Crate raasta 

Raasta

Raasta (راستہ — Urdu/Hindi for “path/way/route”) — navigation and pathfinding engine for the AGNOS ecosystem.

Provides navmesh generation, A* pathfinding, grid-based search, flow fields, path smoothing, and steering behaviors. Built on hisab for math.

Features

• NavMesh — polygon-based navigation mesh with connectivity graph
• A* pathfinding — optimal shortest-path on navmesh or grid
• Grid pathfinding — 2D grid with walkability and costs
• Flow fields — precomputed direction fields for crowd movement
• Path smoothing — funnel algorithm for natural-looking paths
• Steering behaviors — seek, flee, arrive, obstacle avoidance

Example

use raasta::{NavGrid, GridPos};

let mut grid = NavGrid::new(10, 10, 1.0);
grid.set_walkable(5, 3, false); // place a wall

let path = grid.find_path(GridPos::new(0, 0), GridPos::new(9, 9));
assert!(path.is_some());

Structs

AbstractGraph

Abstract graph for hierarchical pathfinding.

AbstractNodeId

A node in the abstract graph — represents one side of an entrance.

Agent

A navigation agent with position, velocity, and optional path following.

ClusterId

Identifier for a cluster in the grid hierarchy.

CrowdSimulation

Crowd simulation with density-aware velocity damping.

DebugDraw

Collects debug geometry for visualization.

DebugLine

A colored line segment for debug rendering.

DebugPoint

A colored point for debug rendering.

Entrance

An entrance between two adjacent clusters.

GridClusters

Grid clustering for HPA*.

GridPos

A position on the navigation grid.

HalfPlane

A half-plane constraint: all velocities v where (v - point) · normal ≥ 0.

NavGrid

A 2D navigation grid with walkability and movement costs.

NavMesh

A navigation mesh composed of convex polygons.

NavMesh3D

A 3D navigation mesh.

NavPoly

A convex polygon in the navigation mesh.

NavPoly3D

A convex polygon in 3D space.

NavPolyId

Unique identifier for a navigation polygon.

Obstacle

A circular obstacle for avoidance steering.

PathFollower

Follows a sequence of waypoints, advancing to the next when close enough.

PathRequest

A pathfinding request.

PathResult

Result of a pathfinding computation.

RvoAgent

An RVO agent with position, velocity, and radius.

RvoSimulation

Multi-agent RVO simulation.

SteerOutput

Output of a steering computation.

SteerOutput3D

Output of a 3D steering computation.

Vec2

A 2-dimensional vector.

Vec3

A 3-dimensional vector.

Enums

PathStatus

Status of a pathfinding request.

SteerBehavior

A steering behavior that produces a desired velocity/force.

SteerBehavior3D

A 3D steering behavior.

Functions

alignment

Compute alignment steering — steer toward the average heading of neighbors.

avoid_obstacles

Compute an avoidance steering force away from nearby obstacles.

cohesion

Compute cohesion steering — steer toward the center of mass of neighbors.

compute_orca_half_plane

Compute the ORCA half-plane constraint between two agents.

compute_steer

Compute steering output for the given behavior.

compute_steer_3d

Compute 3D steering output for the given behavior.

evade

Compute evasion steering — flee from a moving target’s predicted future position.

funnel_smooth

Apply the simple string-pulling (funnel) smoothing algorithm.

merge_convex

Merge a set of triangles into larger convex polygons.

pursuit

Compute pursuit steering — intercept a moving target by predicting its future position.

separation

Compute separation steering — steer away from nearby neighbors.

solve_velocity

Solve for the optimal velocity given ORCA half-plane constraints.

triangulate

Triangulate a simple polygon using the ear-clipping algorithm.

triangulate_points

Triangulate and return the actual triangle vertices (not indices).

wander

Compute wander steering — natural-looking random movement.