Recast4j

Java Port of Recast and Detour navigation mesh toolset.

Recast

Recast is state of the art navigation mesh construction toolset for games.

It is automatic, which means that you can throw any level geometry at it and you will get robust mesh out
It is fast which means swift turnaround times for level designers
It is open source so it comes with full source and you can customize it to your heart's content.

The Recast process starts with constructing a voxel mold from a level geometry and then casting a navigation mesh over it. The process consists of three steps, building the voxel mold, partitioning the mold into simple regions, peeling off the regions as simple polygons.

The voxel mold is built from the input triangle mesh by rasterizing the triangles into a multi-layer heightfield. Some simple filters are then applied to the mold to prune out locations where the character would not be able to move.
The walkable areas described by the mold are divided into simple overlayed 2D regions. The resulting regions have only one non-overlapping contour, which simplifies the final step of the process tremendously.
The navigation polygons are peeled off from the regions by first tracing the boundaries and then simplifying them. The resulting polygons are finally converted to convex polygons which makes them perfect for pathfinding and spatial reasoning about the level.

Detour

Recast is accompanied with Detour, path-finding and spatial reasoning toolkit. You can use any navigation mesh with Detour, but of course the data generated with Recast fits perfectly.

Detour offers simple static navigation mesh which is suitable for many simple cases, as well as tiled navigation mesh which allows you to plug in and out pieces of the mesh. The tiled mesh allows you to create systems where you stream new navigation data in and out as the player progresses the level, or you may regenerate tiles as the world changes.

More information about Recast and Detour

Java Version

How To Use

The API is kept as close to https://github.com/recastnavigation/recastnavigation as possible so most of the information and hints apply to recast4j too. You can find a lot of examples in tests e.g.

building a nav mesh from obj files: https://github.com/ppiastucki/recast4j/blob/master/detour/src/test/java/org/recast4j/detour/RecastTestMeshBuilder.java
finding a path: https://github.com/ppiastucki/recast4j/blob/master/detour/src/test/java/org/recast4j/detour/FindPathTest.java#L94
persisting a nav mesh: https://github.com/ppiastucki/recast4j/blob/master/detour/src/test/java/org/recast4j/detour/io/MeshSetReaderWriterTest.java
dynamic nav mesh: https://github.com/ppiastucki/recast4j/blob/master/detour-dynamic/src/test/java/org/recast4j/dynamic/DynamicNavMeshTest.java

Java Version Enhancements

recast

out-of-the-box support for multi-threaded builds
support for rasterizing filled volumes: sphere, capsule and box

detour

finding random points constrained by a cricle

detour-tile-cache

more compact file format due to reduced data structures and better compression with LZ4

detour-extras

simple tool to import navmeshes created with A* Pathfinding Project

detour-dynamic

robust support for dynamic nav meshes combining pre-built voxels with dynamic objects which can be freely added and removed

Building from Source

All the modules can be built with a single gradle command:

./gradlew clean build shadow

Once the build is completed, the recast-demo application can be run as follows:

java -jar ./recast-demo/build/libs/recast-demo-1.5.1-SNAPSHOT-all.jar

Binaries

Releases

Recast4j releases are available in Maven Central Repository. The project includes 4 artifacts:

<dependency>
	<groupId>org.recast4j</groupId>
	<artifactId>recast</artifactId>
	<version>1.5.0</version>
</dependency>
<dependency>
	<groupId>org.recast4j</groupId>
	<artifactId>detour</artifactId>
	<version>1.5.0</version>
</dependency>
<dependency>
	<groupId>org.recast4j</groupId>
	<artifactId>detour-crowd</artifactId>
	<version>1.5.0</version>
</dependency>
<dependency>
	<groupId>org.recast4j</groupId>
	<artifactId>detour-tile-cache</artifactId>
	<version>1.5.0</version>
</dependency>
<dependency>
	<groupId>org.recast4j</groupId>
	<artifactId>detour-extras</artifactId>
	<version>1.5.0</version>
</dependency>
<dependency>
	<groupId>org.recast4j</groupId>
	<artifactId>detour-dynamic</artifactId>
	<version>1.5.0</version>
</dependency>

Snapshots

Recast4j snapshots are currently available in Sonatype snapshots repository.

<repositories>
	<repository>
		<id>snapshots-repo</id>
		<url>https://oss.sonatype.org/content/repositories/snapshots</url>
		<releases>
			<enabled>false</enabled>
		</releases>
		<snapshots>
			<enabled>true</enabled>
		</snapshots>
	</repository>
</repositories>

License

Recast & Detour is licensed under ZLib license, see License.txt for more information.

shimoop/recast4j