Struct NavMesh 

pub struct NavMesh<V: NavVec> {
    pub vertices: Vec<V>,
    pub polygons: Vec<Polygon<V>>,
    /* private fields */
}

A navigation mesh: vertices plus convex polygon regions plus adjacency.

Queries never iterate a hash map, so the same mesh always answers the same way. The map is only used while NavMesh::from_polygons builds adjacency.

Fields

vertices: Vec<V>

Shared vertex buffer. Baked meshes deduplicate shared corners here.

polygons: Vec<Polygon<V>>

Convex regions over vertices.

Implementations

impl<V: NavVec> NavMesh<V>

pub fn from_polygons( vertices: Vec<V>, polygons: Vec<Vec<u32>>, ) -> Result<Self, NavError>

Build a mesh from vertices and per-polygon vertex index lists.

Returns NavError::DegeneratePolygon for a region with fewer than three vertices and NavError::BadIndex for an out-of-range index.

pub fn polygon_count(&self) -> usize

Number of regions.

pub fn polygon(&self, index: u32) -> Option<&Polygon<V>>

One region.

pub fn polygon_indices(&self, index: u32) -> Option<&[u32]>

Vertex indices of one region.

pub fn neighbor(&self, polygon: u32, edge: u32) -> Option<Neighbor>

Neighbour across directed edge edge of polygon, if the edge is shared.

pub fn portal(&self, polygon: u32, edge: u32) -> Option<[V; 2]>

Endpoints of directed edge edge of polygon.

pub fn locate(&self, point: V) -> Option<u32>

Region containing point, if any. Ties (they cannot occur in a normal tiling) resolve to the lowest region index.

pub fn closest_polygon(&self, point: V) -> Option<u32>

Region nearest to point when it is outside the mesh.

pub fn closest_point_on_polygon(&self, polygon: u32, point: V) -> V

Closest point on a region to point.

Inside the region the point is lifted onto the (possibly tilted) polygon surface by barycentric interpolation; outside it is projected onto the closest boundary edge.

impl<V: NavVec> NavMesh<V>

pub fn find_path(&self, from: V, to: V) -> Option<Vec<V>>

Shortest path through the mesh from from to to.

Endpoints are projected onto their region (a heightfield lift or a boundary projection). Returns None when either endpoint has no region or no corridor connects them.

Trait Implementations

impl<V: Clone + NavVec> Clone for NavMesh<V>

fn clone(&self) -> Self

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl<V: Debug + NavVec> Debug for NavMesh<V>

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

Formats the value using the given formatter.