landmark

Navigation mesh generation from 3D triangle meshes.

Overview

landmark generates navigation meshes from input geometry. It voxelizes triangle meshes into heightfields, filters non-walkable areas, and produces polygon meshes suitable for pathfinding.

Rust port of the Recast component from RecastNavigation.

Features

• Voxelization: Convert triangle meshes to solid heightfields
• Area Marking: Define walkable, non-walkable, and custom area types
• Region Building: Watershed and monotone partitioning algorithms
• Contour Generation: Extract walkable region boundaries
• Polygon Mesh: Generate navigation polygon meshes
• Detail Mesh: Create detailed height meshes for accurate positioning

WASM Support

This crate is fully compatible with WebAssembly. Build for WASM with:

cargo build --target wasm32-unknown-unknown -p landmark

Timing uses web-time for cross-platform compatibility.

Example

use landmark::{RecastBuilder, RecastConfig};

// Configure the build
let mut config = RecastConfig::default();
config.cs = 0.3;
config.ch = 0.2;
config.walkable_slope_angle = 45.0;
config.walkable_height = 2;   // voxel units (i32)
config.walkable_climb = 1;
config.walkable_radius = 1;
config.calculate_grid_size(bounds_min, bounds_max);

// Build the full pipeline in one call
let builder = RecastBuilder::new(config);
let (poly_mesh, detail_mesh) = builder.build_mesh(&vertices, &indices)?;

Pipeline Stages

1. Heightfield - Voxelize input triangles
2. CompactHeightfield - Compress and prepare for region building
3. ContourSet - Extract region contours
4. PolyMesh - Generate navigation polygons
5. PolyMeshDetail - Add height detail (optional)

License

Dual-licensed under either:

• MIT License (LICENSE-MIT)
• Apache License, Version 2.0 (LICENSE-APACHE)