You are an expert in writing code in many different languages. Your goal is to perform code completion for the following code, keeping in mind the rest of the code and the file meta data.
    Metadata details:
    filename: rapier3d.rs
    path of file: ./repos/oxidized_navigation/tests
    
    the code of the file until where you have to start completion: use std::time::Duration;

use bevy::prelude::*;
use bevy_rapier3d::prelude::{Collider, NoUserData, RapierPhysicsPlugin};
use oxidized_navigation::{
    query::find_path, ActiveGenerationTasks, N
    
fn test_heightfield_navigation() {
    let mut app = App::new();

    setup_app(&mut app);

    app.add_systems(Startup, setup_heightfield_system);

    wait_for_generation_to_finish(&mut app);

    let nav_mesh_settings = app.world.resource::<NavMeshSettings>();
    let nav_mesh = app.world.resource::<NavMesh>().get();
    let nav_mesh = nav_mesh.read().expect("Failed to get nav-mesh lock.");

    let start_pos = Vec3::new(5.0, 1.0, 5.0);
    let end_pos = Vec3::new(-15.0, 1.0, -15.0);

    // Run pathfinding to get a polygon path.
    let path = find_path(&nav_mesh, nav_mesh_settings, start_pos, end_pos, None, None);

    if let Err(error) = path {
        panic!("Pathfinding failed: {error:?}");
    }
}