Struct NavigationAgent 

pub struct NavigationAgent<V: NavVec> {
    pub path: Vec<V>,
    pub waypoint: usize,
    pub max_speed: f32,
    pub arrival_radius: f32,
    pub waypoint_advance: f32,
    pub desired_velocity: V,
    pub avoidance: AvoidanceConfig,
    pub avoidance_enabled: bool,
}

Follows a path returned by NavMesh::find_path or NavMap::find_path.

desired_velocity seeks the current waypoint and slows into the final one by arrival_radius. avoidance_velocity then feeds that desired velocity through the reciprocal velocity obstacle resolver.

Fields

path: Vec<V>

Current path, first point nearest the agent.

waypoint: usize

Index of the waypoint being sought.

max_speed: f32

Desired speed toward a waypoint.

arrival_radius: f32

Distance to the final waypoint within which the agent stops.

waypoint_advance: f32

Distance within which an intermediate waypoint counts as reached.

desired_velocity: V

Last velocity produced by NavigationAgent::desired_velocity.

avoidance: AvoidanceConfig

Avoidance tuning.

avoidance_enabled: bool

When false, avoidance is a pass-through.

Implementations

impl<V: NavVec> NavigationAgent<V>

pub fn new(max_speed: f32) -> Self

New agent with no path.

pub fn set_path(&mut self, path: Vec<V>)

Replace the path and reset following to its first point.

pub fn clear_path(&mut self)

Drop the path.

pub fn target(&self) -> Option<V>

The final waypoint, if any.

pub fn is_finished(&self, position: V) -> bool

Whether the path is empty or the final waypoint is within NavigationAgent::arrival_radius.

pub fn advance(&mut self, position: V)

Advance past every waypoint the agent has already reached.

pub fn desired_velocity(&mut self, position: V) -> V

Seek the current waypoint, slowing into the final one. Caches the result in NavigationAgent::desired_velocity.

pub fn avoidance_velocity( &self, position: V, neighbors: &[AgentNeighbor<V>], ) -> V

Apply avoidance to the cached desired velocity.

Avoidance runs in the navigation plane, so a 3D agent dodges on the ground plane while keeping the vertical component of its desired velocity (the slope). Deterministic for a given neighbour list.

Trait Implementations

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

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

Formats the value using the given formatter.