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

news2024/11/30 12:44:59

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
    └─js
            mesh.js

websocket服务器

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

package main

import (
	"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 static
	r.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 websocket
		ws, err := upgrade.Upgrade(c.Writer, c.Request, nil)
		if err != nil {
			log.Fatalln(err)
		}
		// release source
		defer 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 Message
			ws.WriteMessage(websocket.TextMessage, p)
			// c.Writer.Write(p)
		case websocket.BinaryMessage:
			// Handle Binary Data
			fmt.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 close
			fmt.Println("close websocket connection")
			return
		case websocket.PingMessage:
			// Websocket ping
			fmt.Println("ping")
			ws.WriteMessage(websocket.PongMessage, []byte("ping"))
		case websocket.PongMessage:
			// Websocket pong
			fmt.Println("pong")
			ws.WriteMessage(websocket.PongMessage, []byte("pong"))
		default:
			// Unhandled message type
			fmt.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">
    {
      "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 array
    meshDraw(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);
}