Module shortest_path_map 

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

Lifecycle

This is the prepared surface for continuous free space with a fixed source (not the online pair-search crate::continuous::PolygonPathfinder trait):

1. [PolygonShortestPathMapBuilder::preprocess] validates the source via PolygonScene::validate_source and builds a prepared map (visibility-graph distances from that source).
2. [PolygonShortestPathMap::query] answers many goals without rebuilding the source-rooted structure, stitching the best terminal vertex to the goal with a final walkable segment.

Cost and exactness match the online visibility-graph solver under the same free-space predicates. Arbitrary changing start–goal pairs still use online pathfinders; this API is many goals / one source only.

Structs

ContinuousShortestPathMap

Visibility-graph builder for source-rooted continuous shortest-path maps.

PreparedContinuousShortestPathMap

Precomputed visibility-graph distances from one fixed source.

Enums

PolygonShortestPathMapBuildError

Preprocess failed before a prepared map could be produced.

Traits

PolygonShortestPathMap

Prepared map that answers shortest-path queries from a fixed source.

PolygonShortestPathMapBuilder

Preprocesses a polygon scene into a source-rooted shortest-path map.