feat(orcust-automaton): nav mesh arrive behavior

kwaa · kwaa · commit 0cf88f9b231b · 2025-05-10T14:04:10.000+08:00
diff --git a/packages/orcust-automaton/src/behaviors/nav-mesh-arrive.ts b/packages/orcust-automaton/src/behaviors/nav-mesh-arrive.ts
@@ -0,0 +1,27 @@
+import type { NavMesh, Vehicle, Vector3 as YukaVector3 } from 'yuka'
+
+import { ArriveBehavior, FollowPathBehavior } from 'yuka'
+
+export class NavMeshArriveBehavior extends ArriveBehavior {
+  public navMesh?: NavMesh
+  private followPathBehavior = new FollowPathBehavior()
+  private navMeshInitialized = false
+
+  calculate(vehicle: Vehicle, force: YukaVector3) {
+    if (this.navMesh) {
+      if (!this.navMeshInitialized || this.followPathBehavior.path.finished()) {
+        this.followPathBehavior.path.clear()
+
+        const path = this.navMesh.findPath(vehicle.position, this.target)
+        for (const point of path) {
+          this.followPathBehavior.path.add(point)
+        }
+      }
+
+      return this.followPathBehavior.calculate(vehicle, force)
+    }
+    else {
+      return super.calculate(vehicle, force)
+    }
+  }
+}
diff --git a/packages/orcust-automaton/src/entities/orcust-automaton.ts b/packages/orcust-automaton/src/entities/orcust-automaton.ts
@@ -1,8 +1,9 @@
 import type { AnimationAction } from 'three'
 import type { GameEntity, NavMesh } from 'yuka'
 
-import { ArriveBehavior, ObstacleAvoidanceBehavior, Smoother, Think, Vehicle } from 'yuka'
+import { ObstacleAvoidanceBehavior, Smoother, Think, Vehicle } from 'yuka'
 
+import { NavMeshArriveBehavior } from '../behaviors/nav-mesh-arrive'
 import { FollowEvaluator } from '../evaluators/follow'
 import { RestEvaluator } from '../evaluators/rest'
 
@@ -42,7 +43,8 @@ export class OrcustAutomaton extends Vehicle {
     // obstacleAvoidanceBehavior.brakingWeight = 1
     this.steering.add(obstacleAvoidanceBehavior)
 
-    const arriveBehavior = new ArriveBehavior()
+    // const arriveBehavior = new ArriveBehavior()
+    const arriveBehavior = new NavMeshArriveBehavior()
     arriveBehavior.deceleration = 1.5
     this.steering.add(arriveBehavior)
   }
@@ -58,7 +60,7 @@ export class OrcustAutomaton extends Vehicle {
   }
 
   public setNavMesh(navMesh?: NavMesh) {
-    this.navMesh = navMesh
+    (this.steering.behaviors.at(1) as NavMeshArriveBehavior).navMesh = navMesh
   }
 
   public setObstacles(obstacles: GameEntity[]) {
