Struct navmesh::NavMesh [−][src]
pub struct NavMesh { /* fields omitted */ }
Expand description
Nav mesh object used to find shortest path between two points.
Implementations
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();
Reference to list of nav mesh vertices points.
Reference to list of nav mesh triangles.
Reference to list of nav mesh area descriptors.
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),]
);
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),]
);
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]);
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]);
Trait Implementations
fn deserialize<__D>(__deserializer: __D) -> Result<Self, __D::Error> where
__D: Deserializer<'de>,
fn deserialize<__D>(__deserializer: __D) -> Result<Self, __D::Error> where
__D: Deserializer<'de>,
Deserialize this value from the given Serde deserializer. Read more
Auto Trait Implementations
impl RefUnwindSafe for NavMesh
impl UnwindSafe for NavMesh
Blanket Implementations
Mutably borrows from an owned value. Read more
The inverse inclusion map: attempts to construct self
from the equivalent element of its
superset. Read more
pub fn is_in_subset(&self) -> bool
pub fn is_in_subset(&self) -> bool
Checks if self
is actually part of its subset T
(and can be converted to it).
pub unsafe fn to_subset_unchecked(&self) -> SS
pub unsafe fn to_subset_unchecked(&self) -> SS
Use with care! Same as self.to_subset
but without any property checks. Always succeeds.
pub fn from_subset(element: &SS) -> SP
pub fn from_subset(element: &SS) -> SP
The inclusion map: converts self
to the equivalent element of its superset.