Skip to content

Commit

Permalink
readme improvements
Browse files Browse the repository at this point in the history
  • Loading branch information
@mockersf
mockersf committed Sep 6, 2024
1 parent ee8832c commit ac5d4f0
Showing 1 changed file with 74 additions and 39 deletions.
113 changes: 74 additions & 39 deletions README.md
View file
Original file line number Diff line number Diff line change
Expand Up @@ -6,40 +6,89 @@

Implementation of [Polyanya](https://www.ijcai.org/proceedings/2017/0070.pdf) in Rust! Polyanya is a [any-angle path planning](https://en.wikipedia.org/wiki/Any-angle_path_planning) algorithm.

A WASM demo made with [Bevy](https://bevyengine.org) is available [here](https://vleue.github.io/vleue_navigator/).
WASM demos made with [Bevy](https://bevyengine.org) are available [here](https://vleue.github.io/vleue_navigator/).

## Features

- **Pathfinding using Polyanya**: Efficient any-angle path planning algorithm for navigation meshes.
- **Multi-layer Navigation Mesh Support**:
- Overlapping navmeshes for 3D navigation (floors, bridges, ...).
- One-way layers for directional movement.
- Conditional layer traversal with the ability to enable or disable layers.
- Layers with different traversal costs for more realistic pathfinding.

## Usage

Navigation meshes can be built by specifying their outer edges and inner obstacles:

```rust
use glam::Vec2;
use glam::vec2;
use polyanya::*;

// Build a mesh from its outer edge
let triangulation = Triangulation::from_outer_edges(&[
vec2(0., 6.), vec2(2., 5.),
vec2(2., 4.), vec2(1., 4.),
vec2(1., 3.), vec2(2., 1.),
vec2(4., 1.), vec2(4., 2.),
vec2(7., 4.), vec2(7., 0.),
vec2(12., 0.), vec2(12., 3.),
vec2(11., 3.), vec2(11., 5.),
vec2(13., 5.), vec2(13., 7.),
vec2(10., 7.), vec2(11., 8.),
vec2(7., 8.), vec2(7., 7.),
vec2(5., 7.), vec2(5., 8.),
vec2(0., 8.),
]);
let mesh = triangulation.as_navmesh();

// Get the path between two points
let from = vec2(12.0, 0.0);
let to = vec2(3.0, 1.0);
let path = mesh.path(from, to);

assert_eq!(
path.unwrap().path,
vec![
vec2(7.0, 4.0),
vec2(4.0, 2.0),
vec2(3.0, 1.0)
]
);
```

They can also be built by manually specifying vertices and polygons for complete control. The following produces the same mesh

```rust
use glam::vec2;
use polyanya::*;

// Build a mesh from a list of vertices and polygons
let mesh = Mesh::new(
vec![
Vertex::new(Vec2::new(0., 6.), vec![0, u32::MAX]), // 0
Vertex::new(Vec2::new(2., 5.), vec![0, u32::MAX, 2]), // 1
Vertex::new(Vec2::new(5., 7.), vec![0, 2, u32::MAX]), // 2
Vertex::new(Vec2::new(5., 8.), vec![0, u32::MAX]), // 3
Vertex::new(Vec2::new(0., 8.), vec![0, u32::MAX]), // 4
Vertex::new(Vec2::new(1., 4.), vec![1, u32::MAX]), // 5
Vertex::new(Vec2::new(2., 1.), vec![1, u32::MAX]), // 6
Vertex::new(Vec2::new(4., 1.), vec![1, u32::MAX]), // 7
Vertex::new(Vec2::new(4., 2.), vec![1, u32::MAX, 2]), // 8
Vertex::new(Vec2::new(2., 4.), vec![1, 2, u32::MAX]), // 9
Vertex::new(Vec2::new(7., 4.), vec![2, u32::MAX, 4]), // 10
Vertex::new(Vec2::new(10., 7.), vec![2, 4, 6, u32::MAX, 3]), // 11
Vertex::new(Vec2::new(7., 7.), vec![2, 3, u32::MAX]), // 12
Vertex::new(Vec2::new(11., 8.), vec![3, u32::MAX]), // 13
Vertex::new(Vec2::new(7., 8.), vec![3, u32::MAX]), // 14
Vertex::new(Vec2::new(7., 0.), vec![5, 4, u32::MAX]), // 15
Vertex::new(Vec2::new(11., 3.), vec![4, 5, u32::MAX]), // 16
Vertex::new(Vec2::new(11., 5.), vec![4, u32::MAX, 6]), // 17
Vertex::new(Vec2::new(12., 0.), vec![5, u32::MAX]), // 18
Vertex::new(Vec2::new(12., 3.), vec![5, u32::MAX]), // 19
Vertex::new(Vec2::new(13., 5.), vec![6, u32::MAX]), // 20
Vertex::new(Vec2::new(13., 7.), vec![6, u32::MAX]), // 21
Vertex::new(Vec2::new(1., 3.), vec![1, u32::MAX]), // 22
Vertex::new(vec2(0., 6.), vec![0, u32::MAX]), // 0
Vertex::new(vec2(2., 5.), vec![0, u32::MAX, 2]), // 1
Vertex::new(vec2(5., 7.), vec![0, 2, u32::MAX]), // 2
Vertex::new(vec2(5., 8.), vec![0, u32::MAX]), // 3
Vertex::new(vec2(0., 8.), vec![0, u32::MAX]), // 4
Vertex::new(vec2(1., 4.), vec![1, u32::MAX]), // 5
Vertex::new(vec2(2., 1.), vec![1, u32::MAX]), // 6
Vertex::new(vec2(4., 1.), vec![1, u32::MAX]), // 7
Vertex::new(vec2(4., 2.), vec![1, u32::MAX, 2]), // 8
Vertex::new(vec2(2., 4.), vec![1, 2, u32::MAX]), // 9
Vertex::new(vec2(7., 4.), vec![2, u32::MAX, 4]), // 10
Vertex::new(vec2(10., 7.), vec![2, 4, 6, u32::MAX, 3]), // 11
Vertex::new(vec2(7., 7.), vec![2, 3, u32::MAX]), // 12
Vertex::new(vec2(11., 8.), vec![3, u32::MAX]), // 13
Vertex::new(vec2(7., 8.), vec![3, u32::MAX]), // 14
Vertex::new(vec2(7., 0.), vec![5, 4, u32::MAX]), // 15
Vertex::new(vec2(11., 3.), vec![4, 5, u32::MAX]), // 16
Vertex::new(vec2(11., 5.), vec![4, u32::MAX, 6]), // 17
Vertex::new(vec2(12., 0.), vec![5, u32::MAX]), // 18
Vertex::new(vec2(12., 3.), vec![5, u32::MAX]), // 19
Vertex::new(vec2(13., 5.), vec![6, u32::MAX]), // 20
Vertex::new(vec2(13., 7.), vec![6, u32::MAX]), // 21
Vertex::new(vec2(1., 3.), vec![1, u32::MAX]), // 22
],
vec![
Polygon::new(vec![0, 1, 2, 3, 4], true), // 0
Expand All @@ -51,20 +100,6 @@ let mesh = Mesh::new(
Polygon::new(vec![11, 17, 20, 21], true), // 6
],
).unwrap();

// Get the path between two points
let from = Vec2::new(12.0, 0.0);
let to = Vec2::new(3.0, 1.0);
let path = mesh.path(from, to);

assert_eq!(
path.unwrap().path,
vec![
Vec2::new(7.0, 4.0),
Vec2::new(4.0, 2.0),
Vec2::new(3.0, 1.0)
]
);
```

The code above will build the following mesh, with polygons marked in green, and vertices in red:
Expand Down

0 comments on commit ac5d4f0

Please sign in to comment.