condor-pathfinding-geometry 0.4.0

Continuous polygonal pathfinding algorithms and geometry primitives for Condor.
Documentation 
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//! Fixture-free direct geometry contract smoke test.

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

#[test]
fn visibility_graph_exposes_the_shared_found_outcome_without_the_facade() {
    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 outcome = VisibilityGraph
        .search(&scene, request)
        .expect("direct geometry request is valid");

    assert!(matches!(outcome, SearchOutcome::Found { .. }));
    assert_eq!(
        outcome.path().expect("fixture-free path").start(),
        request.start
    );
    assert_eq!(
        outcome.path().expect("fixture-free path").goal(),
        request.goal
    );
}