waymark-dynamic

Dynamic navigation mesh generation with async support.

Lines: ~6,000 | WASM: Yes | Depends on: landmark-common, landmark, waymark, waymark-tilecache

Overview

The waymark-dynamic crate extends beyond the C++ original. It provides runtime navmesh modification through colliders, async tile rebuilding, and a checkpoint system for incremental updates.

Main Types

DynamicNavMesh

The main entry point for dynamic navmesh management.

use waymark_dynamic::{DynamicNavMesh, DynamicNavMeshConfig};
use waymark_dynamic::colliders::BoxCollider;
use glam::Vec3;
use std::sync::Arc;

let config = DynamicNavMeshConfig {
    world_min: Vec3::new(-20.0, -1.0, -20.0),
    world_max: Vec3::new(20.0, 5.0, 20.0),
    cell_size: 0.3,
    cell_height: 0.2,
    walkable_height: 2.0,
    walkable_radius: 0.6,
    walkable_climb: 0.9,
    walkable_slope_angle: 45.0,
    ..Default::default()
};

let mut dynamic_navmesh = DynamicNavMesh::with_tile_grid(config, 3, 3)?;

// Add a collider
let collider = Arc::new(BoxCollider::new(
    Vec3::new(5.0, 0.0, 5.0),
    Vec3::new(1.0, 2.0, 1.0),
    0,    // area type
    1.0,  // flag merge threshold
));
dynamic_navmesh.add_collider(collider)?;

// Rebuild affected tiles
dynamic_navmesh.update()?;

Collider Types

Seven collider types implement the Collider trait:

All colliders define an axis-aligned bounding box for spatial queries and a method to rasterize into heightfield tiles.

Checkpoint System

Save and restore tile state for incremental rebuilds:

use waymark_dynamic::CheckpointManager;

let mut checkpoint_mgr = CheckpointManager::new();

// Save checkpoint
let checkpoint = checkpoint_mgr.create_checkpoint(&dynamic_navmesh)?;

// Restore checkpoint (only dirty tiles are rebuilt)
checkpoint_mgr.restore_checkpoint(&mut dynamic_navmesh, &checkpoint)?;

VoxelQuery

Raycasting against heightfield data:

use waymark_dynamic::VoxelQuery;

let voxel_query = VoxelQuery::from_single_heightfield(origin, tile_width, tile_depth);

if let Some(hit) = voxel_query.raycast(start, end) {
    println!("Hit at {:?}", hit.position);
}

Job System

Async collider operations via async-lock and futures-lite (runtime-agnostic, works on WASM):

• ColliderAdditionJob: Async collider addition
• ColliderRemovalJob: Async collider removal
• JobProcessor: Processes pending jobs

I/O

• VoxelFile: Read/write voxel data with LZ4 compression
• VoxelTile: Individual tile voxel data

Feature Flags

Without the tokio feature, async operations use async-lock and futures-lite, which are runtime-agnostic and WASM-compatible.