Struct oxygengine_navigation::resource::NavMesh[−][src]

pub struct NavMesh { /* fields omitted */ }

Expand description

Nav mesh object used to find shortest path between two points.

Implementations

impl NavMesh[src]

pub fn new(
    vertices: Vec<NavVec3, Global>, 
    triangles: Vec<NavTriangle, Global>
) -> Result<NavMesh, Error>

[src]

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();

pub fn thicken(&self, value: f32) -> Result<NavMesh, Error>[src]

pub fn scale(
    &self, 
    value: NavVec3, 
    origin: Option<NavVec3>
) -> Result<NavMesh, Error>

[src]

pub fn id(&self) -> ID<NavMesh>[src]

Nav mesh identifier.

pub fn origin(&self) -> NavVec3[src]

Nav mesh origin point.

pub fn vertices(&self) -> &[NavVec3][src]

Reference to list of nav mesh vertices points.

pub fn triangles(&self) -> &[NavTriangle][src]

Reference to list of nav mesh triangles.

pub fn areas(&self) -> &[NavArea][src]

Reference to list of nav mesh area descriptors.

pub fn set_area_cost(&mut self, index: usize, cost: f32) -> f32[src]

Set area cost by triangle index.

Arguments

index - triangle index.
cost - cost factor.

Returns

Old area cost value.

pub fn closest_point(&self, point: NavVec3, query: NavQuery) -> Option<NavVec3>[src]

Find closest point on nav mesh.

Arguments

point - query point.
query - query quality.

Returns

Some with point on nav mesh if found or None otherwise.

pub fn find_path(
    &self, 
    from: NavVec3, 
    to: NavVec3, 
    query: NavQuery, 
    mode: NavPathMode
) -> Option<Vec<NavVec3, Global>>

[src]

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),]
);

pub fn find_path_custom<F>(
    &self, 
    from: NavVec3, 
    to: NavVec3, 
    query: NavQuery, 
    mode: NavPathMode, 
    filter: F
) -> Option<Vec<NavVec3, Global>> where
    F: FnMut(f32, usize, usize) -> bool,

[src]

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),]
);

pub fn find_path_triangles(
    &self, 
    from: usize, 
    to: usize
) -> Option<(Vec<usize, Global>, f32)>

[src]

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]);

pub fn find_path_triangles_custom<F>(
    &self, 
    from: usize, 
    to: usize, 
    filter: F
) -> Option<(Vec<usize, Global>, f32)> where
    F: FnMut(f32, usize, usize) -> bool,

[src]

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]);

pub fn find_closest_triangle(
    &self, 
    point: NavVec3, 
    query: NavQuery
) -> Option<usize>

[src]

Find closest triangle on nav mesh closest to given point.

Arguments

point - query point.
query - query quality.

Returns

Some with nav mesh triangle index if found or None otherwise.

pub fn path_target_point(
    path: &[NavVec3], 
    point: NavVec3, 
    offset: f32
) -> Option<(NavVec3, f32)>

[src]

Find target point on nav mesh path.

Arguments

path - path points.
point - source point.
offset - target point offset from the source on path.

Returns

Some with point and distance from path start point if found or None otherwise.

pub fn project_on_path(path: &[NavVec3], point: NavVec3, offset: f32) -> f32[src]

Project point on nav mesh path.

Arguments

path - path points.
point - source point.
offset - target point offset from the source on path.

Returns

Distance from path start point.

pub fn point_on_path(path: &[NavVec3], s: f32) -> Option<NavVec3>[src]

Find point on nav mesh path at given distance.

Arguments

path - path points.
s - Distance from path start point.

Returns

Some with point on path ot None otherwise.

pub fn path_length(path: &[NavVec3]) -> f32[src]

Calculate path length.

Arguments

path - path points.

Returns

Path length.

Trait Implementations

impl Clone for NavMesh[src]

pub fn clone(&self) -> NavMesh[src]

Returns a copy of the value. Read more

fn clone_from(&mut self, source: &Self)1.0.0 [src]

Performs copy-assignment from source. Read more

impl Debug for NavMesh[src]

pub fn fmt(&self, f: &mut Formatter<'_>) -> Result<(), Error>[src]

Formats the value using the given formatter. Read more

impl Default for NavMesh[src]

pub fn default() -> NavMesh[src]

Returns the “default value” for a type. Read more

impl<'de> Deserialize<'de> for NavMesh[src]

pub fn deserialize<__D>(
    __deserializer: __D
) -> Result<NavMesh, <__D as Deserializer<'de>>::Error> where
    __D: Deserializer<'de>,

[src]

Deserialize this value from the given Serde deserializer. Read more

impl Serialize for NavMesh[src]

pub fn serialize<__S>(
    &self, 
    __serializer: __S
) -> Result<<__S as Serializer>::Ok, <__S as Serializer>::Error> where
    __S: Serializer,

[src]

Serialize this value into the given Serde serializer. Read more

Auto Trait Implementations

impl RefUnwindSafe for NavMesh

impl Send for NavMesh

impl Sync for NavMesh

impl Unpin for NavMesh

impl UnwindSafe for NavMesh

Blanket Implementations

impl<T> Any for T where
    T: 'static + ?Sized,

[src]

pub fn type_id(&self) -> TypeId[src]

Gets the TypeId of self. Read more

impl<T> Any for T where
    T: Any,

pub fn get_type_id(&self) -> TypeId

impl<T> Borrow<T> for T where
    T: ?Sized,

[src]

pub fn borrow(&self) -> &T[src]

Immutably borrows from an owned value. Read more

impl<T> BorrowMut<T> for T where
    T: ?Sized,

[src]

pub fn borrow_mut(&mut self) -> &mut T[src]

Mutably borrows from an owned value. Read more

impl<T> From<T> for T[src]

pub fn from(t: T) -> T[src]

Performs the conversion.

impl<T, U> Into<U> for T where
    U: From<T>,

[src]

pub fn into(self) -> U[src]

Performs the conversion.

impl<T> Same<T> for T

type Output = T

Should always be Self

impl<SS, SP> SupersetOf<SS> for SP where
    SS: SubsetOf<SP>,

pub fn to_subset(&self) -> Option<SS>

The inverse inclusion map: attempts to construct self from the equivalent element of its superset. Read more

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

Use with care! Same as self.to_subset but without any property checks. Always succeeds.

pub fn from_subset(element: &SS) -> SP

The inclusion map: converts self to the equivalent element of its superset.

impl<T> ToOwned for T where
    T: Clone,

[src]

type Owned = T

The resulting type after obtaining ownership.

pub fn to_owned(&self) -> T[src]

Creates owned data from borrowed data, usually by cloning. Read more

pub fn clone_into(&self, target: &mut T)[src]

🔬 This is a nightly-only experimental API. (toowned_clone_into)

recently added

Uses borrowed data to replace owned data, usually by cloning. Read more

impl<T> TryDefault for T where
    T: Default,

pub fn try_default() -> Result<T, String>

Tries to create the default.

fn unwrap_default() -> Self

Calls try_default and panics on an error case.

impl<T, U> TryFrom<U> for T where
    U: Into<T>,

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type Error = Infallible

The type returned in the event of a conversion error.

pub fn try_from(value: U) -> Result<T, <T as TryFrom<U>>::Error>[src]

Performs the conversion.

impl<T, U> TryInto<U> for T where
    U: TryFrom<T>,

[src]

type Error = <U as TryFrom<T>>::Error

The type returned in the event of a conversion error.

pub fn try_into(self) -> Result<U, <U as TryFrom<T>>::Error>[src]

Performs the conversion.

impl<T> DeserializeOwned for T where
    T: for<'de> Deserialize<'de>,

[src]

impl<T> Event for T where
    T: Send + Sync + 'static,

impl<T> Resource for T where
    T: Any,