Struct NavMesh 

pub struct NavMesh {
    pub vertices: Vec<NavVertex>,
    pub triangles: Vec<NavTriangle>,
    pub portals: Vec<Portal>,
    /* private fields */
}

The main navigation mesh.

Fields

vertices: Vec<NavVertex>

triangles: Vec<NavTriangle>

portals: Vec<Portal>

Implementations

impl NavMesh

pub fn new() -> Self

pub fn add_vertex(&mut self, pos: Vec2) -> usize

Add a vertex and return its index.

pub fn add_triangle(&mut self, verts: [usize; 3]) -> usize

Add a triangle (by vertex indices) and return its index.

pub fn build(&mut self)

Build adjacency, portals, and pre-compute geometry. Must be called after all triangles are added and before pathfinding.

pub fn point_in_triangle(&self, pt: Vec2, tri_idx: usize) -> bool

Test whether a 2D point is inside a given triangle.

pub fn find_triangle(&self, pos: Vec2) -> Option<usize>

Find which triangle contains pos. Returns None if outside mesh.

pub fn find_path(&self, start: Vec2, end: Vec2) -> Option<Vec<Vec2>>

Find a path from start to end using A* on the triangle graph, then refine with the funnel (string-pulling) algorithm.

pub fn triangle_count(&self) -> usize

Returns the number of triangles.

pub fn portal_count(&self) -> usize

Returns the number of portals.

pub fn contains(&self, pos: Vec2) -> bool

Check whether a world position is inside the navmesh.

pub fn clamp_to_mesh(&self, pos: Vec2) -> Vec2

Clamp a position to the nearest point inside the navmesh.

Trait Implementations

impl Clone for NavMesh

fn clone(&self) -> NavMesh

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Debug for NavMesh

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl Default for NavMesh

fn default() -> NavMesh

Returns the “default value” for a type.