Add serialize/deserialize methods directly on NavMesh with a proper
binary header (magic "VNAV" + version u32) for format validation.
Includes tests for roundtrip, invalid magic, empty mesh, header format,
and unsupported version.
Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
Add Simple Stupid Funnel (SSF) algorithm for optimal path smoothing through
triangle corridors. Refactor A* to expose find_path_triangles for triangle
index paths. Add binary serialize/deserialize for NavMesh and shared_edge
query method.
Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
Implements SteeringAgent and five steering behaviors. truncate() clamps
force magnitude. follow_path() advances waypoints within waypoint_radius
and uses arrive() for the final waypoint. 6 passing tests covering all
behaviors including deceleration and path advancement.
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
Implements find_path() using A* over triangle adjacency with XZ heuristic.
Path starts at the given start point, passes through intermediate triangle
centers, and ends at the goal point. Returns None when points are outside
the mesh or no connection exists. 5 passing tests.
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
Introduces the voltex_ai crate with NavMesh, NavTriangle structs and
XZ-plane barycentric point-in-triangle helper. Includes find_triangle,
triangle_center, and edge_midpoint utilities with 4 passing tests.
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
