服务器使用golang+gin+gorilla/websocket实现，代码比较简单：

package mainimport ("fmt""log""net/http""github.com/gin-gonic/gin""github.com/gorilla/websocket"
)var upgrade = websocket.Upgrader{CheckOrigin: func(r *http.Request) bool {return true},
}func main() {r := gin.Default()// nav mesh data // 这里只是举例，可以根据需求从文件读取或者生成var mesh []byte// html staticr.Static("/public", "./public")r.GET("/ping", func(c *gin.Context) {c.JSON(200, gin.H{"message": "pong",})})r.GET("/ws", func(c *gin.Context) {// upgrade to websocketws, err := upgrade.Upgrade(c.Writer, c.Request, nil)if err != nil {log.Fatalln(err)}// release sourcedefer ws.Close()go func() {// connect done<-c.Done()fmt.Println("ws lost connection")}()messageType, p, err := ws.ReadMessage()if err != nil {fmt.Println(err)return}switch messageType {case websocket.TextMessage:// Handle Text Messagews.WriteMessage(websocket.TextMessage, p)// c.Writer.Write(p)case websocket.BinaryMessage:// Handle Binary Datafmt.Println("handle binary data")mesh = p // 这里直接假定客户端传过来的是navmesh数据ws.WriteMessage(websocket.BinaryMessage, mesh)case websocket.CloseMessage:// Websocket closefmt.Println("close websocket connection")returncase websocket.PingMessage:// Websocket pingfmt.Println("ping")ws.WriteMessage(websocket.PongMessage, []byte("ping"))case websocket.PongMessage:// Websocket pongfmt.Println("pong")ws.WriteMessage(websocket.PongMessage, []byte("pong"))default:// Unhandled message typefmt.Printf("unknown message type: %d\n", messageType)return}})r.Run() // listen and serve on 0.0.0.0:8080
}

前端

使用three.js绘制数据

index.html

<html>
<script type="importmap">javascript">{"imports": {"@recast-navigation/core": "https://unpkg.com/@recast-navigation/core@0.29.0/dist/index.mjs","@recast-navigation/wasm": "https://unpkg.com/@recast-navigation/wasm@0.29.0/dist/recast-navigation.wasm-compat.js","@recast-navigation/generators": "https://unpkg.com/@recast-navigation/generators@0.29.0/dist/index.mjs","@recast-navigation/three": "https://unpkg.com/@recast-navigation/three@0.29.0/dist/index.mjs","three": "https://unpkg.com/three@0.164.0/build/three.module.js","three/examples/jsm/controls/OrbitControls": "https://unpkg.com/three@0.164.0/examples/jsm/controls/OrbitControls.js"}}</script>
<script src="./js/mesh.js" type="module" ></script><style>body {margin: 0;overflow: hidden;}canvas {width: 100%;height: 100vh;}
</style>
</html>

mesh.js
主要流程

在websocket建立连接成功后，将烘焙的navmesh数据发送至服务器
服务器在收到数据后直接返回（模拟通信过程，实际上服务器也可以从文件读取然后返回给前端）
前端接收到数据后通过importNavMesh接口初始化新的navmesh
使用threejs重新绘制新的navmesh

import * as THREE from 'three';
import { OrbitControls } from 'three/examples/jsm/controls/OrbitControls';
import {init as initRecastNavigation,NavMeshQuery,
} from '@recast-navigation/core';
import { generateSoloNavMesh } from '@recast-navigation/generators';
import {DebugDrawer,getPositionsAndIndices,
} from '@recast-navigation/three';
import { exportNavMesh, importNavMesh } from '@recast-navigation/core';// initialise recast-navigation
await initRecastNavigation();var ws = new WebSocket("ws://127.0.0.1:8080/ws");
ws.binaryType = "arraybuffer"; // use arraybuffer
ws.onopen = function () {console.log("websocket connected.");meshInit();
};
ws.onmessage = function (e) {console.log("websockt data:", e);var uint8_msg = new Uint8Array(e.data); // convert to uint8 arraymeshDraw(uint8_msg);
};
ws.onerror = function () {console.log("websocket error.");
};// setup scene
const renderer = new THREE.WebGLRenderer();
document.body.appendChild(renderer.domElement);const scene = new THREE.Scene();
const camera = new THREE.PerspectiveCamera();
camera.position.set(10, 10, -10);const orbitControls = new OrbitControls(camera, renderer.domElement);// add some meshes
const ground = new THREE.Mesh(new THREE.BoxGeometry(10, 1, 10),new THREE.MeshBasicMaterial({ color: '#333' })
);
ground.position.set(0, -0.5, 0);scene.add(ground);const boxOne = new THREE.Mesh(new THREE.BoxGeometry(8, 2, 1),new THREE.MeshBasicMaterial({ color: '#555' })
);
boxOne.rotation.y = Math.PI / 4;
boxOne.position.set(-2, 1, 0);
scene.add(boxOne);const boxTwo = new THREE.Mesh(new THREE.BoxGeometry(8, 2, 1),new THREE.MeshBasicMaterial({ color: '#555' })
);
boxTwo.rotation.y = Math.PI / 4;
boxTwo.position.set(2, 1, 0);
scene.add(boxTwo);// get the positions and indices that we want to generate a navmesh from
const [positions, indices] = getPositionsAndIndices([ground,boxOne,boxTwo,
]);// generate a solo navmesh
const cs = 0.05;
const ch = 0.05;
const walkableRadius = 0.2;
const { success, navMesh } = generateSoloNavMesh(positions, indices, {cs,ch,walkableRadius: Math.round(walkableRadius / ch),
});// debug draw the navmesh
const debugDrawer = new DebugDrawer();
debugDrawer.drawNavMesh(navMesh);
scene.add(debugDrawer);// compute a path
const start = { x: -4, y: 0, z: -4 };
const end = { x: 4, y: 0, z: 4 };const navMeshQuery = new NavMeshQuery(navMesh);
const { path } = navMeshQuery.computePath(start, end);// draw the path start
const startMarker = new THREE.Mesh(new THREE.BoxGeometry(0.1, 0.1, 0.1),new THREE.MeshBasicMaterial({ color: 'blue' })
);
startMarker.position.set(start.x, start.y + 0.1, start.z);
scene.add(startMarker);// draw the path end
const endMarker = new THREE.Mesh(new THREE.BoxGeometry(0.1, 0.1, 0.1),new THREE.MeshBasicMaterial({ color: 'green' })
);
endMarker.position.set(end.x, end.y + 0.1, end.z);
scene.add(endMarker);// draw the path line
const line = new THREE.Line(new THREE.BufferGeometry().setFromPoints(path.map(({ x, y, z }) => new THREE.Vector3(x, y, z))),new THREE.LineBasicMaterial({ color: 'blue' })
);
line.position.y += 0.1;
scene.add(line);// handle resizing
const onWindowResize = () => {debugDrawer.resize(window.innerWidth, window.innerHeight);camera.aspect = window.innerWidth / window.innerHeight;camera.updateProjectionMatrix();renderer.setSize(window.innerWidth, window.innerHeight);
};
onWindowResize();window.addEventListener('resize', onWindowResize);// animate
const animate = () => {requestAnimationFrame(animate);renderer.render(scene, camera);
};animate();// send nav mesh data to server
function meshInit() {const navMeshExport = exportNavMesh(navMesh);ws.send(navMeshExport);
}// rebuild nav mesh from server and draw
function meshDraw(bin) {const tmpNavMesh = importNavMesh(bin);const tmpDebugDrawer = new DebugDrawer();tmpDebugDrawer.drawNavMesh(tmpNavMesh.navMesh);tmpDebugDrawer.position.z += 10;scene.add(tmpDebugDrawer);
}