condor-for-games 0.4.0

Rust pathfinding library for grids, polygonal scenes, navmeshes, and replanning.
Documentation 
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pack_id = "polygon-scene-stress-pack-v0-alpha"
format_version = 1

# Condor-owned continuous stress families (G-CONT-STRESS).
# Witness paths frozen from VisibilityGraph on the same geometry.

[[scenes]]
scene_id = "macro-boulder-detour"
family = "macro-boulder-open"
world_bounds = [0.0, 0.0, 40.0, 30.0]
start = [2.0, 15.0]
goal = [38.0, 15.0]
oracle_kind = "exact-path-cost"
expected_cost = 44.2842712474619
witness_path = [[2.0, 15.0], [12.0, 5.0], [28.0, 5.0], [38.0, 15.0]]

[[scenes.obstacles]]
vertices = [[12.0, 5.0], [28.0, 5.0], [28.0, 25.0], [12.0, 25.0]]

[[scenes]]
scene_id = "macro-two-boulder-corridor"
family = "macro-boulder-open"
world_bounds = [0.0, 0.0, 50.0, 30.0]
start = [2.0, 5.0]
goal = [48.0, 25.0]
oracle_kind = "exact-path-cost"
expected_cost = 68.14213562373095
witness_path = [
  [2.0, 5.0],
  [10.0, 20.0],
  [20.0, 20.0],
  [30.0, 10.0],
  [40.0, 10.0],
  [48.0, 25.0],
]

[[scenes.obstacles]]
vertices = [[10.0, 0.0], [20.0, 0.0], [20.0, 20.0], [10.0, 20.0]]

[[scenes.obstacles]]
vertices = [[30.0, 10.0], [40.0, 10.0], [40.0, 30.0], [30.0, 30.0]]

[[scenes]]
scene_id = "u-trap-escape-south"
family = "u-trap-arena"
world_bounds = [0.0, 0.0, 30.0, 30.0]
start = [15.0, 18.0]
goal = [15.0, 2.0]
oracle_kind = "exact-path-cost"
expected_cost = 39.23154621172782
witness_path = [[15.0, 18.0], [12.0, 25.0], [8.0, 25.0], [8.0, 5.0], [15.0, 2.0]]

[[scenes.obstacles]]
vertices = [
  [8.0, 5.0],
  [22.0, 5.0],
  [22.0, 25.0],
  [18.0, 25.0],
  [18.0, 9.0],
  [12.0, 9.0],
  [12.0, 25.0],
  [8.0, 25.0],
]

[[scenes]]
scene_id = "u-trap-escape-east"
family = "u-trap-arena"
world_bounds = [0.0, 0.0, 30.0, 30.0]
start = [15.0, 15.0]
goal = [28.0, 15.0]
oracle_kind = "exact-path-cost"
expected_cost = 26.10221029860115
witness_path = [[15.0, 15.0], [18.0, 25.0], [22.0, 25.0], [28.0, 15.0]]

[[scenes.obstacles]]
vertices = [
  [8.0, 5.0],
  [22.0, 5.0],
  [22.0, 25.0],
  [18.0, 25.0],
  [18.0, 9.0],
  [12.0, 9.0],
  [12.0, 25.0],
  [8.0, 25.0],
]

[[scenes]]
scene_id = "pillar-forest-sparse"
family = "pillar-forest"
world_bounds = [0.0, 0.0, 30.0, 20.0]
start = [1.0, 1.0]
goal = [29.0, 19.0]
oracle_kind = "exact-path-cost"
expected_cost = 33.28663395418648
witness_path = [[1.0, 1.0], [29.0, 19.0]]

[[scenes.obstacles]]
vertices = [[5.0, 5.0], [7.0, 5.0], [7.0, 7.0], [5.0, 7.0]]

[[scenes.obstacles]]
vertices = [[12.0, 10.0], [14.0, 10.0], [14.0, 12.0], [12.0, 12.0]]

[[scenes.obstacles]]
vertices = [[18.0, 4.0], [20.0, 4.0], [20.0, 6.0], [18.0, 6.0]]

[[scenes.obstacles]]
vertices = [[22.0, 12.0], [24.0, 12.0], [24.0, 14.0], [22.0, 14.0]]

[[scenes]]
scene_id = "pillar-forest-dense"
family = "pillar-forest"
world_bounds = [0.0, 0.0, 24.0, 16.0]
start = [1.0, 8.0]
goal = [23.0, 8.0]
oracle_kind = "exact-path-cost"
expected_cost = 22.118431377916416
witness_path = [[1.0, 8.0], [15.0, 7.0], [17.0, 7.0], [23.0, 8.0]]

[[scenes.obstacles]]
vertices = [[3.0, 3.0], [5.0, 3.0], [5.0, 5.0], [3.0, 5.0]]

[[scenes.obstacles]]
vertices = [[7.0, 8.0], [9.0, 8.0], [9.0, 10.0], [7.0, 10.0]]

[[scenes.obstacles]]
vertices = [[11.0, 2.0], [13.0, 2.0], [13.0, 4.0], [11.0, 4.0]]

[[scenes.obstacles]]
vertices = [[15.0, 7.0], [17.0, 7.0], [17.0, 9.0], [15.0, 9.0]]

[[scenes.obstacles]]
vertices = [[19.0, 11.0], [21.0, 11.0], [21.0, 13.0], [19.0, 13.0]]

[[scenes.obstacles]]
vertices = [[5.0, 12.0], [7.0, 12.0], [7.0, 14.0], [5.0, 14.0]]

[[scenes.obstacles]]
vertices = [[13.0, 12.0], [15.0, 12.0], [15.0, 14.0], [13.0, 14.0]]

[[scenes]]
scene_id = "repeated-static-goal-mid"
family = "repeated-query-static"
world_bounds = [0.0, 0.0, 40.0, 30.0]
start = [2.0, 15.0]
goal = [38.0, 15.0]
oracle_kind = "exact-path-cost"
expected_cost = 44.2842712474619
witness_path = [[2.0, 15.0], [12.0, 5.0], [28.0, 5.0], [38.0, 15.0]]

[[scenes.obstacles]]
vertices = [[12.0, 5.0], [28.0, 5.0], [28.0, 25.0], [12.0, 25.0]]

[[scenes]]
scene_id = "repeated-static-goal-north"
family = "repeated-query-static"
world_bounds = [0.0, 0.0, 40.0, 30.0]
start = [2.0, 15.0]
goal = [38.0, 28.0]
oracle_kind = "exact-path-cost"
expected_cost = 40.31464028033575
witness_path = [[2.0, 15.0], [12.0, 25.0], [38.0, 28.0]]

[[scenes.obstacles]]
vertices = [[12.0, 5.0], [28.0, 5.0], [28.0, 25.0], [12.0, 25.0]]

[[scenes]]
scene_id = "stress-vertical-wall"
family = "stress-no-path"
world_bounds = [0.0, 0.0, 20.0, 20.0]
start = [3.0, 10.0]
goal = [17.0, 10.0]
oracle_kind = "no-path"
proof_kind = "boundary-separator"
proof_obstacle_index = 0
proof_axis = "vertical"

[[scenes.obstacles]]
vertices = [[9.0, 0.0], [11.0, 0.0], [11.0, 20.0], [9.0, 20.0]]

[[scenes]]
scene_id = "stress-horizontal-wall"
family = "stress-no-path"
world_bounds = [0.0, 0.0, 20.0, 20.0]
start = [10.0, 3.0]
goal = [10.0, 17.0]
oracle_kind = "no-path"
proof_kind = "boundary-separator"
proof_obstacle_index = 0
proof_axis = "horizontal"

[[scenes.obstacles]]
vertices = [[0.0, 9.0], [20.0, 9.0], [20.0, 11.0], [0.0, 11.0]]

[[scenes]]
scene_id = "pillar-forest-dense-v2"
family = "pillar-forest"
world_bounds = [0.0, 0.0, 40.0, 30.0]
start = [1.0, 15.0]
goal = [39.0, 15.0]
oracle_kind = "exact-path-cost"
expected_cost = 38.09164411422495
witness_path = [[1.0, 15.0], [9.0, 14.0], [22.0, 14.0], [39.0, 15.0]]

[[scenes.obstacles]]
vertices = [[9.0, 4.0], [12.0, 4.0], [12.0, 7.0], [9.0, 7.0]]
[[scenes.obstacles]]
vertices = [[19.0, 4.0], [22.0, 4.0], [22.0, 7.0], [19.0, 7.0]]
[[scenes.obstacles]]
vertices = [[4.0, 9.0], [7.0, 9.0], [7.0, 12.0], [4.0, 12.0]]
[[scenes.obstacles]]
vertices = [[14.0, 9.0], [17.0, 9.0], [17.0, 12.0], [14.0, 12.0]]
[[scenes.obstacles]]
vertices = [[9.0, 14.0], [12.0, 14.0], [12.0, 17.0], [9.0, 17.0]]
[[scenes.obstacles]]
vertices = [[19.0, 14.0], [22.0, 14.0], [22.0, 17.0], [19.0, 17.0]]

[[scenes]]
scene_id = "pillar-forest-dense-v3"
family = "pillar-forest"
world_bounds = [0.0, 0.0, 50.0, 36.0]
start = [1.0, 18.0]
goal = [49.0, 18.0]
oracle_kind = "exact-path-cost"
expected_cost = 48.04609782654625
witness_path = [[1.0, 18.0], [4.0, 18.5], [22.5, 18.5], [49.0, 18.0]]

[[scenes.obstacles]]
vertices = [[8.0, 4.0], [10.5, 4.0], [10.5, 6.5], [8.0, 6.5]]
[[scenes.obstacles]]
vertices = [[16.0, 4.0], [18.5, 4.0], [18.5, 6.5], [16.0, 6.5]]
[[scenes.obstacles]]
vertices = [[24.0, 4.0], [26.5, 4.0], [26.5, 6.5], [24.0, 6.5]]
[[scenes.obstacles]]
vertices = [[4.0, 8.0], [6.5, 8.0], [6.5, 10.5], [4.0, 10.5]]
[[scenes.obstacles]]
vertices = [[12.0, 8.0], [14.5, 8.0], [14.5, 10.5], [12.0, 10.5]]
[[scenes.obstacles]]
vertices = [[20.0, 8.0], [22.5, 8.0], [22.5, 10.5], [20.0, 10.5]]
[[scenes.obstacles]]
vertices = [[8.0, 12.0], [10.5, 12.0], [10.5, 14.5], [8.0, 14.5]]
[[scenes.obstacles]]
vertices = [[16.0, 12.0], [18.5, 12.0], [18.5, 14.5], [16.0, 14.5]]
[[scenes.obstacles]]
vertices = [[24.0, 12.0], [26.5, 12.0], [26.5, 14.5], [24.0, 14.5]]
[[scenes.obstacles]]
vertices = [[4.0, 16.0], [6.5, 16.0], [6.5, 18.5], [4.0, 18.5]]
[[scenes.obstacles]]
vertices = [[12.0, 16.0], [14.5, 16.0], [14.5, 18.5], [12.0, 18.5]]
[[scenes.obstacles]]
vertices = [[20.0, 16.0], [22.5, 16.0], [22.5, 18.5], [20.0, 18.5]]

[[scenes]]
scene_id = "macro-boulder-triple"
family = "macro-boulder-open"
world_bounds = [0.0, 0.0, 60.0, 40.0]
start = [2.0, 20.0]
goal = [58.0, 20.0]
oracle_kind = "exact-path-cost"
expected_cost = 83.90094360904278
witness_path = [[2.0, 20.0], [10.0, 35.0], [22.0, 35.0], [38.0, 28.0], [42.0, 12.0], [54.0, 12.0], [58.0, 20.0]]

[[scenes.obstacles]]
vertices = [[10.0, 5.0], [22.0, 5.0], [22.0, 35.0], [10.0, 35.0]]
[[scenes.obstacles]]
vertices = [[26.0, 0.0], [38.0, 0.0], [38.0, 28.0], [26.0, 28.0]]
[[scenes.obstacles]]
vertices = [[42.0, 12.0], [54.0, 12.0], [54.0, 40.0], [42.0, 40.0]]

[[scenes]]
scene_id = "u-trap-deep"
family = "u-trap-arena"
world_bounds = [0.0, 0.0, 40.0, 36.0]
start = [20.0, 22.0]
goal = [20.0, 2.0]
oracle_kind = "exact-path-cost"
expected_cost = 50.19803902718557
witness_path = [[20.0, 22.0], [14.0, 30.0], [10.0, 30.0], [10.0, 4.0], [20.0, 2.0]]

[[scenes.obstacles]]
vertices = [[10.0, 4.0], [30.0, 4.0], [30.0, 30.0], [26.0, 30.0], [26.0, 8.0], [14.0, 8.0], [14.0, 30.0], [10.0, 30.0]]

[[scenes]]
scene_id = "slalom-three"
family = "poly-slalom"
world_bounds = [0.0, 0.0, 50.0, 20.0]
start = [1.0, 5.0]
goal = [49.0, 5.0]
oracle_kind = "exact-path-cost"
expected_cost = 63.61442465454328
witness_path = [[1.0, 5.0], [8.0, 14.0], [14.0, 14.0], [20.0, 6.0], [26.0, 6.0], [32.0, 14.0], [38.0, 14.0], [49.0, 5.0]]

[[scenes.obstacles]]
vertices = [[8.0, 0.0], [14.0, 0.0], [14.0, 14.0], [8.0, 14.0]]
[[scenes.obstacles]]
vertices = [[20.0, 6.0], [26.0, 6.0], [26.0, 20.0], [20.0, 20.0]]
[[scenes.obstacles]]
vertices = [[32.0, 0.0], [38.0, 0.0], [38.0, 14.0], [32.0, 14.0]]

[[scenes]]
scene_id = "repeated-static-goal-south"
family = "repeated-query-static"
world_bounds = [0.0, 0.0, 40.0, 30.0]
start = [2.0, 15.0]
goal = [38.0, 2.0]
oracle_kind = "exact-path-cost"
expected_cost = 40.31464028033575
witness_path = [[2.0, 15.0], [12.0, 5.0], [38.0, 2.0]]

[[scenes.obstacles]]
vertices = [[12.0, 5.0], [28.0, 5.0], [28.0, 25.0], [12.0, 25.0]]

[[scenes]]
scene_id = "repeated-static-goal-east"
family = "repeated-query-static"
world_bounds = [0.0, 0.0, 40.0, 30.0]
start = [2.0, 15.0]
goal = [38.0, 22.0]
oracle_kind = "exact-path-cost"
expected_cost = 40.5824421326415
witness_path = [[2.0, 15.0], [12.0, 25.0], [28.0, 25.0], [38.0, 22.0]]

[[scenes.obstacles]]
vertices = [[12.0, 5.0], [28.0, 5.0], [28.0, 25.0], [12.0, 25.0]]