Wlrpath

Wlrpath is an open-source library designed to provide efficient path planning and navigation capabilities across 2D and 3D environments. It offers a collection of graph-based and sampling-based algorithms suitable for robotics, simulation, game development, and autonomous systems. The library focuses on modular integration, allowing developers to plug Wlrpath into existing engines and data formats through a language-agnostic API and bindings for common programming languages.

Its core features include support for grid and visibility graphs, Dijkstra's and A* search, as well as sampling-based planners such as Rapidly-exploring Random Trees (RRT) and Probabilistic Roadmaps (PRM). Wlrpath emphasizes incremental re-planning to accommodate dynamic environments, multi-threaded execution for performance, and optional streaming updates to large graphs. The API exposes abstractions for nodes, edges, costs, heuristics, and constraints, enabling custom cost functions and constraints.

Architecture: The library is designed with a modular backend that can switch between different graph representations. It provides a pluggable planning pipeline, support for 2D grids, nav meshes, and pose graphs, and interoperates with popular robotics middleware. Language bindings include C++, Python, and Rust, with project folders organized to ease experimentation and testing. Documentation covers installation, API usage, examples, and migration guides.

Applications range from autonomous robots and drones to game AI and virtual reality simulations. The project emphasizes portability and minimal runtime dependencies, and it is distributed under an open-source license with an active contributor community and issue tracker.

See also: Pathfinding algorithms, Navigation mesh, Graph theory, Robotics software.