waymark

Pathfinding and spatial queries on navigation meshes.

Overview

waymark provides pathfinding on navigation meshes generated by landmark or other tools. It implements A* pathfinding, spatial queries, and supports multi-tile navigation meshes.

Rust port of the Detour component from RecastNavigation.

Features

• A Pathfinding*: Find paths between points on the navmesh
• Path Straightening: Funnel algorithm for optimal paths
• Raycasting: Line-of-sight queries against the navmesh
• Spatial Queries: Find nearest points, random points, polygon heights
• Off-mesh Connections: Support for jumps, ladders, and teleports
• Multi-tile Support: Large world navigation with tiled meshes
• Query Filters: Customizable traversal costs and area filtering

Optional Features

• serialization - Save/load navigation meshes via Serde

WASM Support

This crate is fully compatible with WebAssembly. Build for WASM with:

cargo build --target wasm32-unknown-unknown -p waymark

The serialization feature works on WASM with in-memory buffers. File-based save/load is not available on WASM.

Example

use waymark::{NavMesh, NavMeshFlags, NavMeshParams, NavMeshQuery, QueryFilter};
use glam::Vec3;

// Build a NavMesh from landmark output
let params = NavMeshParams::default();
let nav_mesh = NavMesh::build_from_recast(params, &poly_mesh, &detail_mesh, NavMeshFlags::empty())?;

// Create a query object
let mut query = NavMeshQuery::new(&nav_mesh);
let filter = QueryFilter::default();
let extents = Vec3::new(2.0, 4.0, 2.0);

// Find the start and end polygons
let (start_ref, _) = query.find_nearest_poly(start_pos, extents, &filter)?;
let (end_ref, _) = query.find_nearest_poly(end_pos, extents, &filter)?;

// Find a path (A* polygon corridor)
let path = query.find_path(start_ref, end_ref, start_pos, end_pos, &filter)?;

// Straighten the path using the funnel algorithm
let straight_path = query.find_straight_path(start_pos, end_pos, &path)?;

Query Types

License

Dual-licensed under either:

• MIT License (LICENSE-MIT)
• Apache License, Version 2.0 (LICENSE-APACHE)