Dwinzo_dev/app/src/modules/builder/agv/navMeshDetails.tsx

// import React, { useEffect, useState } from "react";
// import { init as initRecastNavigation } from "@recast-navigation/core";
// import { generateSoloNavMesh } from "@recast-navigation/generators";
// import { DebugDrawer, getPositionsAndIndices } from "@recast-navigation/three";
// import { useThree } from "@react-three/fiber";
// import * as THREE from "three";
// interface RawNavMesh {
//   ptr: number; // Replace `number` with the actual type if known
// }

// interface NavMesh {
//   raw: RawNavMesh;
// }

// // Update the MeshState interface to use the correct type
// interface MeshState {
//   setNavMesh: React.Dispatch<React.SetStateAction<NavMesh | null>>;
// }
// export default function NavMeshDetails({ setNavMesh }: MeshState) {
//   const { scene } = useThree();
//   useEffect(() => {
//     const initializeNavMesh = async () => {
//       try {
//         // Initialize Recast Navigation
//         await initRecastNavigation();

//         // Extract meshes from the scene
//         // Extract meshes from the scene
//         const meshes = scene?.children
//           .filter((child) => child.name === "Meshes")
//           .flatMap((mesh) => mesh.children);

//         if (!meshes || meshes.length === 0) {

//           return;
//         }

//         // Filter and process only Mesh objects
//         const meshObjects = meshes.filter(
//           (
//             child
//           ): child is THREE.Mesh<
//             THREE.BufferGeometry,
//             THREE.Material | THREE.Material[]
//           > => child instanceof THREE.Mesh
//         );

//         if (meshObjects.length === 0) {

//           return;
//         }

//         // Get positions and indices from the meshes
//         const [positions, indices] = getPositionsAndIndices(meshObjects);

//         // Generate navigation mesh
//         const cs = 0.05;
//         const ch = 0.05;
//         const walkableRadius = 0.87;
//         const { success, navMesh } = generateSoloNavMesh(positions, indices, {
//           cs,
//           ch,
//           walkableRadius: Math.round(walkableRadius / ch),
//         });

//         if (!success || !navMesh) {

//           return;
//         }

//         // Log and update the navigation mesh

//
//         setNavMesh(navMesh);

//         // Draw the debug visualization
//         const debugDrawer = new DebugDrawer();
//         debugDrawer.drawNavMesh(navMesh);
//         // scene.add(debugDrawer); // Uncomment if you want to add the debug drawer to the scene
//       } catch (error) {

//       }
//     };

//     initializeNavMesh();
//   }, [setNavMesh, scene]);

//   return null;
// }
import React, { useEffect } from "react";
import { init as initRecastNavigation } from "@recast-navigation/core";
import { generateSoloNavMesh } from "@recast-navigation/generators";
import { DebugDrawer, getPositionsAndIndices } from "@recast-navigation/three";
import { useThree } from "@react-three/fiber";
import * as THREE from "three";

// Import the NavMesh type from the library
import { NavMesh as RecastNavMesh } from "@recast-navigation/core";

// Define the state type based on the library's NavMesh type
interface MeshState {
  setNavMesh: React.Dispatch<React.SetStateAction<RecastNavMesh | null>>;
}

export default function NavMeshDetails({ setNavMesh }: MeshState) {
  const { scene } = useThree();

  useEffect(() => {
    const initializeNavMesh = async () => {
      try {
        // Initialize Recast Navigation
        await initRecastNavigation();

        // Extract meshes from the scene
        const meshes = scene?.children
          .filter((child) => child.name === "Meshes")
          .flatMap((mesh) => mesh.children);

        if (!meshes || meshes.length === 0) {
          return;
        }

        // Filter and process only Mesh objects
        const meshObjects = meshes.filter(
          (
            child
          ): child is THREE.Mesh<
            THREE.BufferGeometry,
            THREE.Material | THREE.Material[]
          > => child instanceof THREE.Mesh
        );

        if (meshObjects.length === 0) {
          return;
        }

        // Get positions and indices from the meshes
        const [positions, indices] = getPositionsAndIndices(meshObjects);

        // Generate navigation mesh
        const cs = 0.05;
        const ch = 0.05;
        const walkableRadius = 0.95;
        const { success, navMesh } = generateSoloNavMesh(positions, indices, {
          cs,
          ch,
          walkableRadius: Math.round(walkableRadius / ch),
        });

        if (!success || !navMesh) {
          return;
        }
        // Log and update the navigation mesh
        setNavMesh(navMesh); // Now compatible with the library's NavMesh type
        // Draw the debug visualization
        const debugDrawer = new DebugDrawer();
        debugDrawer.drawNavMesh(navMesh);
        // scene.add(debugDrawer); // Uncomment if you want to add the debug drawer to the scene
      } catch (error) {}
    };

    initializeNavMesh();
  }, [setNavMesh, scene]);

  return null;
}