Raasta

Raasta (راستہ — Urdu/Hindi for "path/way/route") — navigation and pathfinding engine for the AGNOS ecosystem.

Built on hisab for math. Used by kiran (game engine) and joshua (simulation).

Features

• Grid pathfinding — A* on 2D grids with walkability, movement costs, diagonal control
• NavMesh — convex polygon navigation mesh with A* graph search
• Flow fields — precomputed direction fields for crowd/swarm movement
• Path smoothing — funnel algorithm for natural-looking paths
• Steering behaviors — seek, flee, arrive with configurable parameters
• Serde support — all types serializable for scene save/load

Quick Start

use raasta::{NavGrid, GridPos};

let mut grid = NavGrid::new(20, 20, 1.0);
grid.set_walkable(10, 5, false); // wall

let path = grid.find_path(GridPos::new(0, 0), GridPos::new(19, 19));
assert!(path.is_some());

Feature Flags

Architecture

raasta
├── grid.rs      — NavGrid, GridPos, A* grid pathfinding, flow fields
├── mesh.rs      — NavMesh, NavPoly, A* polygon-graph pathfinding
├── path.rs      — PathRequest, PathResult, PathStatus types
├── smooth.rs    — Funnel path smoothing
├── steer.rs     — Steering behaviors (seek, flee, arrive)
└── logging.rs   — Optional tracing init (feature-gated)

Dependency Stack

raasta (navigation/pathfinding)
  └── hisab (math — Vec2, Vec3, geometry)
        └── glam (SIMD linear algebra)

License

GPL-3.0