Release v1.12.1

.gitignore

@@ -0,0 +1,3 @@
+foundry-*.js
+artifact/
+wasm/

CHANGELOG.md

@@ -1,3 +1,46 @@
+## 1.12.1
+### Hotfix
+- Version 1.12.0 was incorrectly packaged, which caused it to fail to load
+
+
+## 1.12.0
+### New features
+- Pathfinding is now supported on gridless scenes
+
+
+## 1.11.5
+### Bugfixes
+- Fixed a bug that was causing Drag Ruler to spam useless warnings into the console (this was a regression introduced in 1.11.4)
+
+
+## 1.11.4
+### Bugfixes
+- When changing the measurement mode via a keybinding (toggle snaping or toggle pathfinding) the updated ruler will now be sent to other players immediately
+- Fixed a bug that incorrectly showed a ruler to be snapped to other players despite the ruler not being snapped
+- Fixed a bug that could cause a token to move to an incorrect location if the token was being dragged and dropped very rapidly
+- Drag Ruler's token movement animations can now be properly waited for (this improves the interaction with modules like sequencer)
+
+### Translation
+- Updated Spanish translation (thanks to Viriato139ac#342)
+
+
+## 1.11.3
+### Bugfixes
+- The setting to automatically start pathfinding is now visible to players again (this was a regression introduced in 1.11.2)
+- Fixed a bug that would show the measurements of other players as if they were using the pathfinder, even if they were not using it.
+
+
+## 1.11.2
+### Bugfixes
+- Fixed a memory leak that could cause the rule to slow down after using the pathfinding functionality for a while
+
+### Misc
+- GMs are now always allowed to use the pathfinding tool. The setting now only prevents players from using it.
+
+### Compatibility
+- Drag Ruler's generic speed provider is now aware of good defaults for Dungeonslayers 4
+
+
 ## 1.11.1
 ### Bugfixes
 - Fixed a bug that would cause the pathfinding algorithm to make tokens of size 2 and 4 to take an unnecessary step

README.md

@@ -37,6 +37,7 @@ Drag Ruler will work with all Foundry VTT game systems. However, some game syste
 
 The game systems that offer Drag Ruler integration are:
 - Cypher System (starting with version 1.13.0)
+- DnD5e (via the module [DnD5e Drag Ruler Integration](https://foundryvtt.com/packages/elevation-drag-ruler))
 - GURPS 4th Edition Game Aid (Unofficial) (starting with version 0.9.1)
 - Ironclaw Second Edition (starting with version 0.2.2)
 - Lancer (via the module [Lancer Speed Provider](https://foundryvtt.com/packages/lancer-speed-provider))
@@ -44,6 +45,7 @@ The game systems that offer Drag Ruler integration are:
 - Pathfinder 1 (starting with version 0.77.3)
 - Pathfinder 2e (via the module [PF2E Drag Ruler Integration](https://foundryvtt.com/packages/pf2e-dragruler/))
 - Shadowrun 5th Edition (via the module [Drag Ruler Integration for Shadowrun 5E](https://foundryvtt.com/packages/drag-ruler-integration-for-shadowrun-5e))
+- Shadow of the Demon Lord (starting with version 1.7.15)
 - Starfinder (via the module [Starfinder Drag Ruler Integration](https://foundryvtt.com/packages/starfinder-drag-ruler))
 - Stargate RPG (starting with version 1.6.0)
 - Symbaroum (via the module [Symbaroum drag ruler integration](https://foundryvtt.com/packages/symbaroum-drag-ruler-integration))

build_release.py

@@ -0,0 +1,50 @@
+#!/usr/bin/env python3
+
+import json
+from pathlib import PurePath, Path
+import subprocess
+import tempfile
+import zipfile
+
+wasm_pack = Path("~/.cargo/bin/wasm-pack").expanduser()
+
+root_files = ["module.json", "README.md", "CHANGELOG.md", "LICENSE"]
+wasm_files = ["gridless_pathfinding_bg.wasm", "gridless_pathfinding.js"]
+output_dir = Path("artifact")
+copy_everything_directories = ["js", "lang", "templates"]
+wasm_dir = Path("wasm")
+root_dir = Path(".")
+rust_dir = Path("rust")
+build_dir_tmp = tempfile.TemporaryDirectory()
+build_dir = Path(build_dir_tmp.name)
+
+with open("module.json", "r") as file:
+	manifest = json.load(file)
+
+zip_root = PurePath(f'{manifest["name"]}')
+
+filename = f'{manifest["name"]}-{manifest["version"]}.zip'
+
+result = subprocess.run([wasm_pack, "build", "--target", "web", "--out-dir", build_dir, root_dir / rust_dir])
+if result.returncode != 0:
+	raise Exception("Wasm build failed")
+
+output_dir.mkdir(parents=True, exist_ok=True)
+
+def write_directory(archive, d):
+	for f in (root_dir / d).iterdir():
+		if f.is_dir():
+			write_directory(archive, f)
+		else:
+			assert(f.is_file())
+			archive.write(f, arcname=zip_root / d / f.name)
+
+with zipfile.ZipFile(output_dir / filename, mode="w", compression=zipfile.ZIP_DEFLATED, compresslevel=9) as archive:
+	for f in root_files:
+		archive.write(root_dir / f, arcname=zip_root / f)
+	for d in copy_everything_directories:
+		write_directory(archive, d)
+	for f in wasm_files:
+		archive.write(build_dir / f, arcname=zip_root / wasm_dir / f)
+
+print(f"Successfully built {output_dir / filename}")

build_wasm.py

@@ -0,0 +1,13 @@
+#!/usr/bin/env python3
+
+import sys
+import subprocess
+from pathlib import Path
+
+root_dir = Path(".")
+wasm_dir = root_dir / Path("wasm")
+rust_dir = root_dir / Path("rust")
+
+debug = " --debug" if len(sys.argv) >= 2 and sys.argv[1] == "--debug" else ""
+
+result = subprocess.run(["cargo", "watch", "-C" , rust_dir, "-s", f"wasm-pack build --target web --out-dir {wasm_dir.resolve()}{debug}"])

install_dev_dependencies.sh

@@ -0,0 +1,3 @@
+#!/bin/sh
+cargo install cargo-watch
+cargo install wasm-pack

js/foundry_imports.js

@@ -91,7 +91,7 @@ async function animateEntities(entities, draggedEntity, draggedRays, wasPaused)
 		});
 		await draggedEntity.scene.updateEmbeddedDocuments(draggedEntity.constructor.embeddedName, updates, {animate});
 		if (animate)
-			await Promise.all(entityPaths.map(({entity, path}) => entity.animateMovement(path)));
+			await Promise.all(entityPaths.map(({entity}) => CanvasAnimation.getAnimation(entity.movementAnimationName)?.promise));
 
 		// This is a flag of the "Monk's Active Tile Triggers" module that signals that the movement should be cancelled early
 		if (this.cancelMovement) {
@@ -168,7 +168,7 @@ export function measure(destination, options={}) {
 
 	this.dragRulerRemovePathfindingWaypoints();
 
-	if (isToken && isPathfindingEnabled()) {
+	if (isToken && isPathfindingEnabled.call(this)) {
 		const from = getGridPositionFromPixelsObj(this.waypoints[this.waypoints.length - 1]);
 		const to = getGridPositionFromPixelsObj(destination);
 		let path = findPath(from, to, this.draggedEntity, this.waypoints);

js/keybindings.js

@@ -52,16 +52,15 @@ export function registerKeybindings() {
 		precedence: -1,
 	});
 
-	if (game.settings.get(settingsKey, "allowPathfinding")) {
 	game.keybindings.register(settingsKey, "togglePathfinding", {
 		name: "drag-ruler.keybindings.togglePathfinding.name",
 		hint: "drag-ruler.keybindings.togglePathfinding.hint",
 		onDown: handleTogglePathfinding,
 		onUp: handleTogglePathfinding,
 		precedence: -1,
+		restricted: !game.settings.get(settingsKey, "allowPathfinding"),
 	});
 }
-}
 
 function handleDeleteWaypoint() {
 	const ruler = canvas.controls.ruler;
@@ -108,6 +107,7 @@ function handleDisableSnap(event) {
 		return false;
 
 	ruler.measure(getMeasurePosition(), {snap: !disableSnap});
+	ruler.dragRulerSendState();
 	return false;
 }
 
@@ -125,5 +125,6 @@ function handleTogglePathfinding(event) {
 		return false;
 
 	ruler.measure(getMeasurePosition(), {snap: !disableSnap});
+	ruler.dragRulerSendState();
 	return false;
 }

js/main.js

@@ -7,15 +7,26 @@ import {disableSnap, registerKeybindings} from "./keybindings.js";
 import {libWrapper} from "./libwrapper_shim.js";
 import {performMigrations} from "./migration.js"
 import {removeLastHistoryEntryIfAt, resetMovementHistory} from "./movement_tracking.js";
+import {wipePathfindingCache} from "./pathfinding.js";
 import {extendRuler} from "./ruler.js";
 import {registerSettings, RightClickAction, settingsKey} from "./settings.js"
 import {recalculate} from "./socket.js";
 import {SpeedProvider} from "./speed_provider.js"
 import {setSnapParameterOnOptions} from "./util.js";
 
+import initGridlessPathfinding, * as GridlessPathfinding from "../wasm/gridless_pathfinding.js"
+
 CONFIG.debug.dragRuler = false;
 export let debugGraphics = undefined;
 
+initGridlessPathfinding().then(() => {
+	Hooks.on("canvasInit", wipePathfindingCache);
+	Hooks.on("canvasReady", wipePathfindingCache);
+	Hooks.on("createWall", wipePathfindingCache);
+	Hooks.on("updateWall", wipePathfindingCache);
+	Hooks.on("deleteWall", wipePathfindingCache);
+});
+
 Hooks.once("init", () => {
 	registerSettings()
 	registerKeybindings()
@@ -137,6 +148,9 @@ function onEntityDragLeftDrop(event) {
 	// This can happen if the user presses ESC during drag (maybe there are other ways too)
 	if (selectedTokens.length === 0)
 		selectedTokens.push(ruler.draggedEntity);
+	// This can happen if the ruler is being dragged so rapidly that the drag move handler hasn't been called before dropping
+	if (ruler._state === Ruler.STATES.STARTING)
+		onMouseMove.call(ruler, event);
 	ruler._state = Ruler.STATES.MOVING
 	moveEntities.call(ruler, ruler.draggedEntity, selectedTokens);
 	return true

js/pathfinding.js

@@ -4,22 +4,36 @@ import {debugGraphics} from "./main.js";
 import {settingsKey} from "./settings.js";
 import {getSnapPointForTokenObj, iterPairs} from "./util.js";
 
+import * as GridlessPathfinding from "../wasm/gridless_pathfinding.js"
+
 let cachedNodes = undefined;
 let use5105 = false;
+let gridlessPathfinders = new Map();
 
 export function isPathfindingEnabled() {
-	if (canvas.grid.type === CONST.GRID_TYPES.GRIDLESS)
+	if (this.user !== game.user)
 		return false;
-	if (!game.settings.get(settingsKey, "allowPathfinding"))
+	if (!game.user.isGM && !game.settings.get(settingsKey, "allowPathfinding"))
 		return false;
 	return game.settings.get(settingsKey, "autoPathfinding") != togglePathfinding;
 }
 
 export function findPath(from, to, token, previousWaypoints) {
+	if (canvas.grid.type === CONST.GRID_TYPES.GRIDLESS) {
+		let tokenSize = Math.max(token.data.width, token.data.height) * canvas.dimensions.size;
+		let pathfinder = gridlessPathfinders.get(tokenSize);
+		if (!pathfinder) {
+			pathfinder = GridlessPathfinding.initialize(canvas.walls.placeables, tokenSize);
+			gridlessPathfinders.set(tokenSize, pathfinder);
+		}
+		paintGridlessPathfindingDebug(pathfinder);
+		return GridlessPathfinding.findPath(pathfinder, from, to);
+	}
+	else {
 		const lastNode = calculatePath(from, to, token, previousWaypoints);
 		if (!lastNode)
 			return null;
-	paintPathfindingDebug(lastNode, token);
+		paintGriddedPathfindingDebug(lastNode, token);
 		const path = [];
 		let currentNode = lastNode;
 		while (currentNode) {
@@ -33,9 +47,16 @@ export function findPath(from, to, token, previousWaypoints) {
 		}
 		return path;
 	}
+}
 
 export function wipePathfindingCache() {
 	cachedNodes = undefined;
+	for (const pathfinder of gridlessPathfinders.values()) {
+		GridlessPathfinding.free(pathfinder);
+	}
+	gridlessPathfinders.clear();
+	if (debugGraphics)
+		debugGraphics.removeChildren().forEach(c => c.destroy());
 }
 
 function getNode(pos, token, initialize=true) {
@@ -135,11 +156,11 @@ function stepCollidesWithWall(from, to, token) {
 	return canvas.walls.checkCollision(new Ray(stepStart, stepEnd));
 }
 
-function paintPathfindingDebug(lastNode, token) {
+function paintGriddedPathfindingDebug(lastNode, token) {
 	if (!CONFIG.debug.dragRuler)
 		return;
 
-	debugGraphics.removeChildren();
+	debugGraphics.removeChildren().forEach(c => c.destroy());
 	let currentNode = lastNode;
 	while (currentNode) {
 		let text = new PIXI.Text(currentNode.cost.toFixed(0));
@@ -151,3 +172,16 @@ function paintPathfindingDebug(lastNode, token) {
 		currentNode = currentNode.previous;
 	}
 }
+
+function paintGridlessPathfindingDebug(pathfinder) {
+	if (!CONFIG.debug.dragRuler)
+		return;
+
+	debugGraphics.removeChildren().forEach(c => c.destroy());
+	let graphic = new PIXI.Graphics();
+	graphic.lineStyle(2, 0x440000);
+	for (const point of GridlessPathfinding.debugGetPathfindingPoints(pathfinder)) {
+		graphic.drawCircle(point.x, point.y, 5);
+	}
+	debugGraphics.addChild(graphic);
+}

js/ruler.js

@@ -2,7 +2,6 @@ import {currentSpeedProvider, getColorForDistanceAndToken, getRangesFromSpeedPro
 import {getHexSizeSupportTokenGridCenter} from "./compatibility.js";
 import {cancelScheduledMeasurement, measure} from "./foundry_imports.js"
 import {getMovementHistory} from "./movement_tracking.js";
-import {wipePathfindingCache} from "./pathfinding.js";
 import {settingsKey} from "./settings.js";
 import {getSnapPointForEntity} from "./util.js";
 
@@ -61,6 +60,9 @@ export function extendRuler() {
 
 		measure(destination, options={}) {
 			if (this.isDragRuler) {
+				// If this is the ruler of a remote user take the waypoints as they were transmitted and don't apply any additional snapping to them
+				if (this.user !== game.user)
+					options.snap = false;
 				return measure.call(this, destination, options);
 			}
 			else {
@@ -116,7 +118,7 @@ export function extendRuler() {
 		}
 
 		dragRulerRemovePathfindingWaypoints() {
-			this.waypoints.filter(waypoint => waypoint.isPathfinding).forEach(_ => this.labels.removeChild(this.labels.children.pop()));
+			this.waypoints.filter(waypoint => waypoint.isPathfinding).forEach(_ => this.labels.removeChild(this.labels.children[this.labels.children.length - 1]).destroy());
 			this.waypoints = this.waypoints.filter(waypoint => !waypoint.isPathfinding);
 		}
 
@@ -184,7 +186,6 @@ export function extendRuler() {
 				return;
 			const ruler = canvas.controls.ruler;
 			ruler.clear();
-			wipePathfindingCache();
 			ruler._state = Ruler.STATES.STARTING;
 			let entityCenter;
 			if (isToken && canvas.grid.isHex && game.modules.get("hex-size-support")?.active && CONFIG.hexSizeSupport.getAltSnappingFlag(entity))
@@ -199,6 +200,12 @@ export function extendRuler() {
 			if (measureImmediately)
 				ruler.measure(destination, options);
 		}
+
+		dragRulerSendState() {
+			game.user.broadcastActivity({
+				ruler: this.toJSON()
+			});
+		}
 	}
 
 	Ruler = DragRulerRuler;

js/settings.js

@@ -1,5 +1,6 @@
 import {availableSpeedProviders, currentSpeedProvider, getDefaultSpeedProvider, updateSpeedProvider} from "./api.js";
 import {SpeedProvider} from "./speed_provider.js"
+import { early_isGM } from "./util.js";
 
 export const settingsKey = "drag-ruler";
 
@@ -9,6 +10,10 @@ export const RightClickAction = Object.freeze({
 	ABORT_DRAG:2,
 });
 
+function delayedReload() {
+	window.setTimeout(() => location.reload(), 500);
+}
+
 export function registerSettings() {
 	game.settings.register(settingsKey, "dataVersion", {
 		scope: "world",
@@ -89,14 +94,14 @@ export function registerSettings() {
 		config: true,
 		type: Boolean,
 		default: false,
-		onChange: () => location.reload(),
+		onChange: delayedReload,
 	});
 
 	game.settings.register(settingsKey, "autoPathfinding", {
 		name: "drag-ruler.settings.autoPathfinding.name",
 		hint: "drag-ruler.settings.autoPathfinding.hint",
 		scpoe: "client",
-		config: true,
+		config: early_isGM() || game.settings.get(settingsKey, "allowPathfinding"),
 		type: Boolean,
 		defualt: false,
 	});

js/systems.js

@@ -17,6 +17,8 @@ export function getDefaultSpeedAttribute() {
 			return "actor.data.data.movement.walk.value";
 		case "swade":
 			return "actor.data.data.stats.speed.adjusted";
+		case "ds4":
+			return "actor.data.data.combatValues.movement.total";
 	}
 	return ""
 }
@@ -32,6 +34,7 @@ export function getDefaultDashMultiplier() {
 		case "D35E":
 		case "sfrpg":
 		case "shadowrun5e":
+		case "ds4":
 			return 2
 		case "CoC7":
 			return 5;

js/util.js

@@ -272,3 +272,10 @@ export function getMeasurePosition() {
 	const measurePosition = {x: mousePosition.x + rulerOffset.x, y: mousePosition.y + rulerOffset.y};
 	return measurePosition;
 }
+
+// isGM function for use during loading when game.user isn't available yet
+export function early_isGM() {
+	const level = game.data.users.find(u => u._id == game.data.userId).role;
+	const gmLevel = CONST.USER_ROLES.ASSISTANT;
+	return level >= gmLevel;
+}

lang/de.json

@@ -48,8 +48,8 @@
 		},
 		"settings": {
 			"allowPathfinding": {
-				"name": "Wegfindung aktivieren",
-				"hint": "Aktiviert Drag Ruler's Wegfindungsfunktion. Bitte beachte, dass die Wegfindung Wege durch unerkundeten Nebel des Kriegs und Ätherische Wände berechnen kann. Dies kann deinen Spielern Geheimnisse lüften, von denen sie noch nicht erfahren sollten."
+				"name": "Wegfindung für Spieler erlauben",
+				"hint": "Erlaubt es Spielern die Wegfindungs zu benutzen. Bitte beachte, dass die Wegfindung Wege durch unerkundeten Nebel des Kriegs und Ätherische Wände berechnen kann. Dies kann deinen Spielern Geheimnisse lüften, von denen sie noch nicht erfahren sollten."
 			},
 			"alwaysShowSpeedForPCs": {
 				"name": "Geschwindigkeit von Spielercharakteren für jeden anzeigen",

lang/en.json

@@ -48,8 +48,8 @@
 		},
 		"settings": {
 			"allowPathfinding": {
-				"name": "Enable pathfinding feature",
-				"hint": "Enables Drag Ruler's pathfinding functionality in this world. Be aware that pathfinding can route through unexplored fog of war and Ethereal Walls, which might reveal secrets to your players ahead of time."
+				"name": "Allow pathfinding for players",
+				"hint": "Allows players to use Drag Ruler's pathfinding functionality in this world. Be aware that pathfinding can route through unexplored fog of war and Ethereal Walls, which might reveal secrets to your players ahead of time."
 			},
 			"alwaysShowSpeedForPCs": {
 				"name": "Show PC speed to everyone",

lang/es.json

@@ -44,9 +44,17 @@
 			"moveWithoutAnimation": {
 				"name": "Deshabilitar animación de icono",
 				"hint": "Si al soltar un icono se presiona esta tecla, se deshabilitará la animación del icono al moverse al destino"
+			},
+			"togglePathfinding": {
+				"name": "Conmutar búsqueda de camino",
+				"hint": "Cuando se presione al arrastrar un icono, la funcionalidad de búsqueda de camino será temporalmente habilitada/deshabilitada"
 			}
 		},
 		"settings": {
+			"allowPathfinding": {
+				"name": "Permitir búsqueda de camino a los jugadores",
+				"hint": "Permite a los jugadores usar en este mundo la funcionalidad de búsqueda de camino. Tenga cuidado porque la ruta puede transcurrir por lugares con niebla de guerra o muros invisibles, lo que podrá revelar algunos secretos a los jugadores antes de tiempo"
+			},
 			"alwaysShowSpeedForPCs": {
 				"name": "Mostrar velocidad de los PJs a todo el mundo",
 				"hint": "Si se habilita, se mostrará a todo el mundo los códigos de colores de las rutas de los PJs, incluso si no tienen permisos de observador para ese personaje"
@@ -55,6 +63,10 @@
 				"name": "Comenzar a medir automáticamente",
 				"hint": "Si se habilita, Drag Ruler comenzará a medir en cuanto se comience a arrastrar un icono. Si se deshabilita, Drag Ruler permanecerá inactivo y comenzará a medir únicamente cuando se presione el botón configurado para añadir un nuevo punto de ruta"
 			},
+			"autoPathfinding": {
+				"name": "Búsqueda de camino por defecto",
+				"hint": "Si se habilita, al arrastrar un icono se usará automáticamente la regla de búsqueda de camino"
+			},
 			"enableMovementHistory": {
 				"name": "Habilitar historial de movimiento durante el combate",
 				"hint": "Si se habilita, Drag Ruler recordará la ruta que ha seguido un icono en su turno y la mostrará al seleccionarlo de nuevo"

module.json

@@ -2,7 +2,7 @@
 	"name": "drag-ruler",
 	"title": "Drag Ruler",
 	"description": "When dragging a token displays a ruler showing how far you've moved that token.",
-	"version": "1.11.1",
+	"version": "1.12.1",
 	"minimumCoreVersion" : "9.245",
 	"compatibleCoreVersion" : "9",
 	"authors": [
@@ -13,9 +13,9 @@
 		}
 	],
 	"esmodules": [
-		"src/libwrapper_shim.js",
-		"src/main.js",
-		"src/socket.js"
+		"js/libwrapper_shim.js",
+		"js/main.js",
+		"js/socket.js"
 	],
 	"templates": [
 		"speed_provider_settings.html"
@@ -65,7 +65,7 @@
 	],
 	"socket": true,
 	"url": "https://github.com/manuelVo/foundryvtt-drag-ruler",
-	"download": "https://github.com/manuelVo/foundryvtt-drag-ruler/archive/v1.11.1.zip",
+	"download": "https://github.com/manuelVo/foundryvtt-drag-ruler/releases/download/v1.12.1/drag-ruler-1.12.1.zip",
 	"manifest": "https://raw.githubusercontent.com/manuelVo/foundryvtt-drag-ruler/master/module.json",
 	"readme": "https://github.com/manuelVo/foundryvtt-drag-ruler/blob/master/README.md",
 	"changelog": "https://github.com/manuelVo/foundryvtt-drag-ruler/blob/master/CHANGELOG.md",

rust/.gitignore

@@ -0,0 +1 @@
+target/

rust/Cargo.lock

@@ -0,0 +1,154 @@
+# This file is automatically @generated by Cargo.
+# It is not intended for manual editing.
+version = 3
+
+[[package]]
+name = "bumpalo"
+version = "3.9.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "a4a45a46ab1f2412e53d3a0ade76ffad2025804294569aae387231a0cd6e0899"
+
+[[package]]
+name = "cfg-if"
+version = "1.0.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "baf1de4339761588bc0619e3cbc0120ee582ebb74b53b4efbf79117bd2da40fd"
+
+[[package]]
+name = "console_error_panic_hook"
+version = "0.1.7"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "a06aeb73f470f66dcdbf7223caeebb85984942f22f1adb2a088cf9668146bbbc"
+dependencies = [
+ "cfg-if",
+ "wasm-bindgen",
+]
+
+[[package]]
+name = "gridless-pathfinding"
+version = "1.12.1"
+dependencies = [
+ "console_error_panic_hook",
+ "js-sys",
+ "rustc-hash",
+ "wasm-bindgen",
+]
+
+[[package]]
+name = "js-sys"
+version = "0.3.56"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "a38fc24e30fd564ce974c02bf1d337caddff65be6cc4735a1f7eab22a7440f04"
+dependencies = [
+ "wasm-bindgen",
+]
+
+[[package]]
+name = "lazy_static"
+version = "1.4.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "e2abad23fbc42b3700f2f279844dc832adb2b2eb069b2df918f455c4e18cc646"
+
+[[package]]
+name = "log"
+version = "0.4.14"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "51b9bbe6c47d51fc3e1a9b945965946b4c44142ab8792c50835a980d362c2710"
+dependencies = [
+ "cfg-if",
+]
+
+[[package]]
+name = "proc-macro2"
+version = "1.0.36"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c7342d5883fbccae1cc37a2353b09c87c9b0f3afd73f5fb9bba687a1f733b029"
+dependencies = [
+ "unicode-xid",
+]
+
+[[package]]
+name = "quote"
+version = "1.0.15"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "864d3e96a899863136fc6e99f3d7cae289dafe43bf2c5ac19b70df7210c0a145"
+dependencies = [
+ "proc-macro2",
+]
+
+[[package]]
+name = "rustc-hash"
+version = "1.1.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "08d43f7aa6b08d49f382cde6a7982047c3426db949b1424bc4b7ec9ae12c6ce2"
+
+[[package]]
+name = "syn"
+version = "1.0.86"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8a65b3f4ffa0092e9887669db0eae07941f023991ab58ea44da8fe8e2d511c6b"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "unicode-xid",
+]
+
+[[package]]
+name = "unicode-xid"
+version = "0.2.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8ccb82d61f80a663efe1f787a51b16b5a51e3314d6ac365b08639f52387b33f3"
+
+[[package]]
+name = "wasm-bindgen"
+version = "0.2.79"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "25f1af7423d8588a3d840681122e72e6a24ddbcb3f0ec385cac0d12d24256c06"
+dependencies = [
+ "cfg-if",
+ "wasm-bindgen-macro",
+]
+
+[[package]]
+name = "wasm-bindgen-backend"
+version = "0.2.79"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8b21c0df030f5a177f3cba22e9bc4322695ec43e7257d865302900290bcdedca"
+dependencies = [
+ "bumpalo",
+ "lazy_static",
+ "log",
+ "proc-macro2",
+ "quote",
+ "syn",
+ "wasm-bindgen-shared",
+]
+
+[[package]]
+name = "wasm-bindgen-macro"
+version = "0.2.79"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "2f4203d69e40a52ee523b2529a773d5ffc1dc0071801c87b3d270b471b80ed01"
+dependencies = [
+ "quote",
+ "wasm-bindgen-macro-support",
+]
+
+[[package]]
+name = "wasm-bindgen-macro-support"
+version = "0.2.79"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "bfa8a30d46208db204854cadbb5d4baf5fcf8071ba5bf48190c3e59937962ebc"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn",
+ "wasm-bindgen-backend",
+ "wasm-bindgen-shared",
+]
+
+[[package]]
+name = "wasm-bindgen-shared"
+version = "0.2.79"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "3d958d035c4438e28c70e4321a2911302f10135ce78a9c7834c0cab4123d06a2"

rust/Cargo.toml

@@ -0,0 +1,19 @@
+[package]
+name = "gridless-pathfinding"
+version = "1.12.1"
+edition = "2021"
+
+# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
+
+[lib]
+crate-type = ["cdylib"]
+
+[profile.release]
+lto = true
+#debug = true
+
+[dependencies]
+console_error_panic_hook = "0.1.7"
+js-sys = "0.3.56"
+rustc-hash = "1.1.0"
+wasm-bindgen = "0.2.79"

rust/rustfmt.toml

@@ -0,0 +1 @@
+hard_tabs = true

rust/src/geometry.rs

@@ -0,0 +1,187 @@
+use std::hash::{Hash, Hasher};
+
+use wasm_bindgen::prelude::*;
+
+#[wasm_bindgen]
+extern "C" {
+	pub type JsPoint;
+
+	#[wasm_bindgen(method, getter)]
+	fn x(this: &JsPoint) -> f64;
+
+	#[wasm_bindgen(method, getter)]
+	fn y(this: &JsPoint) -> f64;
+}
+
+#[wasm_bindgen]
+#[derive(Debug, Copy, Clone)]
+pub struct Point {
+	pub x: f64,
+	pub y: f64,
+}
+
+impl Point {
+	pub fn new(x: f64, y: f64) -> Self {
+		Self { x, y }
+	}
+
+	pub fn from_line_x(line: &Line, x: f64) -> Self {
+		let y = line.calc_y(x);
+		Self { x, y }
+	}
+
+	pub fn distance_to(&self, to: Point) -> f64 {
+		(self.y - to.y).hypot(self.x - to.x)
+	}
+
+	pub fn is_same_as(&self, other: &Self) -> bool {
+		let e = 0.000001;
+		(self.x - other.x).abs() < e && (self.y - other.y).abs() < e
+	}
+}
+
+impl Eq for Point {}
+
+impl PartialEq for Point {
+	fn eq(&self, other: &Self) -> bool {
+		self.x == other.x && self.y == other.y
+	}
+}
+
+impl Hash for Point {
+	fn hash<H: Hasher>(&self, hasher: &mut H) {
+		self.x.to_bits().hash(hasher);
+		self.y.to_bits().hash(hasher);
+	}
+}
+
+impl From<&JsPoint> for Point {
+	fn from(point: &JsPoint) -> Self {
+		Self::new(point.x(), point.y())
+	}
+}
+
+#[derive(Debug, Copy, Clone)]
+pub struct Line {
+	pub m: f64,
+	pub b: f64,
+	pub p1: Point,
+}
+
+impl Line {
+	pub fn new(m: f64, b: f64, p1: Point) -> Self {
+		Self { m, b, p1 }
+	}
+
+	pub fn from_points(p1: Point, p2: Point) -> Self {
+		let m = (p1.y - p2.y) / (p1.x - p2.x);
+		let b = p1.y - m * p1.x;
+		Self { m, b, p1 }
+	}
+
+	pub fn from_point_and_angle(p1: Point, angle: f64) -> Self {
+		let p2 = Point {
+			x: p1.x - angle.cos(),
+			y: p1.y - angle.sin(),
+		};
+		Line::from_points(p1, p2)
+	}
+
+	pub fn is_vertical(&self) -> bool {
+		self.m.is_infinite()
+	}
+
+	pub fn is_horizontal(&self) -> bool {
+		self.m == 0.0
+	}
+
+	pub fn calc_x(&self, y: f64) -> f64 {
+		(y - self.b) / self.m
+	}
+
+	pub fn calc_y(&self, x: f64) -> f64 {
+		self.m * x + self.b
+	}
+
+	pub fn intersection(&self, other: &Line) -> Option<Point> {
+		// Are both lines vertical?
+		if self.is_vertical() && other.is_vertical() {
+			return None;
+		}
+
+		// Are the lines paralell?
+		if (self.m - other.m).abs() < 0.00000005 {
+			return None;
+		}
+
+		// Is one of the lines vertical?
+		if self.is_vertical() || other.is_vertical() {
+			let vertical;
+			let regular;
+			if self.is_vertical() {
+				vertical = self;
+				regular = other;
+			} else {
+				vertical = other;
+				regular = self;
+			}
+			return Some(Point::from_line_x(regular, vertical.p1.x));
+		}
+
+		// Calculate x coordinate of intersection point between both lines
+		// Find intersection point: x * m1 + b1 = x * m2 + b2
+		// Solve for x: x = (b1 - b2) / (m2 - m1)
+		let x = (self.b - other.b) / (other.m - self.m);
+		if self.m.abs() < other.m.abs() {
+			Some(Point::from_line_x(self, x))
+		} else {
+			Some(Point::from_line_x(other, x))
+		}
+	}
+
+	pub fn get_perpendicular_through_point(&self, p: Point) -> Self {
+		let m = -1.0 / self.m;
+		let b = p.y - m * p.x;
+		Self { m, b, p1: p }
+	}
+}
+
+#[derive(Debug, Clone, Copy)]
+pub struct LineSegment {
+	pub p1: Point,
+	pub p2: Point,
+	pub line: Line,
+}
+
+impl LineSegment {
+	pub fn new(p1: Point, p2: Point) -> Self {
+		Self {
+			p1,
+			p2,
+			line: Line::from_points(p1, p2),
+		}
+	}
+
+	pub fn intersection(&self, other: &LineSegment) -> Option<Point> {
+		let intersection = self.line.intersection(&other.line);
+		intersection.filter(|intersection| {
+			self.is_intersection_on_segment(*intersection)
+				&& other.is_intersection_on_segment(*intersection)
+		})
+	}
+
+	fn is_intersection_on_segment(&self, intersection: Point) -> bool {
+		if intersection.is_same_as(&self.p1) || intersection.is_same_as(&self.p2) {
+			return true;
+		}
+		if self.line.is_vertical() || self.line.m.abs() > 1.0 {
+			return between(intersection.y, self.p1.y, self.p2.y);
+		}
+		between(intersection.x, self.p1.x, self.p2.x)
+	}
+}
+
+pub fn between<T: Copy + PartialOrd>(num: T, a: T, b: T) -> bool {
+	let (min, max) = if a < b { (a, b) } else { (b, a) };
+	num >= min && num <= max
+}

rust/src/js_api.rs

@@ -0,0 +1,237 @@
+use js_sys::Array;
+use wasm_bindgen::prelude::*;
+
+use crate::{
+	geometry::Point,
+	pathfinder::{DiscoveredNodePtr, Pathfinder},
+};
+
+#[allow(unused)]
+macro_rules! log {
+	( $( $t:tt )* ) => {
+		log(&format!( $( $t )* ));
+	};
+}
+
+#[wasm_bindgen]
+extern "C" {
+	#[wasm_bindgen(js_namespace = console, js_name=warn)]
+	pub fn log(s: &str);
+}
+
+#[wasm_bindgen]
+extern "C" {
+	pub type JsWall;
+	pub type JsWallData;
+
+	#[wasm_bindgen(method, getter)]
+	fn data(this: &JsWall) -> JsWallData;
+
+	#[wasm_bindgen(method, getter)]
+	fn c(this: &JsWallData) -> Vec<f64>;
+
+	#[wasm_bindgen(method, getter, js_name = "door")]
+	fn door_type(this: &JsWallData) -> DoorType;
+
+	#[wasm_bindgen(method, getter, js_name = "ds")]
+	fn door_state(this: &JsWallData) -> DoorState;
+
+	#[wasm_bindgen(method, getter, js_name = "move")]
+	fn move_type(this: &JsWallData) -> WallSenseType;
+}
+
+#[wasm_bindgen]
+extern "C" {
+	pub type JsPoint;
+
+	#[wasm_bindgen(method, getter)]
+	fn x(this: &JsPoint) -> f64;
+
+	#[wasm_bindgen(method, getter)]
+	fn y(this: &JsPoint) -> f64;
+}
+
+impl From<JsPoint> for Point {
+	fn from(point: JsPoint) -> Self {
+		Point {
+			x: point.x(),
+			y: point.y(),
+		}
+	}
+}
+
+#[wasm_bindgen]
+#[derive(Debug, Copy, Clone, PartialEq)]
+pub enum DoorState {
+	CLOSED = 0,
+	OPEN = 1,
+	LOCKED = 2,
+}
+
+impl TryFrom<usize> for DoorState {
+	type Error = ();
+	fn try_from(value: usize) -> Result<Self, Self::Error> {
+		match value {
+			x if x == Self::CLOSED as usize => Ok(Self::CLOSED),
+			x if x == Self::OPEN as usize => Ok(Self::OPEN),
+			x if x == Self::LOCKED as usize => Ok(Self::LOCKED),
+			_ => Err(()),
+		}
+	}
+}
+
+#[wasm_bindgen]
+#[derive(Debug, Copy, Clone, PartialEq)]
+pub enum DoorType {
+	NONE = 0,
+	DOOR = 1,
+	SECRET = 2,
+}
+
+impl TryFrom<usize> for DoorType {
+	type Error = ();
+	fn try_from(value: usize) -> Result<Self, Self::Error> {
+		match value {
+			x if x == Self::NONE as usize => Ok(Self::NONE),
+			x if x == Self::DOOR as usize => Ok(Self::DOOR),
+			x if x == Self::SECRET as usize => Ok(Self::SECRET),
+			_ => Err(()),
+		}
+	}
+}
+
+#[wasm_bindgen]
+#[derive(Debug, Copy, Clone, PartialEq)]
+pub enum WallSenseType {
+	NONE = 0,
+	LIMITED = 10,
+	NORMAL = 20,
+}
+
+impl TryFrom<usize> for WallSenseType {
+	type Error = ();
+	fn try_from(value: usize) -> Result<Self, Self::Error> {
+		match value {
+			x if x == Self::NONE as usize => Ok(Self::NONE),
+			x if x == Self::LIMITED as usize => Ok(Self::LIMITED),
+			x if x == Self::NORMAL as usize => Ok(Self::NORMAL),
+			_ => Err(()),
+		}
+	}
+}
+
+#[derive(Debug, Clone, Copy)]
+pub struct Wall {
+	pub p1: Point,
+	pub p2: Point,
+	pub door_type: DoorType,
+	pub door_state: DoorState,
+	pub move_type: WallSenseType,
+}
+
+impl Wall {
+	pub fn new(
+		p1: Point,
+		p2: Point,
+		door_type: DoorType,
+		door_state: DoorState,
+		move_type: WallSenseType,
+	) -> Self {
+		Self {
+			p1,
+			p2,
+			door_type,
+			door_state,
+			move_type,
+		}
+	}
+
+	pub fn is_door(&self) -> bool {
+		self.door_type != DoorType::NONE
+	}
+
+	pub fn is_open(&self) -> bool {
+		self.door_state == DoorState::OPEN
+	}
+}
+
+impl Wall {
+	fn from_js(wall: &JsWall) -> Self {
+		let data = wall.data();
+		let mut c = data.c();
+		c.iter_mut().for_each(|val| *val = val.round());
+		Self::new(
+			Point::new(c[0], c[1]),
+			Point::new(c[2], c[3]),
+			data.door_type(),
+			data.door_state(),
+			data.move_type(),
+		)
+	}
+}
+
+#[allow(dead_code)]
+#[wasm_bindgen]
+pub fn initialize(js_walls: Vec<JsValue>, token_size: f64) -> Pathfinder {
+	let mut walls = Vec::with_capacity(js_walls.len());
+	for wall in js_walls {
+		let wall = JsWall::from(wall);
+		walls.push(Wall::from_js(&wall));
+	}
+	Pathfinder::initialize(walls, token_size)
+}
+
+#[allow(dead_code)]
+#[wasm_bindgen]
+pub fn free(pathfinder: Pathfinder) {
+	drop(pathfinder);
+}
+
+#[allow(dead_code)]
+#[wasm_bindgen(js_name=findPath)]
+pub fn find_path(pathfinder: &mut Pathfinder, from: JsPoint, to: JsPoint) -> Option<Array> {
+	pathfinder
+		.find_path(from.into(), to.into())
+		.map(|first_node| first_node.iter_path().map(JsValue::from).collect())
+}
+
+#[allow(dead_code)]
+#[wasm_bindgen(js_name=debugGetPathfindingPoints)]
+pub fn debug_get_pathfinding_points(pathfinder: &Pathfinder) -> Array {
+	pathfinder
+		.nodes
+		.iter()
+		.map(|node| node.borrow().point)
+		.map(JsValue::from)
+		.collect()
+}
+
+trait IteratePath {
+	fn iter_path(&self) -> PathIterator;
+}
+
+impl IteratePath for DiscoveredNodePtr {
+	fn iter_path(&self) -> PathIterator {
+		PathIterator {
+			current_node: Some(self.clone()),
+		}
+	}
+}
+
+struct PathIterator {
+	current_node: Option<DiscoveredNodePtr>,
+}
+
+impl Iterator for PathIterator {
+	type Item = Point;
+
+	fn next(&mut self) -> Option<Self::Item> {
+		if let Some(node) = self.current_node.clone() {
+			let point = node.borrow().node.borrow().point;
+			self.current_node = node.borrow().previous.clone();
+			Some(point)
+		} else {
+			None
+		}
+	}
+}

rust/src/lib.rs

@@ -0,0 +1,12 @@
+mod geometry;
+#[macro_use]
+mod js_api;
+mod pathfinder;
+mod ptr_indexed_hash_set;
+
+use wasm_bindgen::prelude::*;
+
+#[wasm_bindgen(start)]
+pub fn main() {
+	std::panic::set_hook(Box::new(console_error_panic_hook::hook));
+}

rust/src/pathfinder.rs

@@ -0,0 +1,334 @@
+use std::{cell::RefCell, f64::consts::PI, rc::Rc};
+
+use wasm_bindgen::prelude::*;
+
+use rustc_hash::FxHashMap;
+
+use crate::{
+	geometry::{LineSegment, Point},
+	js_api::{Wall, WallSenseType},
+	ptr_indexed_hash_set::PtrIndexedHashSet,
+};
+
+pub struct Edge {
+	target: NodePtr,
+	cost: f64,
+}
+
+pub struct Node {
+	pub point: Point,
+	edges: Option<Vec<Edge>>,
+	final_edge: Option<Option<Edge>>,
+}
+
+impl Node {
+	pub fn new(point: Point) -> Self {
+		Self {
+			point,
+			edges: None,
+			final_edge: None,
+		}
+	}
+
+	fn iter_edges(
+		&self,
+	) -> std::iter::Chain<std::slice::Iter<'_, Edge>, std::option::Iter<'_, Edge>> {
+		self.edges
+			.as_ref()
+			.unwrap()
+			.iter()
+			.chain(self.final_edge.as_ref().unwrap().iter())
+	}
+}
+
+type NodePtr = Rc<RefCell<Node>>;
+
+impl From<Node> for NodePtr {
+	fn from(node: Node) -> Self {
+		Rc::new(RefCell::new(node))
+	}
+}
+
+pub struct DiscoveredNode {
+	pub node: NodePtr,
+	cost: f64,
+	estimated: f64,
+	pub previous: Option<DiscoveredNodePtr>,
+}
+
+pub type DiscoveredNodePtr = Rc<RefCell<DiscoveredNode>>;
+
+impl From<DiscoveredNode> for DiscoveredNodePtr {
+	fn from(node: DiscoveredNode) -> Self {
+		Rc::new(RefCell::new(node))
+	}
+}
+
+#[derive(Default, Clone)]
+pub struct NodeStorage {
+	regular_nodes: Vec<NodePtr>,
+	final_node: Option<NodePtr>,
+}
+
+pub type NodeStorageIterator<'a> = std::iter::Chain<
+	std::slice::Iter<'a, Rc<RefCell<Node>>>,
+	std::option::Iter<'a, Rc<RefCell<Node>>>,
+>;
+
+impl NodeStorage {
+	fn new() -> Self {
+		Self::default()
+	}
+
+	fn push(&mut self, node: NodePtr) {
+		self.regular_nodes.push(node);
+	}
+
+	fn initialize_edges(&mut self, node: &NodePtr, walls: &[LineSegment]) {
+		if node.borrow().final_edge.is_none() {
+			let final_edge = self
+				.final_node
+				.as_ref()
+				.filter(|neighbor| {
+					!self.collides_with_wall(
+						&LineSegment::new(node.borrow().point, neighbor.borrow().point),
+						walls,
+					)
+				})
+				.map(|neighbor| Edge {
+					target: neighbor.clone(),
+					cost: node.borrow().point.distance_to(neighbor.borrow().point),
+				});
+			node.borrow_mut().final_edge = Some(final_edge);
+		}
+
+		if node.borrow().edges.is_some() {
+			return;
+		}
+
+		let point = node.borrow().point;
+		let mut edges = Vec::new();
+		for neighbor in &self.regular_nodes {
+			if Rc::ptr_eq(neighbor, node) {
+				continue;
+			}
+			let neighbor_point = neighbor.borrow().point;
+			if !self.collides_with_wall(&LineSegment::new(point, neighbor_point), walls) {
+				let cost = point.distance_to(neighbor_point);
+				edges.push(Edge {
+					target: neighbor.clone(),
+					cost,
+				});
+			}
+		}
+		node.borrow_mut().edges = Some(edges);
+	}
+
+	fn collides_with_wall(&self, line: &LineSegment, walls: &[LineSegment]) -> bool {
+		walls.iter().any(|wall| line.intersection(wall).is_some())
+	}
+
+	pub fn cleanup_final_edges(&mut self) {
+		for node in &self.regular_nodes {
+			node.borrow_mut().final_edge = None;
+		}
+	}
+
+	pub fn iter(&self) -> NodeStorageIterator {
+		self.regular_nodes.iter().chain(self.final_node.iter())
+	}
+}
+
+#[wasm_bindgen]
+pub struct Pathfinder {
+	#[wasm_bindgen(skip)]
+	pub nodes: NodeStorage,
+	#[wasm_bindgen(skip)]
+	pub walls: Vec<LineSegment>,
+}
+
+impl Pathfinder {
+	pub fn initialize<I>(walls: I, token_size: f64) -> Self
+	where
+		I: IntoIterator<Item = Wall>,
+	{
+		let distance_from_walls = token_size / 2.0;
+		let mut endpoints = FxHashMap::<Point, Vec<f64>>::default();
+		let mut line_segments = Vec::new();
+		for wall in walls {
+			if wall.move_type == WallSenseType::NONE {
+				continue;
+			}
+			if wall.is_door() && wall.is_open() {
+				continue;
+			}
+			let x_diff = wall.p2.x - wall.p1.x;
+			let y_diff = wall.p2.y - wall.p1.y;
+			let p1_angle = y_diff.atan2(x_diff).rem_euclid(2.0 * PI);
+			let p2_angle = (p1_angle + PI).rem_euclid(2.0 * PI);
+			for (point, angle) in [(wall.p1, p1_angle), (wall.p2, p2_angle)] {
+				let angles = endpoints.entry(point).or_insert_with(Vec::new);
+				angles.push(angle);
+			}
+			line_segments.push(LineSegment::new(wall.p1, wall.p2));
+		}
+		endpoints
+			.values_mut()
+			.for_each(|angles| angles.sort_by(|a, b| a.partial_cmp(b).unwrap()));
+		let mut nodes = NodeStorage::new();
+		for (point, angles) in endpoints {
+			assert!(!angles.is_empty());
+			for i in 1..angles.len() {
+				let angle1 = angles[i - 1];
+				let angle2 = angles[i];
+				if angle1 == angle2 {
+					continue;
+				}
+				let angle_diff = angle2 - angle1;
+				if angle_diff <= PI {
+					continue;
+				}
+				{
+					let angle_between = angle_diff / 2.0 + angle1;
+					let pathfinding_node = calc_pathfinding_node(
+						point,
+						angle_between,
+						distance_from_walls,
+						&mut line_segments,
+					);
+					if angle_diff > 1.5 * PI {
+						nodes.push(pathfinding_node);
+					}
+				}
+				nodes.push(calc_pathfinding_node(
+					point,
+					angle1 + 0.5 * PI,
+					distance_from_walls,
+					&mut line_segments,
+				));
+				nodes.push(calc_pathfinding_node(
+					point,
+					angle2 - 0.5 * PI,
+					distance_from_walls,
+					&mut line_segments,
+				));
+			}
+			let angle1 = angles.last().unwrap();
+			let angle2 = angles.first().unwrap() + 2.0 * PI;
+			let angle_diff = angle2 - angle1;
+			if angle_diff <= PI {
+				continue;
+			}
+			if angle_diff > 1.5 * PI {
+				let angle_between = angle_diff / 2.0 + angle1;
+				nodes.push(calc_pathfinding_node(
+					point,
+					angle_between,
+					distance_from_walls,
+					&mut line_segments,
+				));
+			}
+			nodes.push(calc_pathfinding_node(
+				point,
+				angle1 + 0.5 * PI,
+				distance_from_walls,
+				&mut line_segments,
+			));
+			nodes.push(calc_pathfinding_node(
+				point,
+				angle2 - 0.5 * PI,
+				distance_from_walls,
+				&mut line_segments,
+			));
+		}
+		// TODO Eliminating nodes close to each other may improve performance
+		Self {
+			nodes,
+			walls: line_segments,
+		}
+	}
+
+	pub fn find_path(&mut self, from: Point, to: Point) -> Option<DiscoveredNodePtr> {
+		self.nodes.cleanup_final_edges();
+		let mut nodes = self.nodes.clone();
+		nodes.final_node = Some(NodePtr::from(Node::new(from)));
+		let to_node = NodePtr::from(Node::new(to));
+		nodes.initialize_edges(&to_node, &self.walls);
+		let to = DiscoveredNode {
+			node: to_node,
+			cost: 0.0,
+			estimated: to.distance_to(from),
+			previous: None,
+		};
+		// TODO Use a sorted set for next_nodes for better performance
+		let mut next_nodes = vec![DiscoveredNodePtr::from(to)];
+		let mut previous_nodes = PtrIndexedHashSet::new();
+		while !next_nodes.is_empty() {
+			// Sort by estimated cost, high to low
+			// TODO Maybe tere's a faster way to do this than re-sorting every iteration?
+			next_nodes.sort_by(|a, b| {
+				b.borrow()
+					.estimated
+					.partial_cmp(&a.borrow().estimated)
+					.unwrap()
+			});
+
+			// Get node with cheapest estimate
+			let current_node = next_nodes.pop().unwrap();
+			if current_node.borrow().node.borrow().point.x == from.x
+				&& current_node.borrow().node.borrow().point.y == from.y
+			{
+				return Some(current_node);
+			}
+			previous_nodes.insert(current_node.borrow().node.clone());
+			for edge in current_node.borrow().node.borrow().iter_edges() {
+				let neighbor = &edge.target;
+				if previous_nodes.contains(neighbor) {
+					continue;
+				}
+				nodes.initialize_edges(neighbor, &self.walls);
+				// Add a flat 0.00001 cost per node to discurage creation of unnecessary waypoints
+				let cost = current_node.borrow().cost + edge.cost + 0.00001;
+				let discovered_neighbor = DiscoveredNode {
+					node: neighbor.clone(),
+					cost,
+					estimated: cost + neighbor.borrow().point.distance_to(from),
+					previous: Some(current_node.clone()),
+				};
+				let neighbor_entry = next_nodes
+					.iter()
+					.find(|node| Rc::ptr_eq(&node.borrow().node, neighbor));
+				if let Some(entry) = neighbor_entry {
+					// If the neighbor is cheaper to reach via the current route than through previously discovered routes, replace it
+					if entry.borrow().cost > cost {
+						*entry.borrow_mut() = discovered_neighbor;
+					}
+				} else {
+					next_nodes.push(discovered_neighbor.into());
+				}
+			}
+		}
+		None
+	}
+}
+
+fn calc_pathfinding_node(
+	p: Point,
+	angle: f64,
+	distance_from_walls: f64,
+	line_segments: &mut Vec<LineSegment>,
+) -> NodePtr {
+	let offset_x = angle.cos() * distance_from_walls;
+	let offset_y = angle.sin() * distance_from_walls;
+	line_segments.push(LineSegment::new(
+		p,
+		Point {
+			x: p.x + offset_x * 0.99,
+			y: p.y + offset_y * 0.99,
+		},
+	));
+	NodePtr::from(Node::new(Point {
+		x: p.x + offset_x,
+		y: p.y + offset_y,
+	}))
+}

rust/src/ptr_indexed_hash_set.rs

@@ -0,0 +1,68 @@
+use rustc_hash::FxHashSet;
+use std::collections::hash_set;
+use std::hash::{Hash, Hasher};
+use std::rc::Rc;
+
+#[derive(Default)]
+pub struct PtrIndexedHashSet<T>(FxHashSet<PtrIndexedRc<T>>);
+
+impl<T> PtrIndexedHashSet<T> {
+	pub fn new() -> Self {
+		PtrIndexedHashSet(FxHashSet::default())
+	}
+
+	pub fn insert(&mut self, value: Rc<T>) -> bool {
+		self.0.insert(PtrIndexedRc(value))
+	}
+
+	pub fn remove(&mut self, value: &Rc<T>) -> bool {
+		self.0.remove(&PtrIndexedRc(Rc::clone(value)))
+	}
+
+	pub fn contains(&mut self, value: &Rc<T>) -> bool {
+		self.0.contains(&PtrIndexedRc(Rc::clone(value)))
+	}
+}
+
+impl<T: std::fmt::Debug> std::fmt::Debug for PtrIndexedHashSet<T> {
+	fn fmt(&self, f: &mut std::fmt::Formatter) -> std::fmt::Result {
+		f.debug_set().entries(self.0.iter().map(|e| &e.0)).finish()
+	}
+}
+
+struct PtrIndexedRc<T>(Rc<T>);
+
+impl<T> Hash for PtrIndexedRc<T> {
+	fn hash<H: Hasher>(&self, state: &mut H) {
+		Rc::as_ptr(&self.0).hash(state)
+	}
+}
+
+impl<T> PartialEq for PtrIndexedRc<T> {
+	fn eq(&self, other: &Self) -> bool {
+		Rc::ptr_eq(&self.0, &other.0)
+	}
+}
+
+impl<T> Eq for PtrIndexedRc<T> {}
+
+pub struct PtrIndexedHashSetIterator<'a, T>(hash_set::Iter<'a, PtrIndexedRc<T>>);
+
+impl<'a, T> Iterator for PtrIndexedHashSetIterator<'a, T> {
+	type Item = &'a Rc<T>;
+
+	fn next(&mut self) -> Option<Self::Item> {
+		match self.0.next() {
+			Some(item) => Some(&item.0),
+			None => None,
+		}
+	}
+}
+
+impl<'a, T> IntoIterator for &'a PtrIndexedHashSet<T> {
+	type Item = &'a Rc<T>;
+	type IntoIter = PtrIndexedHashSetIterator<'a, T>;
+	fn into_iter(self) -> Self::IntoIter {
+		PtrIndexedHashSetIterator::<T>((&self.0).iter())
+	}
+}