Module continuous_astar 

Continuous-space A* pathfinding.

Discretizes a continuous 2D or 3D space into a grid, runs A* on the grid, then maps the resulting path back to continuous coordinates. This mirrors Julia Agents.jl astar_continuous.jl.

How it works

1. The continuous space [0, extent_x) x [0, extent_y) is overlaid with a walkability grid of grid_w x grid_h cells.
2. Continuous positions are converted to discrete grid cells.
3. A* runs on the grid using the configured cost metric.
4. The discrete path is converted back to continuous waypoints (cell centers), with anti-backtracking optimization on the last waypoint.

Example

use rustsim_pathfinding::continuous_astar::{ContinuousAStar, ContinuousAStarOpts};

// 100x100 continuous space, discretized to a 50x50 walkability grid
let walkmap = vec![true; 50 * 50]; // all walkable
let pathfinder = ContinuousAStar::new(
    100.0, 100.0,
    &walkmap, 50, 50,
    ContinuousAStarOpts::default(),
)
.unwrap();

let path = pathfinder.find_path((10.0, 10.0), (90.0, 90.0));
assert!(path.is_some());

Structs

ContinuousAStar

2D continuous-space A* pathfinder.

ContinuousAStar3D

3D continuous-space A* pathfinder.

ContinuousAStarOpts

Options for continuous-space A* pathfinding.

ContinuousPath

Result of a continuous-space A* search.

ContinuousPath3D

Result of a 3D continuous-space A* search.

Enums

ContinuousAStarConfigError

Errors returned by continuous A* configuration validation.