Struct GridPathQuery 

pub struct GridPathQuery { /* private fields */ }

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

Eliminates per-path heap allocations by reusing buffers across multiple pathfinding queries. Useful for high-throughput scenarios where many paths are computed per frame.

Example

let mut query = GridPathQuery::new(&grid);

// First query
let path1 = query.find_path(&grid, GridPos::new(0, 0), GridPos::new(9, 9));

// Second query — reuses same buffers
let path2 = query.find_path(&grid, GridPos::new(1, 1), GridPos::new(8, 8));

Implementations

impl GridPathQuery

pub fn new(grid: &NavGrid) -> Self

Create a new query object sized for the given grid.

Pre-allocates all scratch buffers. The query can only be used with grids of the same dimensions.

pub fn find_path( &mut self, grid: &NavGrid, start: GridPos, goal: GridPos, ) -> Option<Vec<GridPos>>

Find a path using A* with pre-allocated buffers.

Returns None if no path exists or start/goal is unwalkable. The grid must have the same dimensions as the grid used in new().