Expand description
Provides a path finding search space generation and A* search algorithm using Binary Spatial Partitioning.
The navigable space is defined by polygons delimiting the space. A graph of navigable nodes and edges will be generated.
The algorithm does not impose any constraints on size or angle of the scene as is the case for grid or quadtree based approaches.
§Usage
use bsp_pathfinding::*;
use glam::*;
// Define a simple scene
let square = Shape::rect(Vec2::new(50.0, 50.0), Vec2::new(0.0, 0.0));
let left = Shape::rect(Vec2::new(10.0, 200.0), Vec2::new(-200.0, 10.0));
let right = Shape::rect(Vec2::new(10.0, 200.0), Vec2::new(200.0, 10.0));
let bottom = Shape::rect(Vec2::new(200.0, 10.0), Vec2::new(10.0, -200.0));
let top = Shape::rect(Vec2::new(200.0, 10.0), Vec2::new(10.0, 200.0));
// Create navigational context from the scene
let nav = NavigationContext::new([square, left, right, top, bottom].iter().flatten());
// Find a path
let start = Vec2::new(-100.0, 0.0);
let end = Vec2::new(100.0, 30.0);
let path = nav
.find_path(start, end, heuristics::euclidiean, SearchInfo::default())
.expect("Failed to find a path");Re-exports§
pub use astar::*;
Modules§
Structs§
- BSPNode
- Represents a single node in the binary tree. The node constitutes of a splitting plane and children behind and in front of the plane.
- BSPTree
- Defines the tree used for navigation
- Descendants
- Face
- A two dimensional face of two vertices. Uses counterclockwise winding order to calculate a normal
- Navigation
Context - Contains the graph and edges necessary for path finding
- Node
Index - Represent the index of a crate::BSPNode
- Node
Payload - Represents the result of crate::BSPTree::locate
- Portal
- Represents a surface connecting two nodes
- Portal
Ref - References a portal
- Portals
- Declares portals which are surfaces connecting two partitioning planes, crate::BSPNode.
- Shape
- Defines a collection of faces. This struct is not neccesary to use, but helps in constructing squares and other primitives.