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Building NavMesh Programatically


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I am trying to build navigation mesh programatically for my flat (apartment) model

The logic I could think of, 

1. I know all the floor meshes of my model. I keep them in an array.

2. I create a empty CSG and add (union) of CSG of all floor meshes. 

3. For each non-floor mesh, I check if it is intersects with any of the floor mesh. If yes, then substract that part from my unioned CSG. (It makes a hole)

4. Build a new mesh from the unioned CSG.


The below is a rough implementation of this idea. Can you please suggest a better approach?


Thanks in advance.  


var buildNavMesh = function (scene, floorMeshes) {
            var navigationCSG = new BABYLON.CSG();
            floorMeshes.forEach(floorMesh => {
                var floorMeshCSG = BABYLON.CSG.FromMesh(floorMesh);

            var nonFloorMeshes = [];
            scene.meshes.forEach(mesh => {
                if (floorMeshes.indexOf(mesh) < 0) {
                        mesh.position.y -= 0.2;



            for (var i = 0; i < floorMeshes.length; i++) {
                var floorMesh = floorMeshes;
                nonFloorMeshes.forEach(nonFloorMesh => {
                    if (nonFloorMesh.intersectsMesh(floorMesh)) {
                        var nonFloorMeshCSG = BABYLON.CSG.FromMesh(nonFloorMesh);

            nonFloorMeshes.forEach(mesh => {
                mesh.position.y += 0.2;
            var navMesh = navigationCSG.toMesh("csg4", null, scene, true);

            return navMesh;

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