Module algorithms 

Online and prepared navmesh solvers (channel search, TA*, TRA* builders). Online and prepared navmesh solvers owned by this crate.

Choose a family

• Static pathfinders (NavmeshPathfinder) — one validated Navmesh per call, no preprocess, no shared cache:

  • [channel_search] — cell-corridor BFS + portal-midpoint funnel
  • [ta_star] — same corridor, then local portal-endpoint refinement
  • optional crate-root Polyanya (feature-gated) — external mesh adapt + funnel

• Prepared TRA* ([tra_star]) — implement PreparedNavmeshBuilder: preprocess once into an immutable map, then search many queries. Variants differ only in how portal-midpoint seeds are cached (none, eager static, lazy, LRU, policy-profile). They do not apply dynamic availability; materialize a static snapshot first when cells/portals toggle.

All public solvers share the same continuous outcome shape (NavmeshSearchResult) and post-corridor funnel (navmesh::funnel). Private candidates may live beside these modules without a separate experiment crate.

Modules

channel_search

Static corridor BFS + portal-midpoint funnel navmesh pathfinder. Static [NavmeshPathfinder]: cell-corridor BFS + funnel string-pull.

ta_star

Static TA* tactical navmesh route search. Static [NavmeshPathfinder]: TA* with local portal refinement.

tra_star

Prepared TRA* builders and waypoint-DB policy variants. Prepared-routing lane: TRA* builders and waypoint-database policy surfaces.