Why Plozone?
| Feature | Plozone | OctoMap | Tile38 | rstar |
|---|---|---|---|---|
| 3D zone shapes | full | voxel only | 2D polygons | AABB only |
| Hole scanning | octree-based | yes | no | no |
| Dynamic zones (runtime) | yes | no | partial | no |
| Realtime sync (WS + QUIC) | yes | no | WS | no |
| Game / arbitrary coords | yes | no | no | no |
| AV stack (EKF, V2X, HD map) | yes | no | no | no |
| no_std embedded | yes | no | no | partial |
| Voxel pathfinding | A* | no | no | no |
| Rust-native | yes | C++ bindings | Go server | yes |
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
Serializable Zone enum with 5+ built-in shapes + trait-based custom shapes. R-tree indexed for <1 μs point queries at 100k zones.
Octree Hole Scanner
Adaptive-density octree (depth 17 max, ~4mm voxels) with single-pass and multiscale hole detection. Coverage % reporting.
Realtime Sync
WebSocket + QUIC + io_uring transports. Sharded server to 300k entities at <1ms p99. Lock-free AtomicPos for position updates.
Voxel Pathfinding
3D A* over the octree. Works with zone-aware occupancy — doors, walls, cylindrical columns are all zones that block traversal.
AV Stack
EKF IMU fusion, sensor FOV zones (camera/lidar/radar), safety envelope, HD map lane graph, behaviour zones, V2X beacons.
Game Coords
GameWorld, LayeredMap, ChunkedGameWorld, PortalSystem — arbitrary coordinate systems via the CoordSystem trait. TiledWorld for planetary scale.
Wire Protocol
Postcard-encoded messages with LZ4/ZSTD compression. Dead-reckoning via PosTracker. Versioned wire snapshots for forward compatibility.
Terrain & Mesh
Marching cubes surface extraction from octree density. OBJ/PLY export, density export. TSDF/ESDF planned for v0.2.
Performance
| Operation | Time |
|---|---|
| Zone query (1k zones, R-tree) | ~730 ns |
| Octree batch insert 1k pts | ~435 μs |
| Hole scan depth 4 | ~12 μs |
| Coord WGS84 → ENU | ~128 ns |
| Coord ENU → WGS84 | ~655 ns |
Scale
| Tier | Entities | Zones | Latency p99 | Infra |
|---|---|---|---|---|
| Single process, tokio | ~5k | ~100k | < 5 ms | 1 server |
| Sharded (16), tokio | ~80k | ~100k | < 2 ms | 1 server |
| Sharded (64), io_uring | ~300k | ~500k | < 1 ms | 1 server |
| Multi-process cluster | ~5M+ | unlimited | < 5 ms | LB + N servers |