Struct NavMesh 

pub struct NavMesh { /* private fields */ }

Nav mesh object used to find shortest path between two points.

Implementations

impl NavMesh

pub fn new( vertices: Vec<NavVec3>, triangles: Vec<NavTriangle>, ) -> NavResult<Self>

Create new nav mesh object from vertices and triangles.

Arguments

• vertices - list of vertices points.
• triangles - list of vertices indices that produces triangles.

Returns

Ok with nav mesh object or Err with Error::TriangleVerticeIndexOutOfBounds if input data is invalid.

Example

use navmesh::*;

let vertices = vec![
    (0.0, 0.0, 0.0).into(), // 0
    (1.0, 0.0, 0.0).into(), // 1
    (2.0, 0.0, 1.0).into(), // 2
    (0.0, 1.0, 0.0).into(), // 3
    (1.0, 1.0, 0.0).into(), // 4
    (2.0, 1.0, 1.0).into(), // 5
];
let triangles = vec![
    (0, 1, 4).into(), // 0
    (4, 3, 0).into(), // 1
    (1, 2, 5).into(), // 2
    (5, 4, 1).into(), // 3
];

let mesh = NavMesh::new(vertices, triangles).unwrap();

pub fn thicken(&self, value: Scalar) -> NavResult<Self>

pub fn scale(&self, value: NavVec3, origin: Option<NavVec3>) -> NavResult<Self>

pub fn id(&self) -> NavMeshID

Nav mesh identifier.

pub fn origin(&self) -> NavVec3

Nav mesh origin point.

pub fn vertices(&self) -> &[NavVec3]

Reference to list of nav mesh vertices points.

pub fn triangles(&self) -> &[NavTriangle]

Reference to list of nav mesh triangles.

pub fn areas(&self) -> &[NavArea]

Reference to list of nav mesh area descriptors.

pub fn set_area_cost(&mut self, index: usize, cost: Scalar) -> Scalar

Set area cost by triangle index.

Arguments

• index - triangle index.
• cost - cost factor.

Returns

Old area cost value.

pub fn closest_point(&self, point: NavVec3, query: NavQuery) -> Option<NavVec3>

Find closest point on nav mesh.

Arguments

• point - query point.
• query - query quality.

Returns

Some with point on nav mesh if found or None otherwise.

pub fn find_path( &self, from: NavVec3, to: NavVec3, query: NavQuery, mode: NavPathMode, ) -> Option<Vec<NavVec3>>

Find shortest path on nav mesh between two points.

Arguments

• from - query point from.
• to - query point to.
• query - query quality.
• mode - path finding quality.

Returns

Some with path points on nav mesh if found or None otherwise.

Example

use navmesh::*;

let vertices = vec![
    (0.0, 0.0, 0.0).into(), // 0
    (1.0, 0.0, 0.0).into(), // 1
    (2.0, 0.0, 1.0).into(), // 2
    (0.0, 1.0, 0.0).into(), // 3
    (1.0, 1.0, 0.0).into(), // 4
    (2.0, 1.0, 1.0).into(), // 5
];
let triangles = vec![
    (0, 1, 4).into(), // 0
    (4, 3, 0).into(), // 1
    (1, 2, 5).into(), // 2
    (5, 4, 1).into(), // 3
];

let mesh = NavMesh::new(vertices, triangles).unwrap();
let path = mesh
    .find_path(
        (0.0, 1.0, 0.0).into(),
        (1.5, 0.25, 0.5).into(),
        NavQuery::Accuracy,
        NavPathMode::MidPoints,
    )
    .unwrap();
assert_eq!(
    path.into_iter()
        .map(|v| (
            (v.x * 10.0) as i32,
            (v.y * 10.0) as i32,
            (v.z * 10.0) as i32,
        ))
        .collect::<Vec<_>>(),
    vec![(0, 10, 0), (10, 5, 0), (15, 2, 5),]
);

pub fn find_path_custom<F>( &self, from: NavVec3, to: NavVec3, query: NavQuery, mode: NavPathMode, filter: F, ) -> Option<Vec<NavVec3>>

where F: FnMut(Scalar, usize, usize) -> bool,

Find shortest path on nav mesh between two points, providing custom filtering function.

Arguments

• from - query point from.
• to - query point to.
• query - query quality.
• mode - path finding quality.
• filter - closure that gives you a connection distance squared, first triangle index and second triangle index.

Returns

Some with path points on nav mesh if found or None otherwise.

Example

use navmesh::*;

let vertices = vec![
    (0.0, 0.0, 0.0).into(), // 0
    (1.0, 0.0, 0.0).into(), // 1
    (2.0, 0.0, 1.0).into(), // 2
    (0.0, 1.0, 0.0).into(), // 3
    (1.0, 1.0, 0.0).into(), // 4
    (2.0, 1.0, 1.0).into(), // 5
];
let triangles = vec![
    (0, 1, 4).into(), // 0
    (4, 3, 0).into(), // 1
    (1, 2, 5).into(), // 2
    (5, 4, 1).into(), // 3
];

let mesh = NavMesh::new(vertices, triangles).unwrap();
let path = mesh
    .find_path_custom(
        (0.0, 1.0, 0.0).into(),
        (1.5, 0.25, 0.5).into(),
        NavQuery::Accuracy,
        NavPathMode::MidPoints,
        |_dist_sqr, _first_idx, _second_idx| true,
    )
    .unwrap();
assert_eq!(
    path.into_iter()
        .map(|v| (
            (v.x * 10.0) as i32,
            (v.y * 10.0) as i32,
            (v.z * 10.0) as i32,
        ))
        .collect::<Vec<_>>(),
    vec![(0, 10, 0), (10, 5, 0), (15, 2, 5),]
);

pub fn find_path_triangles( &self, from: usize, to: usize, ) -> Option<(Vec<usize>, Scalar)>

Find shortest path on nav mesh between two points.

Arguments

• from - query point from.
• to - query point to.
• query - query quality.
• mode - path finding quality.

Returns

Some with path points on nav mesh and path length if found or None otherwise.

Example

use navmesh::*;

let vertices = vec![
    (0.0, 0.0, 0.0).into(), // 0
    (1.0, 0.0, 0.0).into(), // 1
    (2.0, 0.0, 1.0).into(), // 2
    (0.0, 1.0, 0.0).into(), // 3
    (1.0, 1.0, 0.0).into(), // 4
    (2.0, 1.0, 1.0).into(), // 5
];
let triangles = vec![
    (0, 1, 4).into(), // 0
    (4, 3, 0).into(), // 1
    (1, 2, 5).into(), // 2
    (5, 4, 1).into(), // 3
];

let mesh = NavMesh::new(vertices, triangles).unwrap();
let path = mesh.find_path_triangles(1, 2).unwrap().0;
assert_eq!(path, vec![1, 0, 3, 2]);

pub fn find_path_triangles_custom<F>( &self, from: usize, to: usize, filter: F, ) -> Option<(Vec<usize>, Scalar)>

where F: FnMut(Scalar, usize, usize) -> bool,

Find shortest path on nav mesh between two points, providing custom filtering function.

Arguments

• from - query point from.
• to - query point to.
• query - query quality.
• mode - path finding quality.
• filter - closure that gives you a connection distance squared, first triangle index and second triangle index.

Returns

Some with path points on nav mesh and path length if found or None otherwise.

Example

use navmesh::*;

let vertices = vec![
    (0.0, 0.0, 0.0).into(), // 0
    (1.0, 0.0, 0.0).into(), // 1
    (2.0, 0.0, 1.0).into(), // 2
    (0.0, 1.0, 0.0).into(), // 3
    (1.0, 1.0, 0.0).into(), // 4
    (2.0, 1.0, 1.0).into(), // 5
];
let triangles = vec![
    (0, 1, 4).into(), // 0
    (4, 3, 0).into(), // 1
    (1, 2, 5).into(), // 2
    (5, 4, 1).into(), // 3
];

let mesh = NavMesh::new(vertices, triangles).unwrap();
let path = mesh.find_path_triangles_custom(
    1,
    2,
    |_dist_sqr, _first_idx, _second_idx| true
).unwrap().0;
assert_eq!(path, vec![1, 0, 3, 2]);

pub fn find_triangle_islands(&self) -> Vec<Vec<usize>>

pub fn find_closest_triangle( &self, point: NavVec3, query: NavQuery, ) -> Option<usize>

Find closest triangle on nav mesh closest to given point.

Arguments

• point - query point.
• query - query quality.

Returns

Some with nav mesh triangle index if found or None otherwise.

pub fn path_target_point( path: &[NavVec3], point: NavVec3, offset: Scalar, ) -> Option<(NavVec3, Scalar)>

Find target point on nav mesh path.

Arguments

• path - path points.
• point - source point.
• offset - target point offset from the source on path.

Returns

Some with point and distance from path start point if found or None otherwise.

pub fn project_on_path( path: &[NavVec3], point: NavVec3, offset: Scalar, ) -> Scalar

Project point on nav mesh path.

Arguments

• path - path points.
• point - source point.
• offset - target point offset from the source on path.

Returns

Distance from path start point.

pub fn point_on_path(path: &[NavVec3], s: Scalar) -> Option<NavVec3>

Find point on nav mesh path at given distance.

Arguments

• path - path points.
• s - Distance from path start point.

Returns

Some with point on path ot None otherwise.

pub fn path_length(path: &[NavVec3]) -> Scalar

Calculate path length.

Arguments

• path - path points.

Returns

Path length.

Trait Implementations

impl Clone for NavMesh

fn clone(&self) -> NavMesh

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Debug for NavMesh

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl Default for NavMesh

fn default() -> NavMesh

Returns the “default value” for a type.

impl<'de> Deserialize<'de> for NavMesh

fn deserialize<__D>(__deserializer: __D) -> Result<Self, __D::Error>

where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl Serialize for NavMesh

fn serialize<__S>(&self, __serializer: __S) -> Result<__S::Ok, __S::Error>

where __S: Serializer,

Serialize this value into the given Serde serializer.