Struct PolygonScene 

pub struct PolygonScene {
    pub world_bounds: WorldBounds,
    pub obstacles: Vec<Polygon>,
}

Bounded free space with polygon obstacles and walkability predicates.

Public fields are the static scene snapshot: world rectangle plus obstacle rings. Pathfinders and prepared maps treat geometry as immutable for a query. Prefer Self::validate_static / Self::validate before trusting a hand- built scene; constructors do not enforce invariants.

Fields

world_bounds: WorldBounds

Axis-aligned world rectangle that bounds free space.

obstacles: Vec<Polygon>

Simple polygon obstacle rings; free space is the world rectangle minus their strict interiors.

Implementations

impl PolygonScene

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

Point free-space test: in bounds and not strictly inside any obstacle.

Does not reject sealed world-boundary edges by itself; endpoint validation (validate, validate_source, validate_goal) and Self::segment_is_walkable apply the sealed-edge rule.

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

Whether the segment from start to end stays in free space.

Rejects either endpoint when non-traversable (including sealed boundary), then samples every obstacle-edge intersection parameter and each open sub-interval midpoint. Visibility graphs and TFS use this as the edge legality predicate; cost is always Euclidean length of accepted segments.

pub fn validate_static(&self) -> Result<(), PolygonValidationError>

Validates world bounds, obstacle geometry, and pairwise obstacle disjointness.

Errors

Returns a PolygonValidationError for invalid bounds, obstacle geometry, or intersecting obstacles.

pub fn validate_source( &self, source: Point2, ) -> Result<(), PolygonValidationError>

Validates static scene invariants and that source is traversable.

Errors

Returns a PolygonValidationError when static geometry or the source endpoint is invalid.

pub fn validate_goal(&self, goal: Point2) -> Result<(), PolygonValidationError>

Validates static scene invariants and that goal is traversable.

Errors

Returns a PolygonValidationError when static geometry or the goal endpoint is invalid.

pub fn validate( &self, request: PolygonSearchRequest, ) -> Result<(), PolygonValidationError>

Validates static scene invariants and that both endpoints are traversable.

Errors

Returns a PolygonValidationError when static geometry or either endpoint is invalid.

Trait Implementations

impl Clone for PolygonScene

fn clone(&self) -> PolygonScene

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for PolygonScene

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

Formats the value using the given formatter.

impl PartialEq for PolygonScene

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

Equality operator ==.

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

Inequality operator !=.

impl StructuralPartialEq for PolygonScene