Struct Navmesh 

pub struct Navmesh { /* private fields */ }

Graph of convex cells and portal segments for connectivity and walkability.

Construction does not validate. Treat a mesh as authoritative only after Self::validate (or after materialization from a valid DynamicNavmeshState). Solvers and prepared builders clone this snapshot; they do not mutate it in place.

Implementations

impl Navmesh

pub fn new(cells: Vec<NavmeshCell>, portals: Vec<NavmeshPortal>) -> Navmesh

Creates an unvalidated mesh; call Self::validate before search or preprocess.

pub fn cells(&self) -> &[NavmeshCell]

Convex cells that define walkable free space.

pub fn portals(&self) -> &[NavmeshPortal]

Shared boundary portals linking adjacent cells.

pub fn validate(&self) -> Result<(), NavmeshValidationError>

Validates every cell and every portal’s indices, non-degeneracy, and boundary endpoints.

Errors

Returns NavmeshValidationError when a cell is invalid, cell ids are duplicated, or a portal violates its endpoint contract.

pub fn locate_point(&self, point: Point2) -> Option<usize>

Index of the first cell that contains point under inclusive membership, if any.

When a point lies on a shared boundary, the lowest-index containing cell wins. Prefer Self::locate_cells when multi-membership matters (connectivity BFS).

pub fn locate_cells(&self, point: Point2) -> Vec<usize>

All cell indices whose polygons contain point (inclusive boundary).

Order follows cell list order. Overlapping or boundary-sharing cells all appear.

pub fn neighbors(&self, cell_index: usize) -> Vec<usize>

Cell indices reachable in one portal hop from cell_index (unsorted, portal order).

Out-of-range indices yield an empty list. Duplicate portals to the same neighbor produce duplicate entries.

pub fn portals_from(&self, cell_index: usize) -> Vec<&NavmeshPortal>

Portals incident to cell_index, in mesh portal order.

pub fn query(&self, query: NavmeshQuery) -> NavmeshQueryResult

Cell-graph connectivity between query endpoints (no geometric path).

Locates every cell covering start and goal. If either endpoint lies outside all cells, returns NavmeshQueryResult::InvalidStart or NavmeshQueryResult::InvalidGoal. Otherwise BFS over portals from the full start cell set; when any goal cell is reachable, returns NavmeshQueryResult::Connected with the source start cell and hit goal cell. Multi-cell endpoints use the first located cell only for the reported NoPath indices when disconnected.

pub fn is_walkable(&self, point: Point2) -> bool

Whether point lies in at least one cell (inclusive boundary).

pub fn segment_is_walkable(&self, start: Point2, end: Point2) -> bool

Whether the open segment from start to end stays on walkable cells.

Endpoints must be walkable. The check samples cell-edge intersections along the segment and requires each open sub-interval to lie inside some cell; when adjacent intervals occupy disjoint cell sets, a portal must cover the transition point. Used by funnel string-pull and path validation—not a free-space raycast.

pub fn path_is_walkable(&self, path: &[Point2]) -> bool

Whether every consecutive segment of path is walkable and vertices admit portal transitions.

Empty paths are not walkable. A single point is walkable iff it lies in some cell. At interior vertices, incoming and outgoing probes must share a cell or cross a portal.

Trait Implementations

impl Clone for Navmesh

fn clone(&self) -> Navmesh

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Debug for Navmesh

fn fmt(&self, f: &mut Formatter<'_>) -> Result<(), Error>

Formats the value using the given formatter.

impl PartialEq for Navmesh

fn eq(&self, other: &Navmesh) -> bool

Equality operator ==.

fn ne(&self, other: &Rhs) -> bool

Inequality operator !=.

impl StructuralPartialEq for Navmesh