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Merge pull request #88047 from theashtronaut/add_partial_return_astar

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Add a partial path return option for astar
This commit is contained in:
Rémi Verschelde
2024-04-04 14:30:49 +02:00
parent 734a2543ae aa1bbe1542
commit a1ab287010
10 changed files with 247 additions and 24 deletions
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59
core/math/a_star.compat.inc Normal file
View File

@ -0,0 +1,59 @@
/**************************************************************************/
/* a_star.compat.inc */
/**************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
/* https://godotengine.org */
/**************************************************************************/
/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */
/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */
/* */
/* Permission is hereby granted, free of charge, to any person obtaining */
/* a copy of this software and associated documentation files (the */
/* "Software"), to deal in the Software without restriction, including */
/* without limitation the rights to use, copy, modify, merge, publish, */
/* distribute, sublicense, and/or sell copies of the Software, and to */
/* permit persons to whom the Software is furnished to do so, subject to */
/* the following conditions: */
/* */
/* The above copyright notice and this permission notice shall be */
/* included in all copies or substantial portions of the Software. */
/* */
/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */
/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
/**************************************************************************/
#ifndef DISABLE_DEPRECATED
Vector<int64_t> AStar3D::_get_id_path_bind_compat_88047(int64_t p_from_id, int64_t p_to_id) {
return get_id_path(p_from_id, p_to_id, false);
}
Vector<Vector3> AStar3D::_get_point_path_bind_compat_88047(int64_t p_from_id, int64_t p_to_id) {
return get_point_path(p_from_id, p_to_id, false);
}
void AStar3D::_bind_compatibility_methods() {
ClassDB::bind_compatibility_method(D_METHOD("get_id_path", "from_id", "to_id"), &AStar3D::_get_id_path_bind_compat_88047);
ClassDB::bind_compatibility_method(D_METHOD("get_point_path", "from_id", "to_id"), &AStar3D::_get_point_path_bind_compat_88047);
}
Vector<int64_t> AStar2D::_get_id_path_bind_compat_88047(int64_t p_from_id, int64_t p_to_id) {
return get_id_path(p_from_id, p_to_id, false);
}
Vector<Vector2> AStar2D::_get_point_path_bind_compat_88047(int64_t p_from_id, int64_t p_to_id) {
return get_point_path(p_from_id, p_to_id, false);
}
void AStar2D::_bind_compatibility_methods() {
ClassDB::bind_compatibility_method(D_METHOD("get_id_path", "from_id", "to_id"), &AStar2D::_get_id_path_bind_compat_88047);
ClassDB::bind_compatibility_method(D_METHOD("get_point_path", "from_id", "to_id"), &AStar2D::_get_point_path_bind_compat_88047);
}
#endif // DISABLE_DEPRECATED

65
core/math/a_star.cpp
View File

@ -29,6 +29,7 @@
/**************************************************************************/
#include "a_star.h"
#include "a_star.compat.inc"
#include "core/math/geometry_3d.h"
#include "core/object/script_language.h"
@ -319,6 +320,7 @@ Vector3 AStar3D::get_closest_position_in_segment(const Vector3 &p_point) const {
}
bool AStar3D::_solve(Point *begin_point, Point *end_point) {
last_closest_point = nullptr;
pass++;
if (!end_point->enabled) {
@ -332,11 +334,18 @@ bool AStar3D::_solve(Point *begin_point, Point *end_point) {
begin_point->g_score = 0;
begin_point->f_score = _estimate_cost(begin_point->id, end_point->id);
begin_point->abs_g_score = 0;
begin_point->abs_f_score = _estimate_cost(begin_point->id, end_point->id);
open_list.push_back(begin_point);
while (!open_list.is_empty()) {
Point *p = open_list[0]; // The currently processed point.
// Find point closer to end_point, or same distance to end_point but closer to begin_point.
if (last_closest_point == nullptr || last_closest_point->abs_f_score > p->abs_f_score || (last_closest_point->abs_f_score >= p->abs_f_score && last_closest_point->abs_g_score > p->abs_g_score)) {
last_closest_point = p;
}
if (p == end_point) {
found_route = true;
break;
@ -368,6 +377,8 @@ bool AStar3D::_solve(Point *begin_point, Point *end_point) {
e->prev_point = p;
e->g_score = tentative_g_score;
e->f_score = e->g_score + _estimate_cost(e->id, end_point->id);
e->abs_g_score = tentative_g_score;
e->abs_f_score = e->f_score - e->g_score;
if (new_point) { // The position of the new points is already known.
sorter.push_heap(0, open_list.size() - 1, 0, e, open_list.ptr());
@ -414,7 +425,7 @@ real_t AStar3D::_compute_cost(int64_t p_from_id, int64_t p_to_id) {
return from_point->pos.distance_to(to_point->pos);
}
Vector<Vector3> AStar3D::get_point_path(int64_t p_from_id, int64_t p_to_id) {
Vector<Vector3> AStar3D::get_point_path(int64_t p_from_id, int64_t p_to_id, bool p_allow_partial_path) {
Point *a = nullptr;
bool from_exists = points.lookup(p_from_id, a);
ERR_FAIL_COND_V_MSG(!from_exists, Vector<Vector3>(), vformat("Can't get point path. Point with id: %d doesn't exist.", p_from_id));
@ -434,7 +445,12 @@ Vector<Vector3> AStar3D::get_point_path(int64_t p_from_id, int64_t p_to_id) {
bool found_route = _solve(begin_point, end_point);
if (!found_route) {
return Vector<Vector3>();
if (!p_allow_partial_path || last_closest_point == nullptr) {
return Vector<Vector3>();
}
// Use closest point instead.
end_point = last_closest_point;
}
Point *p = end_point;
@ -463,7 +479,7 @@ Vector<Vector3> AStar3D::get_point_path(int64_t p_from_id, int64_t p_to_id) {
return path;
}
Vector<int64_t> AStar3D::get_id_path(int64_t p_from_id, int64_t p_to_id) {
Vector<int64_t> AStar3D::get_id_path(int64_t p_from_id, int64_t p_to_id, bool p_allow_partial_path) {
Point *a = nullptr;
bool from_exists = points.lookup(p_from_id, a);
ERR_FAIL_COND_V_MSG(!from_exists, Vector<int64_t>(), vformat("Can't get id path. Point with id: %d doesn't exist.", p_from_id));
@ -483,7 +499,12 @@ Vector<int64_t> AStar3D::get_id_path(int64_t p_from_id, int64_t p_to_id) {
bool found_route = _solve(begin_point, end_point);
if (!found_route) {
return Vector<int64_t>();
if (!p_allow_partial_path || last_closest_point == nullptr) {
return Vector<int64_t>();
}
// Use closest point instead.
end_point = last_closest_point;
}
Point *p = end_point;
@ -555,8 +576,8 @@ void AStar3D::_bind_methods() {
ClassDB::bind_method(D_METHOD("get_closest_point", "to_position", "include_disabled"), &AStar3D::get_closest_point, DEFVAL(false));
ClassDB::bind_method(D_METHOD("get_closest_position_in_segment", "to_position"), &AStar3D::get_closest_position_in_segment);
ClassDB::bind_method(D_METHOD("get_point_path", "from_id", "to_id"), &AStar3D::get_point_path);
ClassDB::bind_method(D_METHOD("get_id_path", "from_id", "to_id"), &AStar3D::get_id_path);
ClassDB::bind_method(D_METHOD("get_point_path", "from_id", "to_id", "allow_partial_path"), &AStar3D::get_point_path, DEFVAL(false));
ClassDB::bind_method(D_METHOD("get_id_path", "from_id", "to_id", "allow_partial_path"), &AStar3D::get_id_path, DEFVAL(false));
GDVIRTUAL_BIND(_estimate_cost, "from_id", "to_id")
GDVIRTUAL_BIND(_compute_cost, "from_id", "to_id")
@ -688,7 +709,7 @@ real_t AStar2D::_compute_cost(int64_t p_from_id, int64_t p_to_id) {
return from_point->pos.distance_to(to_point->pos);
}
Vector<Vector2> AStar2D::get_point_path(int64_t p_from_id, int64_t p_to_id) {
Vector<Vector2> AStar2D::get_point_path(int64_t p_from_id, int64_t p_to_id, bool p_allow_partial_path) {
AStar3D::Point *a = nullptr;
bool from_exists = astar.points.lookup(p_from_id, a);
ERR_FAIL_COND_V_MSG(!from_exists, Vector<Vector2>(), vformat("Can't get point path. Point with id: %d doesn't exist.", p_from_id));
@ -707,7 +728,12 @@ Vector<Vector2> AStar2D::get_point_path(int64_t p_from_id, int64_t p_to_id) {
bool found_route = _solve(begin_point, end_point);
if (!found_route) {
return Vector<Vector2>();
if (!p_allow_partial_path || astar.last_closest_point == nullptr) {
return Vector<Vector2>();
}
// Use closest point instead.
end_point = astar.last_closest_point;
}
AStar3D::Point *p = end_point;
@ -736,7 +762,7 @@ Vector<Vector2> AStar2D::get_point_path(int64_t p_from_id, int64_t p_to_id) {
return path;
}
Vector<int64_t> AStar2D::get_id_path(int64_t p_from_id, int64_t p_to_id) {
Vector<int64_t> AStar2D::get_id_path(int64_t p_from_id, int64_t p_to_id, bool p_allow_partial_path) {
AStar3D::Point *a = nullptr;
bool from_exists = astar.points.lookup(p_from_id, a);
ERR_FAIL_COND_V_MSG(!from_exists, Vector<int64_t>(), vformat("Can't get id path. Point with id: %d doesn't exist.", p_from_id));
@ -756,7 +782,12 @@ Vector<int64_t> AStar2D::get_id_path(int64_t p_from_id, int64_t p_to_id) {
bool found_route = _solve(begin_point, end_point);
if (!found_route) {
return Vector<int64_t>();
if (!p_allow_partial_path || astar.last_closest_point == nullptr) {
return Vector<int64_t>();
}
// Use closest point instead.
end_point = astar.last_closest_point;
}
AStar3D::Point *p = end_point;
@ -786,6 +817,7 @@ Vector<int64_t> AStar2D::get_id_path(int64_t p_from_id, int64_t p_to_id) {
}
bool AStar2D::_solve(AStar3D::Point *begin_point, AStar3D::Point *end_point) {
astar.last_closest_point = nullptr;
astar.pass++;
if (!end_point->enabled) {
@ -799,11 +831,18 @@ bool AStar2D::_solve(AStar3D::Point *begin_point, AStar3D::Point *end_point) {
begin_point->g_score = 0;
begin_point->f_score = _estimate_cost(begin_point->id, end_point->id);
begin_point->abs_g_score = 0;
begin_point->abs_f_score = _estimate_cost(begin_point->id, end_point->id);
open_list.push_back(begin_point);
while (!open_list.is_empty()) {
AStar3D::Point *p = open_list[0]; // The currently processed point.
// Find point closer to end_point, or same distance to end_point but closer to begin_point.
if (astar.last_closest_point == nullptr || astar.last_closest_point->abs_f_score > p->abs_f_score || (astar.last_closest_point->abs_f_score >= p->abs_f_score && astar.last_closest_point->abs_g_score > p->abs_g_score)) {
astar.last_closest_point = p;
}
if (p == end_point) {
found_route = true;
break;
@ -835,6 +874,8 @@ bool AStar2D::_solve(AStar3D::Point *begin_point, AStar3D::Point *end_point) {
e->prev_point = p;
e->g_score = tentative_g_score;
e->f_score = e->g_score + _estimate_cost(e->id, end_point->id);
e->abs_g_score = tentative_g_score;
e->abs_f_score = e->f_score - e->g_score;
if (new_point) { // The position of the new points is already known.
sorter.push_heap(0, open_list.size() - 1, 0, e, open_list.ptr());
@ -874,8 +915,8 @@ void AStar2D::_bind_methods() {
ClassDB::bind_method(D_METHOD("get_closest_point", "to_position", "include_disabled"), &AStar2D::get_closest_point, DEFVAL(false));
ClassDB::bind_method(D_METHOD("get_closest_position_in_segment", "to_position"), &AStar2D::get_closest_position_in_segment);
ClassDB::bind_method(D_METHOD("get_point_path", "from_id", "to_id"), &AStar2D::get_point_path);
ClassDB::bind_method(D_METHOD("get_id_path", "from_id", "to_id"), &AStar2D::get_id_path);
ClassDB::bind_method(D_METHOD("get_point_path", "from_id", "to_id", "allow_partial_path"), &AStar2D::get_point_path, DEFVAL(false));
ClassDB::bind_method(D_METHOD("get_id_path", "from_id", "to_id", "allow_partial_path"), &AStar2D::get_id_path, DEFVAL(false));
GDVIRTUAL_BIND(_estimate_cost, "from_id", "to_id")
GDVIRTUAL_BIND(_compute_cost, "from_id", "to_id")

25
core/math/a_star.h
View File

@ -60,6 +60,10 @@ class AStar3D : public RefCounted {
real_t f_score = 0;
uint64_t open_pass = 0;
uint64_t closed_pass = 0;
// Used for getting closest_point_of_last_pathing_call.
real_t abs_g_score = 0;
real_t abs_f_score = 0;
};
struct SortPoints {
@ -109,6 +113,7 @@ class AStar3D : public RefCounted {
OAHashMap<int64_t, Point *> points;
HashSet<Segment, Segment> segments;
Point *last_closest_point = nullptr;
bool _solve(Point *begin_point, Point *end_point);
@ -121,6 +126,12 @@ protected:
GDVIRTUAL2RC(real_t, _estimate_cost, int64_t, int64_t)
GDVIRTUAL2RC(real_t, _compute_cost, int64_t, int64_t)
#ifndef DISABLE_DEPRECATED
Vector<int64_t> _get_id_path_bind_compat_88047(int64_t p_from_id, int64_t p_to_id);
Vector<Vector3> _get_point_path_bind_compat_88047(int64_t p_from_id, int64_t p_to_id);
static void _bind_compatibility_methods();
#endif
public:
int64_t get_available_point_id() const;
@ -149,8 +160,8 @@ public:
int64_t get_closest_point(const Vector3 &p_point, bool p_include_disabled = false) const;
Vector3 get_closest_position_in_segment(const Vector3 &p_point) const;
Vector<Vector3> get_point_path(int64_t p_from_id, int64_t p_to_id);
Vector<int64_t> get_id_path(int64_t p_from_id, int64_t p_to_id);
Vector<Vector3> get_point_path(int64_t p_from_id, int64_t p_to_id, bool p_allow_partial_path = false);
Vector<int64_t> get_id_path(int64_t p_from_id, int64_t p_to_id, bool p_allow_partial_path = false);
AStar3D() {}
~AStar3D();
@ -171,6 +182,12 @@ protected:
GDVIRTUAL2RC(real_t, _estimate_cost, int64_t, int64_t)
GDVIRTUAL2RC(real_t, _compute_cost, int64_t, int64_t)
#ifndef DISABLE_DEPRECATED
Vector<int64_t> _get_id_path_bind_compat_88047(int64_t p_from_id, int64_t p_to_id);
Vector<Vector2> _get_point_path_bind_compat_88047(int64_t p_from_id, int64_t p_to_id);
static void _bind_compatibility_methods();
#endif
public:
int64_t get_available_point_id() const;
@ -199,8 +216,8 @@ public:
int64_t get_closest_point(const Vector2 &p_point, bool p_include_disabled = false) const;
Vector2 get_closest_position_in_segment(const Vector2 &p_point) const;
Vector<Vector2> get_point_path(int64_t p_from_id, int64_t p_to_id);
Vector<int64_t> get_id_path(int64_t p_from_id, int64_t p_to_id);
Vector<Vector2> get_point_path(int64_t p_from_id, int64_t p_to_id, bool p_allow_partial_path = false);
Vector<int64_t> get_id_path(int64_t p_from_id, int64_t p_to_id, bool p_allow_partial_path = false);
AStar2D() {}
~AStar2D() {}

48
core/math/a_star_grid_2d.compat.inc Normal file
View File

@ -0,0 +1,48 @@
/**************************************************************************/
/* a_star_grid_2d.compat.inc */
/**************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
/* https://godotengine.org */
/**************************************************************************/
/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */
/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */
/* */
/* Permission is hereby granted, free of charge, to any person obtaining */
/* a copy of this software and associated documentation files (the */
/* "Software"), to deal in the Software without restriction, including */
/* without limitation the rights to use, copy, modify, merge, publish, */
/* distribute, sublicense, and/or sell copies of the Software, and to */
/* permit persons to whom the Software is furnished to do so, subject to */
/* the following conditions: */
/* */
/* The above copyright notice and this permission notice shall be */
/* included in all copies or substantial portions of the Software. */
/* */
/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */
/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
/**************************************************************************/
#ifndef DISABLE_DEPRECATED
#include "core/variant/typed_array.h"
TypedArray<Vector2i> AStarGrid2D::_get_id_path_bind_compat_88047(const Vector2i &p_from_id, const Vector2i &p_to_id) {
return get_id_path(p_from_id, p_to_id, false);
}
Vector<Vector2> AStarGrid2D::_get_point_path_bind_compat_88047(const Vector2i &p_from_id, const Vector2i &p_to_id) {
return get_point_path(p_from_id, p_to_id, false);
}
void AStarGrid2D::_bind_compatibility_methods() {
ClassDB::bind_compatibility_method(D_METHOD("get_id_path", "from_id", "to_id"), &AStarGrid2D::_get_id_path_bind_compat_88047);
ClassDB::bind_compatibility_method(D_METHOD("get_point_path", "from_id", "to_id"), &AStarGrid2D::_get_point_path_bind_compat_88047);
}
#endif // DISABLE_DEPRECATED

34
core/math/a_star_grid_2d.cpp
View File

@ -29,6 +29,7 @@
/**************************************************************************/
#include "a_star_grid_2d.h"
#include "a_star_grid_2d.compat.inc"
#include "core/variant/typed_array.h"
@ -446,6 +447,7 @@ void AStarGrid2D::_get_nbors(Point *p_point, LocalVector<Point *> &r_nbors) {
}
bool AStarGrid2D::_solve(Point *p_begin_point, Point *p_end_point) {
last_closest_point = nullptr;
pass++;
if (p_end_point->solid) {
@ -459,12 +461,19 @@ bool AStarGrid2D::_solve(Point *p_begin_point, Point *p_end_point) {
p_begin_point->g_score = 0;
p_begin_point->f_score = _estimate_cost(p_begin_point->id, p_end_point->id);
p_begin_point->abs_g_score = 0;
p_begin_point->abs_f_score = _estimate_cost(p_begin_point->id, p_end_point->id);
open_list.push_back(p_begin_point);
end = p_end_point;
while (!open_list.is_empty()) {
Point *p = open_list[0]; // The currently processed point.
// Find point closer to end_point, or same distance to end_point but closer to begin_point.
if (last_closest_point == nullptr || last_closest_point->abs_f_score > p->abs_f_score || (last_closest_point->abs_f_score >= p->abs_f_score && last_closest_point->abs_g_score > p->abs_g_score)) {
last_closest_point = p;
}
if (p == p_end_point) {
found_route = true;
break;
@ -508,6 +517,9 @@ bool AStarGrid2D::_solve(Point *p_begin_point, Point *p_end_point) {
e->g_score = tentative_g_score;
e->f_score = e->g_score + _estimate_cost(e->id, p_end_point->id);
e->abs_g_score = tentative_g_score;
e->abs_f_score = e->f_score - e->g_score;
if (new_point) { // The position of the new points is already known.
sorter.push_heap(0, open_list.size() - 1, 0, e, open_list.ptr());
} else {
@ -546,7 +558,7 @@ Vector2 AStarGrid2D::get_point_position(const Vector2i &p_id) const {
return _get_point_unchecked(p_id)->pos;
}
Vector<Vector2> AStarGrid2D::get_point_path(const Vector2i &p_from_id, const Vector2i &p_to_id) {
Vector<Vector2> AStarGrid2D::get_point_path(const Vector2i &p_from_id, const Vector2i &p_to_id, bool p_allow_partial_path) {
ERR_FAIL_COND_V_MSG(dirty, Vector<Vector2>(), "Grid is not initialized. Call the update method.");
ERR_FAIL_COND_V_MSG(!is_in_boundsv(p_from_id), Vector<Vector2>(), vformat("Can't get id path. Point %s out of bounds %s.", p_from_id, region));
ERR_FAIL_COND_V_MSG(!is_in_boundsv(p_to_id), Vector<Vector2>(), vformat("Can't get id path. Point %s out of bounds %s.", p_to_id, region));
@ -565,7 +577,12 @@ Vector<Vector2> AStarGrid2D::get_point_path(const Vector2i &p_from_id, const Vec
bool found_route = _solve(begin_point, end_point);
if (!found_route) {
return Vector<Vector2>();
if (!p_allow_partial_path || last_closest_point == nullptr) {
return Vector<Vector2>();
}
// Use closest point instead.
end_point = last_closest_point;
}
Point *p = end_point;
@ -594,7 +611,7 @@ Vector<Vector2> AStarGrid2D::get_point_path(const Vector2i &p_from_id, const Vec
return path;
}
TypedArray<Vector2i> AStarGrid2D::get_id_path(const Vector2i &p_from_id, const Vector2i &p_to_id) {
TypedArray<Vector2i> AStarGrid2D::get_id_path(const Vector2i &p_from_id, const Vector2i &p_to_id, bool p_allow_partial_path) {
ERR_FAIL_COND_V_MSG(dirty, TypedArray<Vector2i>(), "Grid is not initialized. Call the update method.");
ERR_FAIL_COND_V_MSG(!is_in_boundsv(p_from_id), TypedArray<Vector2i>(), vformat("Can't get id path. Point %s out of bounds %s.", p_from_id, region));
ERR_FAIL_COND_V_MSG(!is_in_boundsv(p_to_id), TypedArray<Vector2i>(), vformat("Can't get id path. Point %s out of bounds %s.", p_to_id, region));
@ -613,7 +630,12 @@ TypedArray<Vector2i> AStarGrid2D::get_id_path(const Vector2i &p_from_id, const V
bool found_route = _solve(begin_point, end_point);
if (!found_route) {
return TypedArray<Vector2i>();
if (!p_allow_partial_path || last_closest_point == nullptr) {
return TypedArray<Vector2i>();
}
// Use closest point instead.
end_point = last_closest_point;
}
Point *p = end_point;
@ -672,8 +694,8 @@ void AStarGrid2D::_bind_methods() {
ClassDB::bind_method(D_METHOD("clear"), &AStarGrid2D::clear);
ClassDB::bind_method(D_METHOD("get_point_position", "id"), &AStarGrid2D::get_point_position);
ClassDB::bind_method(D_METHOD("get_point_path", "from_id", "to_id"), &AStarGrid2D::get_point_path);
ClassDB::bind_method(D_METHOD("get_id_path", "from_id", "to_id"), &AStarGrid2D::get_id_path);
ClassDB::bind_method(D_METHOD("get_point_path", "from_id", "to_id", "allow_partial_path"), &AStarGrid2D::get_point_path, DEFVAL(false));
ClassDB::bind_method(D_METHOD("get_id_path", "from_id", "to_id", "allow_partial_path"), &AStarGrid2D::get_id_path, DEFVAL(false));
GDVIRTUAL_BIND(_estimate_cost, "from_id", "to_id")
GDVIRTUAL_BIND(_compute_cost, "from_id", "to_id")

15
core/math/a_star_grid_2d.h
View File

@ -89,6 +89,10 @@ private:
uint64_t open_pass = 0;
uint64_t closed_pass = 0;
// Used for getting last_closest_point.
real_t abs_g_score = 0;
real_t abs_f_score = 0;
Point() {}
Point(const Vector2i &p_id, const Vector2 &p_pos) :
@ -109,6 +113,7 @@ private:
LocalVector<LocalVector<Point>> points;
Point *end = nullptr;
Point *last_closest_point = nullptr;
uint64_t pass = 1;
@ -152,6 +157,12 @@ protected:
GDVIRTUAL2RC(real_t, _estimate_cost, Vector2i, Vector2i)
GDVIRTUAL2RC(real_t, _compute_cost, Vector2i, Vector2i)
#ifndef DISABLE_DEPRECATED
TypedArray<Vector2i> _get_id_path_bind_compat_88047(const Vector2i &p_from, const Vector2i &p_to);
Vector<Vector2> _get_point_path_bind_compat_88047(const Vector2i &p_from, const Vector2i &p_to);
static void _bind_compatibility_methods();
#endif
public:
void set_region(const Rect2i &p_region);
Rect2i get_region() const;
@ -198,8 +209,8 @@ public:
void clear();
Vector2 get_point_position(const Vector2i &p_id) const;
Vector<Vector2> get_point_path(const Vector2i &p_from, const Vector2i &p_to);
TypedArray<Vector2i> get_id_path(const Vector2i &p_from, const Vector2i &p_to);
Vector<Vector2> get_point_path(const Vector2i &p_from, const Vector2i &p_to, bool p_allow_partial_path = false);
TypedArray<Vector2i> get_id_path(const Vector2i &p_from, const Vector2i &p_to, bool p_allow_partial_path = false);
};
VARIANT_ENUM_CAST(AStarGrid2D::DiagonalMode);