How can we retrieve polygon's points after findNearestPoly?

[rob-myers]

Here's some context:

const polyResult = state.crowd.navMeshQuery.findNearestPoly({ x: (1 + 0.5) * 1.5, y: 0, z: 4 * 1.5 }, {});
if (polyResult.nearestRef) {
  const result = state.nav.navMesh.getTileAndPolyByRef(polyResult.nearestRef);
  const poly = result.poly();
  const tile = result.tile();
  // How to get polygon's points?
}

Any help much appreciated.

[rob-myers]

Looks like getDebugNavMesh has the answer.
I'll investigate.

[rob-myers]

Here's a quick-n-dirty working example:

/** @param {number} n */ 
function range(n) { return [...Array(n)].map((_, i) => i); }

const { nearestRef: polyRef } = state.crowd.navMeshQuery.findNearestPoly({ x: 1 * 1.5, y: 0, z: 3.5 * 1.5}, {});
// Assume polyRef non-zero i.e. a polygon was found
const polyResult = navMesh.getTileAndPolyByRef(polyRef);
const poly = polyResult.poly();
const vertexIds = range(poly.vertCount()).map(i => poly.verts(i));

const tile = polyResult.tile();
// Assume tile header non-null
const tileHeader = /** @type {import("@recast-navigation/core").DetourMeshHeader} */ (tile.header());
// All vertices in non-detailed mesh for tile
const allTileVertices = range((tileHeader.vertCount() * 3) + 1).reduce((agg, i) => 
  (i > 0) && (i % 3 === 0) ? agg.concat({ x: tile.verts(i - 3), y: tile.verts(i - 2), z: tile.verts(i - 1) }) : agg,
  /** @type {THREE.Vector3Like[]} */ ([]),
);

const vertices = vertexIds.map(id => allTileVertices[id]);

[isaac-mason]

Reopening this discussion so it's visible and others can can benefit from the answer.