Crate condor_geometry 

Owner crate for the continuous polygonal free-space lane.

Runtime substrate (polygonal), the online continuous::PolygonPathfinder trait and path types, exact solvers (visibility_graph, topological_fracture_search), and source-rooted prepared maps (shortest_path_map) live here. Free space uses Euclidean polyline cost and the shared condor_core::SearchOutcome found/no-path shape. The facade re-exports these modules under the polygonal feature and still owns fixture packs / pack adapters; do not depend on this crate for grid, any-angle, or navmesh surfaces.

This owner crate depends on neutral core contracts, never on the public facade. Corpus conformance belongs to the private harness package and benchmark/capture evidence to the private bench package.

Private not-ready candidates remain module-private and unreexported until implemented and promoted through the ordinary geometry-family validation route.

Choose a continuous surface

Use visibility_graph::VisibilityGraph or topological_fracture_search::TopologicalFractureSearch for one exact query in a polygon scene. For many goals from a fixed source, build a shortest_path_map instead of rebuilding an online solver each time.

Example

use condor_geometry::{
    continuous::PolygonPathfinder,
    polygonal::{Point2, PolygonScene, PolygonSearchRequest, WorldBounds},
    visibility_graph::VisibilityGraph,
};

let scene = PolygonScene {
    world_bounds: WorldBounds::new(Point2::new(0.0, 0.0), Point2::new(3.0, 3.0)),
    obstacles: Vec::new(),
};
let request = PolygonSearchRequest::new(Point2::new(0.5, 0.5), Point2::new(2.5, 2.5));
let result = VisibilityGraph.search(&scene, request).expect("request is valid");
assert!(result.is_found());

Re-exports

pub use polygonal::Polygon;

pub use polygonal::PolygonEndpoint;

pub use polygonal::PolygonScene;

pub use polygonal::PolygonSearchRequest;

pub use polygonal::PolygonValidationError;

pub use polygonal::WorldBounds;

Modules

continuous

Online continuous pathfinder trait, polyline path, and search result vocabulary. Continuous polygonal path types and the [PolygonPathfinder] search trait.

polygonal

Polygon scenes, world bounds, validation, and free-space walkability primitives. Polygon obstacle scenes and free-space predicates for the polygonal lane.

shortest_path_map

Source-rooted prepared shortest-path maps for repeated polygonal queries. Source-rooted shortest-path maps for repeated polygonal goal queries.

topological_fracture_search

Exact topological-fracture continuous polygonal pathfinder. Exact polygonal pathfinder using topological fracture search (TFS).

visibility_graph

Exact visibility-graph continuous polygonal pathfinder (sparse-scene baseline). Exact polygonal pathfinder using a visibility graph over scene vertices.

Structs

Point2

Continuous 2D point in polygon-scene coordinates (not grid cells). Continuous 2D point in world / scene coordinates (not grid cells).