Struct RoutePlanner

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pub struct RoutePlanner<W> { /* private fields */ }

Expand description

Per-agent route storage and movement controller.

Stores planned routes for agents (keyed by AgentId = u64) and provides move_along_route functions that advance agents along their planned paths at a given speed.

The generic parameter W is the waypoint type (e.g. (f64, f64) or (f64, f64, f64)).

Implementations§

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impl<W> RoutePlanner<W>

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pub fn new() -> Self

Create a new empty route planner.

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pub fn set_route(&mut self, agent_id: u64, waypoints: Vec<W>)

Set a planned route for an agent, replacing any existing route.

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pub fn has_route(&self, agent_id: u64) -> bool

Check whether an agent has a non-empty route.

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pub fn is_stationary(&self, agent_id: u64) -> bool

Check whether an agent is stationary (has no route or route is empty).

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pub fn route(&self, agent_id: u64) -> Option<&VecDeque<W>>

Get the remaining waypoints for an agent (read-only).

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pub fn clear_route(&mut self, agent_id: u64)

Remove all route data for an agent.

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pub fn clear_all(&mut self)

Remove all route data for all agents.

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pub fn len(&self) -> usize

Number of agents with stored routes.

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pub fn is_empty(&self) -> bool

Whether no agents have stored routes.

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impl RoutePlanner<(f64, f64)>

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pub fn move_along_route_2d( &mut self, agent_id: u64, current_pos: (f64, f64), speed: f64, dt: f64, periodic: bool, extent_x: f64, extent_y: f64, ) -> MoveResult2D

Move an agent one step along its 2D route at the given speed and timestep dt.

The agent moves from current_pos toward the next waypoint. If it overshoots a waypoint, it continues toward the next one with the remaining distance budget (mirrors Agents.jl move_along_route!).

Returns the new position and whether the route is now complete. If the agent has no route, returns current_pos unchanged.

When periodic is true, movement wraps around [0, extent_x) x [0, extent_y).

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pub fn plan_from_path(&mut self, agent_id: u64, waypoints: Vec<(f64, f64)>)

Plan a route from a continuous A* path and store it.

Convenience method: accepts the waypoints from ContinuousPath.

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impl RoutePlanner<(f64, f64, f64)>

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pub fn move_along_route_3d( &mut self, agent_id: u64, current_pos: (f64, f64, f64), speed: f64, dt: f64, periodic: bool, extent_x: f64, extent_y: f64, extent_z: f64, ) -> MoveResult3D

Move an agent one step along its 3D route at the given speed and timestep dt.

Same semantics as move_along_route_2d but in 3D.

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pub fn plan_from_path(&mut self, agent_id: u64, waypoints: Vec<(f64, f64, f64)>)

Plan a route from a 3D continuous A* path.

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impl RoutePlanner<(usize, usize)>

Grid (integer) route planner for (usize, usize) waypoints.

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pub fn next_waypoint(&mut self, agent_id: u64) -> Option<(usize, usize)>

Pop and return the next grid waypoint for an agent.

This is the grid equivalent of move_along_route! – each call advances one step (one cell) along the planned path. Returns None if the agent has no remaining waypoints.