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());

Modules

bridge

Cross-crate bridges — primitive-value conversions from other AGNOS science crates. Cross-crate bridges — convert primitive values from other AGNOS science crates into raasta navigation parameters and vice versa.

integration

Integration APIs for downstream consumers (soorat rendering). Integration APIs for downstream consumers.

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.

AreaCostMultiplier

Per-agent area cost multiplier.

BatchedResult

A completed path result with its request ID.

CarvedObstacle

A carved obstacle shape.

CarvedObstacleId

Unique identifier for a carved obstacle.

ClusterId

Identifier for a cluster in the grid hierarchy.

ColliderNavConfig

Configuration for collider-based navmesh generation.

CrowdSimulation

Crowd simulation with density-aware velocity damping.

DStarLite

D* Lite incremental pathfinder.

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.

Formation

A formation manager for group movement.

GlobalPolyId

A globally unique polygon ID combining tile coordinate and local polygon index.

GridClusters

Grid clustering for HPA*.

GridPathQuery

A reusable A* query object with pre-allocated scratch buffers.

GridPos

A position on the navigation grid.

HalfPlane

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

HeightSpan

A span in a heightfield column — a vertical range that is solid.

Heightfield

A heightfield — voxelized representation of 3D geometry.

HeightfieldConfig

Baking configuration for heightfield navmesh generation.

IncrementalGridPath

An incremental (time-sliced) A* pathfinding query.

InfluenceMap

A 2D influence map grid for annotating areas with scalar values.

LayerConnection

Connection between layers (stairs, elevators, ramps).

LayerId

Identifies a layer in the multi-layer navmesh.

LayeredPolyId

A polygon ID scoped to a specific layer.

MultiLayerNavMesh

Multi-layer navmesh — multiple overlapping navigation surfaces.

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.

NavQueryFilter

Filter for including/excluding polygons during pathfinding queries.

NavTile

A tile containing its own local navmesh.

NavVolume

A 3D navigation volume (voxel grid).

Obstacle

A circular obstacle for avoidance steering.

ObstacleCarver

Runtime obstacle carving for navmesh polygons.

OffMeshLink

An off-mesh link connecting two positions on the navmesh.

OffMeshLinkDesc

Description of an off-mesh link to add to a registry.

OffMeshLinkId

Unique identifier for an off-mesh link.

OffMeshLinkRegistry

Registry of off-mesh links for a navmesh.

PathBatcher

Batched path request processor.

PathCorridor

A path corridor — a sequence of navmesh polygons from start to goal with position tracking and local replanning support.

PathFollower

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

PathRequest

A pathfinding request.

PathRequestId

Unique identifier for a batched path request.

PathResult

Result of a pathfinding computation.

Portal

A portal edge between two adjacent navmesh polygons.

PrioritizedSteer

A prioritized steering behavior entry.

QueuedRequest

A queued path request with priority.

RequestPriority

Priority level for a path request (lower number = higher priority).

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.

TileCoord

Identifies a tile by its grid coordinates.

TiledNavMesh

A tiled navmesh for open-world navigation.

Vec2

A 2-dimensional vector.

Vec3

A 3-dimensional vector.

VoxelPos

A position in the voxel grid.

WeightedSteer

A weighted steering behavior entry for blending.

Enums

CarveShape

Shape to carve from the navmesh.

ColliderShape

A collider shape for navmesh generation.

FormationShape

A formation shape defining slot positions relative to the leader.

IncrementalStatus

Status of an incremental pathfinding query.

LinkType

The type of traversal an off-mesh link represents.

NavError

Errors that can occur during navigation operations.

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.

bake_from_heightfield

Bake a 2D NavMesh from a heightfield.

bake_navmesh_from_geometry

Full pipeline: rasterize triangles and bake a navmesh.

blend_priority

Select steering output by priority groups.

blend_weighted

Blend multiple steering outputs by weighted sum.

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.

erode_navmesh

Erode navmesh polygon vertices inward by radius.

evade

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

extract_portals

Extract portal edges from a navmesh polygon path.

funnel_portals

Simple Stupid Funnel Algorithm — compute a smooth path through portal edges.

funnel_smooth

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

merge_convex

Merge a set of triangles into larger convex polygons.

navmesh_from_colliders

Generate a NavMesh from a walkable boundary with collider obstacles.

navmesh_from_colliders_rect

Simplified variant: generate navmesh from just collider obstacles within a rectangular area.

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.