RRT*

.envrc

@@ -0,0 +1 @@
+use flake

.gitignore

@@ -9,3 +9,6 @@ Cargo.lock
 # These are backup files generated by rustfmt
 **/*.rs.bk
 *~
+
+# flake.lock
+.direnv

Cargo.toml

@@ -11,6 +11,7 @@ repository = "https://github.com/openrr/rrt"
 
 # Note: num-traits is public dependency.
 [dependencies]
+derive_more = { version = "0.99.17", default-features = false, features = ["display", "error"] }
 kdtree = "0.7"
 num-traits = "0.2"
 rand = "0.8"

examples/collision_avoid.rs

@@ -97,7 +97,7 @@ fn main() {
     let mut index = 0;
     while window.render() {
         if index == path.len() {
-            path = rrt::dual_rrt_connect(
+            path = rrt::rrt::dual_rrt_connect(
                 &start,
                 &goal,
                 |x: &[f64]| p.is_feasible(x),
@@ -106,7 +106,7 @@ fn main() {
                 1000,
             )
             .unwrap();
-            rrt::smooth_path(&mut path, |x: &[f64]| p.is_feasible(x), 0.05, 100);
+            rrt::rrt::smooth_path(&mut path, |x: &[f64]| p.is_feasible(x), 0.05, 100);
             index = 0;
         }
         let point = &path[index % path.len()];

flake.nix

@@ -0,0 +1,114 @@
+{
+  description = "gbp-rs";
+  inputs = {
+    # wgsl_analyzer.url = "github:wgsl-analyzer/wgsl-analyzer";
+    nixpkgs.url = "github:NixOS/nixpkgs/nixos-unstable";
+    flake-utils.url = "github:numtide/flake-utils";
+    rust-overlay = {
+      url = "github:oxalica/rust-overlay";
+      inputs = {
+        nixpkgs.follows = "nixpkgs";
+        flake-utils.follows = "flake-utils";
+      };
+    };
+  };
+
+  outputs = {
+    self,
+    nixpkgs,
+    rust-overlay,
+    flake-utils,
+    ...
+  } @ inputs:
+    inputs.flake-utils.lib.eachDefaultSystem (system: let
+      overlays = [(import rust-overlay)];
+      pkgs = import inputs.nixpkgs {inherit system overlays;};
+      rust-extensions = [
+        "rust-src"
+        "rust-analyzer"
+        "llvm-tools-preview" # used with `cargo-pgo`
+      ];
+      rust-targets = ["wasm32-unknown-unknown"];
+      bevy-deps = with pkgs; [
+        udev
+        alsa-lib
+        vulkan-loader
+        xorg.libX11
+        xorg.libXcursor
+        xorg.libXi
+        xorg.libXrandr
+        libxkbcommon
+        wayland
+        egl-wayland
+        # wgsl-analyzer-pkgs.wgsl_analyzer
+        # wgsl_analyzer.packages.${system}
+        # wgsl_analyzer.outputs.packages.${system}.default
+      ];
+      # wgsl-analyzer-pkgs = import inputs.wgsl_analyzer {inherit system;};
+      cargo-subcommands = with pkgs; [
+        cargo-bloat
+        cargo-expand
+        cargo-outdated
+        cargo-show-asm
+        cargo-make
+        cargo-modules
+        cargo-nextest
+        cargo-rr
+        cargo-udeps
+        cargo-watch
+        cargo-wizard
+        cargo-pgo
+        # cargo-tree
+
+        #   # cargo-profiler
+        #   # cargo-feature
+      ];
+      rust-deps = with pkgs;
+        [
+          # rustup
+          taplo # TOML formatter and LSP
+          bacon
+          mold # A Modern Linker
+          clang # For linking
+          gdb # debugger
+          # lldb # debugger
+          rr # time-traveling debugger
+        ]
+        ++ cargo-subcommands;
+    in
+      with pkgs; {
+        formatter.${system} = pkgs.alejandra;
+        devShells.default = pkgs.mkShell rec {
+          nativeBuildInputs = with pkgs; [
+            pkgs.pkg-config
+          ];
+          buildInputs =
+            [
+              # (rust-bin.stable.latest.default.override
+              #   {
+              #     extensions = rust-extensions;
+              #     targets = rust-targets;
+              #   })
+              # (rust-bin.beta.latest.default.override {
+              #     extensions = ["rust-src" "rust-analyzer"];
+              # })
+              (
+                rust-bin.selectLatestNightlyWith (toolchain:
+                  toolchain.default.override {
+                    extensions =
+                      rust-extensions
+                      ++ [
+                        "rustc-codegen-cranelift-preview"
+                      ];
+                    targets = ["wasm32-unknown-unknown"];
+                  })
+              )
+              just
+              gh
+            ]
+            ++ rust-deps ++ bevy-deps;
+
+          LD_LIBRARY_PATH = lib.makeLibraryPath buildInputs;
+        };
+      });
+}