Crate condor_grid 

Grid-domain owner crate for discrete pathfinding substrate.

This domain crate owns the map model (Grid), discrete and any-angle search contracts (Pathfinder, AnyAnglePathfinder), prepared / preprocessed multi-query maps, flow fields, hierarchical abstracts, MAPF starter surface, and incremental replanning traits. Algorithm implementations live under algorithms; root re-exports form the curated consumer surface that the public facade (condor-for-games / lib condor) mirrors for compatibility.

Not polygonal / navmesh routing — those live in sibling domain crates. This owner crate depends on neutral core contracts, never on the public facade; corpus conformance and capture evidence live in private developer packages.

Choose a grid surface

Need	Start with
One static 4-connected query	AStar via Pathfinder
Straight-line paths through a grid	AnyAnglePathfinder implementations
Many queries over one static grid	PreprocessedGridBuilder or a domain-specific prepared builder
Changing costs or blocked cells	GridReplanner / InterpolatedGridReplanner
Multiple agents	MapfStarterPlanner

Example

use condor_grid::{AStar, Cell, Grid, Pathfinder, Point, SearchRequest};

let mut grid = Grid::new(3, 3).expect("grid dimensions are valid");
grid.set_cell(Point::new(1, 1), Cell::Blocked)
    .expect("point is in bounds");
let result = AStar.search(
    &grid,
    SearchRequest::new(Point::new(0, 0), Point::new(2, 2)),
).expect("request is valid");
assert!(result.is_found());

Re-exports

pub use algorithms::anya::Anya;

pub use algorithms::anya::AnyaDiagnostics;

pub use algorithms::anya::AnyaInspection;

pub use algorithms::astar::AStar;

pub use algorithms::astar::AStarDiagnostics;

pub use algorithms::astar::AStarInspection;

pub use algorithms::bfs::Bfs;

pub use algorithms::bidirectional_bfs::BidirectionalBfs;

pub use algorithms::dijkstra::Dijkstra;

pub use algorithms::hpa_star::HPAStarBuilder;

pub use algorithms::hpa_star::PreparedHPAStar;

pub use algorithms::jps_plus::JpsPlusBuilder;

pub use algorithms::jps_plus::PreparedJpsPlus;

pub use algorithms::jump_point_search::JumpPointSearch;

pub use algorithms::jump_point_search::JumpPointSearchDiagnostics;

pub use algorithms::jump_point_search::JumpPointSearchInspection;

pub use algorithms::lazy_theta_star::LazyThetaStar;

pub use algorithms::rectangular_symmetry_reduction::RectangularSymmetryReduction;

pub use algorithms::subgoal_graph::PreparedSubgoalGraph;

pub use algorithms::subgoal_graph::SubgoalGraphBuilder;

pub use algorithms::theta_star::ThetaStar;

pub use any_angle::AnyAnglePath;

pub use any_angle::AnyAnglePathBuildError;

pub use any_angle::AnyAnglePathfinder;

pub use any_angle::AnyAngleSearchError;

pub use any_angle::AnyAngleSearchRequest;

pub use any_angle::AnyAngleSearchResult;

pub use any_angle::AnyAngleSearchStats;

pub use any_angle::has_line_of_sight;

pub use flow_field::FlowDirection;

pub use flow_field::FlowFieldBuildError;

pub use flow_field::FlowFieldBuilder;

pub use flow_field::PreparedFlowField;

pub use grid::Cell;

pub use grid::Grid;

pub use grid::GridBuildError;

pub use grid::GridBuilder;

pub use grid::GridEditError;

pub use grid::GridStorage;

pub use hierarchical::HierarchicalGridBuildError;

pub use hierarchical::HierarchicalGridBuilder;

pub use hierarchical::PreparedHierarchicalGrid;

pub use mapf::MapfAgent;

pub use mapf::MapfAgentPath;

pub use mapf::MapfConflict;

pub use mapf::MapfObjective;

pub use mapf::MapfPlan;

pub use mapf::MapfPlanMetrics;

pub use mapf::MapfProblem;

pub use mapf::MapfStarterPlanner;

pub use mapf::MapfStarterPlannerFailure;

pub use mapf::MapfStarterPlannerOutcome;

pub use mapf::MapfStarterPlannerResult;

pub use mapf::MapfValidationReport;

pub use path::Path;

pub use path::PathBuildError;

pub use point::Point;

pub use prepared_any_angle::PREPARED_ANY_ANGLE_CSR_U32_INDEX_LIMIT;

pub use prepared_any_angle::PREPARED_ANY_ANGLE_DEFAULT_BENCHMARK_NODE_BUDGET;

pub use prepared_any_angle::PREPARED_ANY_ANGLE_DIRECTED_EDGE_BUDGET;

pub use prepared_any_angle::PREPARED_ANY_ANGLE_NODE_BUDGET;

pub use prepared_any_angle::PREPARED_ANY_ANGLE_RETAINED_BYTES_BUDGET;

pub use prepared_any_angle::PreparedAnyAngleBenchmarkAdmission;

pub use prepared_any_angle::PreparedAnyAngleBuildDiagnostics;

pub use prepared_any_angle::PreparedAnyAngleGrid;

pub use prepared_any_angle::PreparedAnyAngleGridBuildError;

pub use prepared_any_angle::PreparedAnyAngleGridBuilder;

pub use prepared_any_angle::PreparedAnyAngleQueryDiagnostics;

pub use preprocessed_grid::PreparedGridSearch;

pub use preprocessed_grid::PreprocessedGridBuildError;

pub use preprocessed_grid::PreprocessedGridBuilder;

pub use preprocessed_grid::PreprocessedGridMetadata;

pub use preprocessed_grid::StaticPreparedGrid;

pub use preprocessed_grid::StaticPreparedGridBuilder;

pub use replanning::GridReplanner;

pub use replanning::InterpolatedExpectedKind;

pub use replanning::InterpolatedGridReplanner;

pub use replanning::InterpolatedMovingGoalReplanner;

pub use replanning::InterpolatedPath;

pub use replanning::InterpolatedPathBuildError;

pub use replanning::InterpolatedPathOutcome;

pub use replanning::InterpolatedPathOutcomeKind;

pub use replanning::InterpolatedPathOutcomeRef;

pub use replanning::InterpolatedQueryResult;

pub use replanning::InterpolatedSearchError;

pub use replanning::InterpolatedSearchOutcome;

pub use replanning::InterpolatedSearchRequest;

pub use replanning::InterpolatedSearchResult;

pub use replanning::InterpolatedSearchStats;

pub use replanning::InterpolatedTraversalCostModel;

pub use replanning::best_fallback_interpolated_path;

pub use replanning::best_partial_interpolated_path;

pub use replanning::interpolated_path_cost;

pub use replanning::interpolated_segment_cost;

pub use replanning::query_interpolated_grid;

pub use search::GridSearchError;

pub use search::Pathfinder;

pub use search::SearchRequest;

pub use search::SearchResult;

pub use search::SearchStats;

Modules

algorithms

Grid algorithm implementations (static, prepared, any-angle, replanning families). Grid algorithm owner tree: static, prepared, any-angle, and replanning lanes.

any_angle

Any-angle pathfinder trait and continuous-on-grid request/result contracts. Any-angle grid search contracts for continuous endpoints on a blocked Grid.

flow_field

Same-goal multi-agent flow-field build and query amortization. Same-goal flow field for amortizing many independent 4-connected paths.

grid

Discrete grid storage, cell model, and edit/build errors. Rectangular 4-connected map substrate shared by all discrete grid lanes.

hierarchical

Hierarchical abstract-grid layers for multi-level search. Hierarchical build-once/query-many contracts for cluster abstraction and refinement.

mapf

Multi-agent pathfinding starter planner and conflict vocabulary. Collision-aware multi-agent pathfinding model, validator, and starter planner.

path

Discrete path reconstruction and path cost types. Validated discrete path value: ordered cells plus an algorithm-reported cost.

point

Integer cell coordinates for the discrete grid lane. Integer coordinates for discrete grid cells.

prepared_any_angle

Prepared any-angle visibility graphs over static grids. Prepared exact any-angle search for many queries over one static grid.

preprocessed_grid

Preprocessed static multi-query grid search substrates. Algorithm-neutral build-once/query-many contracts for static grid search.

replanning

Incremental grid replanning and interpolated continuous-on-grid routes. Incremental grid replanning contracts for changing maps and costs.

search

Online Pathfinder trait, search request, budget, and outcome contracts. Online 4-connected grid-search request, result, and Pathfinder contract.

Macros

grid

Constructs a Grid from textual rows using Grid::try_from_rows.

Structs

BudgetWatch

One-shot wall-clock deadline for a single search invocation.

Point2

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

SearchBudget

Caller-chosen expansion and/or wall-clock limits for one search.

Enums

BudgetExhausted

Why a search stopped for budget rather than completing found/no-path.

SearchOutcome

Successful search computation, separate from request validation failures.

Traits

SearchPathCost

Path value that exposes the cost reported by its search domain.

SearchVisitStats

Search statistics that expose an algorithm-defined node-visit count.