Quick Start
// Cargo.toml
[dependencies]
plozone = { version = "0.1", features = ["full"] }
// main.rs
use plozone::{
coord::EnuConverter,
store::ZoneStore,
zone::{Zone, ZoneEntry},
scan::{run_scan, ScanMode},
};
let conv = EnuConverter::new(10.7626, 106.6601, 0.0);
let store = ZoneStore::from_entries(&[
ZoneEntry::new(1, Zone::cylinder(10.7626, 106.6601, 50.0)
.with_z_range(0.0, 20.0)
.build()),
], &conv);
// Point-in-zone query
let hits = store.query_geodetic(10.7626, 106.6601, 5.0, &conv);
assert_eq!(hits.as_slice(), &[1]);
// Hole scan
let octree = OctreeNode::new([0.0; 3], 64.0);
let result = run_scan(&octree, &store, 1, &ScanMode::Coarse { depth: 4 });
println!("coverage: {:.1}%", result.coverage_pct);Features
ZoneStore + R-tree
5+ built-in shapes plus custom trait-based zones. R-tree indexed for sub-microsecond point queries at 100k zones.
Octree Hole Scanner
Adaptive-density octree to depth 17 (~4mm voxels). Single-pass and multiscale hole detection with coverage % reporting.
Realtime Sync
WebSocket, QUIC, and io_uring transports. Sharded to 300k entities at <1ms p99 with lock-free AtomicPos updates.
Voxel Pathfinding
3D A* over the octree. Zones act as occupancy — doors, walls, pillars are all zone-driven blockers.
AV Stack
EKF IMU fusion, sensor FOV zones, safety envelope, HD map lane graph, V2X beacons.
Game Coords
GameWorld, LayeredMap, PortalSystem — arbitrary coordinate systems via CoordSystem trait. TiledWorld for planetary scale.
Wire Protocol
Postcard messages with LZ4/ZSTD compression. Dead-reckoning via PosTracker. Versioned snapshots.
Terrain & Mesh
Marching cubes surface extraction from octree density. OBJ/PLY export. TSDF/ESDF planned.
Performance
| Operation | Time |
|---|---|
| Zone query (1k zones) | ~730 ns |
| Octree batch insert 1k pts | ~435 µs |
| Hole scan depth 4 | ~12 µs |
| WGS84 → ENU | ~128 ns |
| ENU → WGS84 | ~655 ns |
Scale
| Tier | Entities | Zones | Latency p99 |
|---|---|---|---|
| Single process (tokio) | ~5k | ~100k | < 5 ms |
| Sharded 16 (tokio) | ~80k | ~100k | < 2 ms |
| Sharded 64 (io_uring) | ~300k | ~500k | < 1 ms |
| Multi-process cluster | ~5M+ | unlimited | < 5 ms |