Struct oxygengine_navigation::resources::NavMesh
source · pub struct NavMesh { /* private fields */ }
Expand description
Nav mesh object used to find shortest path between two points.
Implementations§
sourcepub fn new(
vertices: Vec<NavVec3, Global>,
triangles: Vec<NavTriangle, Global>
) -> Result<NavMesh, Error>
pub fn new( vertices: Vec<NavVec3, Global>, triangles: Vec<NavTriangle, Global> ) -> Result<NavMesh, Error>
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: f32) -> Result<NavMesh, Error>
pub fn scale( &self, value: NavVec3, origin: Option<NavVec3> ) -> Result<NavMesh, Error>
sourcepub fn triangles(&self) -> &[NavTriangle]
pub fn triangles(&self) -> &[NavTriangle]
Reference to list of nav mesh triangles.
sourcepub fn set_area_cost(&mut self, index: usize, cost: f32) -> f32
pub fn set_area_cost(&mut self, index: usize, cost: f32) -> f32
sourcepub fn find_path(
&self,
from: NavVec3,
to: NavVec3,
query: NavQuery,
mode: NavPathMode
) -> Option<Vec<NavVec3, Global>>
pub fn find_path( &self, from: NavVec3, to: NavVec3, query: NavQuery, mode: NavPathMode ) -> Option<Vec<NavVec3, Global>>
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),]
);
sourcepub fn find_path_custom<F>(
&self,
from: NavVec3,
to: NavVec3,
query: NavQuery,
mode: NavPathMode,
filter: F
) -> Option<Vec<NavVec3, Global>>where
F: FnMut(f32, usize, usize) -> bool,
pub fn find_path_custom<F>( &self, from: NavVec3, to: NavVec3, query: NavQuery, mode: NavPathMode, filter: F ) -> Option<Vec<NavVec3, Global>>where F: FnMut(f32, 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),]
);
sourcepub fn find_path_triangles(
&self,
from: usize,
to: usize
) -> Option<(Vec<usize, Global>, f32)>
pub fn find_path_triangles( &self, from: usize, to: usize ) -> Option<(Vec<usize, Global>, f32)>
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]);
sourcepub fn find_path_triangles_custom<F>(
&self,
from: usize,
to: usize,
filter: F
) -> Option<(Vec<usize, Global>, f32)>where
F: FnMut(f32, usize, usize) -> bool,
pub fn find_path_triangles_custom<F>( &self, from: usize, to: usize, filter: F ) -> Option<(Vec<usize, Global>, f32)>where F: FnMut(f32, 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, Global>, Global>
sourcepub fn path_target_point(
path: &[NavVec3],
point: NavVec3,
offset: f32
) -> Option<(NavVec3, f32)>
pub fn path_target_point( path: &[NavVec3], point: NavVec3, offset: f32 ) -> Option<(NavVec3, f32)>
Trait Implementations§
source§fn deserialize<__D>(
__deserializer: __D
) -> Result<NavMesh, <__D as Deserializer<'de>>::Error>where
__D: Deserializer<'de>,
fn deserialize<__D>( __deserializer: __D ) -> Result<NavMesh, <__D as Deserializer<'de>>::Error>where __D: Deserializer<'de>,
source§fn serialize<__S>(
&self,
__serializer: __S
) -> Result<<__S as Serializer>::Ok, <__S as Serializer>::Error>where
__S: Serializer,
fn serialize<__S>( &self, __serializer: __S ) -> Result<<__S as Serializer>::Ok, <__S as Serializer>::Error>where __S: Serializer,
Auto Trait Implementations§
Blanket Implementations§
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unsafe fn finalize_raw(data: *mut ())
fn initialize(&mut self)
§unsafe fn initialize_raw(data: *mut ())
unsafe fn initialize_raw(data: *mut ())
§fn to_subset(&self) -> Option<SS>
fn to_subset(&self) -> Option<SS>
self
from the equivalent element of its
superset. Read more§fn is_in_subset(&self) -> bool
fn is_in_subset(&self) -> bool
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is actually part of its subset T
(and can be converted to it).§unsafe fn to_subset_unchecked(&self) -> SS
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self.to_subset
but without any property checks. Always succeeds.§fn from_subset(element: &SS) -> SP
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