Crate octaindex3d 

OctaIndex3D

A 3D Spatial Indexing and Routing System based on Body-Centered Cubic (BCC) lattice with truncated octahedral cells.

This library provides efficient spatial analysis, indexing, and pathfinding in three dimensions at multiple scales using a BCC lattice structure.

Key Features

• High-Level Facade: BccGrid for working in physical units (points to cells, neighbors, k-rings, A* pathfinding) without lattice details
• Three ID Types: Galactic128 (global), Index64 (Morton), Route64 (local routing)
• 14-Neighbor Connectivity: More isotropic than cubic grids
• Hierarchical Refinement: Multi-resolution support
• Bech32m Encoding: Human-readable text encoding with checksums
• Compression: LZ4 (default) and optional Zstd support
• Frame Registry: Coordinate reference system management
• Container Format: Compressed spatial data storage

Example

use octaindex3d::{BccGrid, Index64, Result};

// High-level API: a grid with 0.5-unit cells
let grid = BccGrid::new(0.5)?;
let cell = grid.cell_at(1.2, 3.4, 5.6)?;
assert_eq!(grid.neighbors(cell).len(), 14);

let start = grid.cell_at(0.0, 0.0, 0.0)?;
let goal = grid.cell_at(3.0, 3.0, 3.0)?;
let path = grid.astar(start, goal)?;
assert_eq!(path.cells.last(), Some(&goal));

// Lower-level API: a Morton-encoded storage key
let index = Index64::new(0, 0, 5, 100, 200, 300)?;
assert_eq!(index.decode_coords(), (100, 200, 300));

Re-exports

pub use crate::error::Error;

pub use crate::error::Result;

pub use crate::frame::get_frame;

pub use crate::frame::list_frames;

pub use crate::frame::register_frame;

pub use crate::frame::FrameDescriptor;

pub use crate::grid::BccGrid;

pub use crate::grid::GridPath;

pub use crate::ids::FrameId;

pub use crate::ids::Galactic128;

pub use crate::ids::Index64;

pub use crate::ids::Route64;

pub use crate::lattice::Lattice;

pub use crate::lattice::LatticeCoord;

pub use crate::lattice::Parity;

pub use crate::lattice::BCC_NEIGHBORS_14;

pub use crate::layers::export_mesh_obj;

pub use crate::layers::export_mesh_ply;

pub use crate::layers::export_mesh_stl;

pub use crate::layers::extract_mesh_from_tsdf;

pub use crate::layers::ESDFLayer;

pub use crate::layers::LayeredMap;

pub use crate::layers::Measurement;

pub use crate::layers::Mesh;

pub use crate::layers::OccupancyLayer;

pub use crate::layers::OccupancyState;

pub use crate::layers::OccupancyStats;

pub use crate::layers::TSDFLayer;

pub use crate::performance::Backend;

pub use crate::performance::BatchIndexBuilder;

pub use crate::performance::BatchNeighborCalculator;

pub use crate::performance::BatchResult;

pub use crate::performance::ParallelBatchIndexBuilder;

pub use crate::performance::ParallelBatchNeighborCalculator;

pub use crate::performance::GpuBackend;

pub use crate::performance::GpuBatchProcessor;

pub use crate::hilbert::Hilbert64;

pub use crate::container_v2::ContainerWriterV2;

pub use crate::container_v2::HeaderV2;

pub use crate::container_v2::StreamConfig;

pub use crate::geojson::to_geojson_points;

pub use crate::geojson::write_geojson_linestring;

pub use crate::geojson::write_geojson_polygon;

pub use crate::geojson::GeoJsonOptions;

pub use crate::id::CellID;Deprecated

Modules

compression

Compression layer for OctaIndex3D container format

container

Container format for compressed spatial data

container_v2

Container v2 - Append-friendly container format

error

Error types for OctaIndex3D v0.3.0

frame

Frame registry for coordinate reference systems

geojson

GeoJSON adapter for exporting spatial IDs

grid

High-level facade for working with the BCC lattice in physical units.

hilbert

Hilbert64 - 3D Hilbert curve implementation for spatial indexing

id

Cell ID system with 128-bit format and Bech32m encoding (legacy v0.2 API)

ids

ID types for OctaIndex3D v0.3.0

io

I/O operations for various file formats (legacy v0.2 API)

lattice

BCC Lattice geometry and mathematics v0.3.0

layer

Data layer storage and aggregation (legacy v0.2 API)

layers

Multi-layer spatial data on BCC lattice

morton

Morton (Z-order) encoding and decoding for 3D coordinates

neighbors

Neighbor operations for spatial IDs

path

Pathfinding and routing algorithms (legacy v0.2 API)

performance

High-performance batch operations with SIMD, parallel, and GPU acceleration

Constants

VERSION

Library version