Struct ContinuousAStar 

pub struct ContinuousAStar<'a> { /* private fields */ }

2D continuous-space A* pathfinder.

Wraps a walkability grid and continuous-space extent. Use find_path to compute paths between continuous positions.

Implementations

impl<'a> ContinuousAStar<'a>

pub fn new( extent_x: f64, extent_y: f64, walkmap: &'a [bool], grid_w: usize, grid_h: usize, opts: ContinuousAStarOpts, ) -> Result<Self, ContinuousAStarConfigError>

Create a new continuous-space pathfinder.

pub fn with_metric(self, metric: impl CostMetric + 'static) -> Self

Set a custom cost metric for the underlying grid A*.

pub fn find_path( &self, from: (f64, f64), to: (f64, f64), ) -> Option<ContinuousPath>

Find a path from from to to in continuous coordinates.

Returns None if no path exists (start or goal is unwalkable, or no connected path through walkable cells).

The returned ContinuousPath contains waypoints in continuous coordinates. The last waypoint is the exact to position.