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Merge pull request #59354 from Chaosus/astar3d

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Rémi Verschelde 2022-03-22 13:15:21 +01:00 committed by GitHub
commit 4c55a6529a
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7 changed files with 106 additions and 105 deletions
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144
core/math/a_star.cpp
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@ -33,7 +33,7 @@
#include "core/math/geometry_3d.h"
#include "core/object/script_language.h"
int AStar::get_available_point_id() const {
int AStar3D::get_available_point_id() const {
if (points.has(last_free_id)) {
int cur_new_id = last_free_id + 1;
while (points.has(cur_new_id)) {
@ -45,7 +45,7 @@ int AStar::get_available_point_id() const {
return last_free_id;
}
void AStar::add_point(int p_id, const Vector3 &p_pos, real_t p_weight_scale) {
void AStar3D::add_point(int p_id, const Vector3 &p_pos, real_t p_weight_scale) {
ERR_FAIL_COND_MSG(p_id < 0, vformat("Can't add a point with negative id: %d.", p_id));
ERR_FAIL_COND_MSG(p_weight_scale < 1, vformat("Can't add a point with weight scale less than one: %f.", p_weight_scale));
@ -68,7 +68,7 @@ void AStar::add_point(int p_id, const Vector3 &p_pos, real_t p_weight_scale) {
}
}
Vector3 AStar::get_point_position(int p_id) const {
Vector3 AStar3D::get_point_position(int p_id) const {
Point *p;
bool p_exists = points.lookup(p_id, p);
ERR_FAIL_COND_V_MSG(!p_exists, Vector3(), vformat("Can't get point's position. Point with id: %d doesn't exist.", p_id));
@ -76,7 +76,7 @@ Vector3 AStar::get_point_position(int p_id) const {
return p->pos;
}
void AStar::set_point_position(int p_id, const Vector3 &p_pos) {
void AStar3D::set_point_position(int p_id, const Vector3 &p_pos) {
Point *p;
bool p_exists = points.lookup(p_id, p);
ERR_FAIL_COND_MSG(!p_exists, vformat("Can't set point's position. Point with id: %d doesn't exist.", p_id));
@ -84,7 +84,7 @@ void AStar::set_point_position(int p_id, const Vector3 &p_pos) {
p->pos = p_pos;
}
real_t AStar::get_point_weight_scale(int p_id) const {
real_t AStar3D::get_point_weight_scale(int p_id) const {
Point *p;
bool p_exists = points.lookup(p_id, p);
ERR_FAIL_COND_V_MSG(!p_exists, 0, vformat("Can't get point's weight scale. Point with id: %d doesn't exist.", p_id));
@ -92,7 +92,7 @@ real_t AStar::get_point_weight_scale(int p_id) const {
return p->weight_scale;
}
void AStar::set_point_weight_scale(int p_id, real_t p_weight_scale) {
void AStar3D::set_point_weight_scale(int p_id, real_t p_weight_scale) {
Point *p;
bool p_exists = points.lookup(p_id, p);
ERR_FAIL_COND_MSG(!p_exists, vformat("Can't set point's weight scale. Point with id: %d doesn't exist.", p_id));
@ -101,7 +101,7 @@ void AStar::set_point_weight_scale(int p_id, real_t p_weight_scale) {
p->weight_scale = p_weight_scale;
}
void AStar::remove_point(int p_id) {
void AStar3D::remove_point(int p_id) {
Point *p;
bool p_exists = points.lookup(p_id, p);
ERR_FAIL_COND_MSG(!p_exists, vformat("Can't remove point. Point with id: %d doesn't exist.", p_id));
@ -127,7 +127,7 @@ void AStar::remove_point(int p_id) {
last_free_id = p_id;
}
void AStar::connect_points(int p_id, int p_with_id, bool bidirectional) {
void AStar3D::connect_points(int p_id, int p_with_id, bool bidirectional) {
ERR_FAIL_COND_MSG(p_id == p_with_id, vformat("Can't connect point with id: %d to itself.", p_id));
Point *a;
@ -165,7 +165,7 @@ void AStar::connect_points(int p_id, int p_with_id, bool bidirectional) {
segments.insert(s);
}
void AStar::disconnect_points(int p_id, int p_with_id, bool bidirectional) {
void AStar3D::disconnect_points(int p_id, int p_with_id, bool bidirectional) {
Point *a;
bool a_exists = points.lookup(p_id, a);
ERR_FAIL_COND_MSG(!a_exists, vformat("Can't disconnect points. Point with id: %d doesn't exist.", p_id));
@ -205,11 +205,11 @@ void AStar::disconnect_points(int p_id, int p_with_id, bool bidirectional) {
}
}
bool AStar::has_point(int p_id) const {
bool AStar3D::has_point(int p_id) const {
return points.has(p_id);
}
Array AStar::get_point_ids() {
Array AStar3D::get_point_ids() {
Array point_list;
for (OAHashMap<int, Point *>::Iterator it = points.iter(); it.valid; it = points.next_iter(it)) {
@ -219,7 +219,7 @@ Array AStar::get_point_ids() {
return point_list;
}
Vector<int> AStar::get_point_connections(int p_id) {
Vector<int> AStar3D::get_point_connections(int p_id) {
Point *p;
bool p_exists = points.lookup(p_id, p);
ERR_FAIL_COND_V_MSG(!p_exists, Vector<int>(), vformat("Can't get point's connections. Point with id: %d doesn't exist.", p_id));
@ -233,7 +233,7 @@ Vector<int> AStar::get_point_connections(int p_id) {
return point_list;
}
bool AStar::are_points_connected(int p_id, int p_with_id, bool bidirectional) const {
bool AStar3D::are_points_connected(int p_id, int p_with_id, bool bidirectional) const {
Segment s(p_id, p_with_id);
const Set<Segment>::Element *element = segments.find(s);
@ -241,7 +241,7 @@ bool AStar::are_points_connected(int p_id, int p_with_id, bool bidirectional) co
(bidirectional || (element->get().direction & s.direction) == s.direction);
}
void AStar::clear() {
void AStar3D::clear() {
last_free_id = 0;
for (OAHashMap<int, Point *>::Iterator it = points.iter(); it.valid; it = points.next_iter(it)) {
memdelete(*(it.value));
@ -250,21 +250,21 @@ void AStar::clear() {
points.clear();
}
int AStar::get_point_count() const {
int AStar3D::get_point_count() const {
return points.get_num_elements();
}
int AStar::get_point_capacity() const {
int AStar3D::get_point_capacity() const {
return points.get_capacity();
}
void AStar::reserve_space(int p_num_nodes) {
void AStar3D::reserve_space(int p_num_nodes) {
ERR_FAIL_COND_MSG(p_num_nodes <= 0, vformat("New capacity must be greater than 0, new was: %d.", p_num_nodes));
ERR_FAIL_COND_MSG((uint32_t)p_num_nodes < points.get_capacity(), vformat("New capacity must be greater than current capacity: %d, new was: %d.", points.get_capacity(), p_num_nodes));
points.reserve(p_num_nodes);
}
int AStar::get_closest_point(const Vector3 &p_point, bool p_include_disabled) const {
int AStar3D::get_closest_point(const Vector3 &p_point, bool p_include_disabled) const {
int closest_id = -1;
real_t closest_dist = 1e20;
@ -289,7 +289,7 @@ int AStar::get_closest_point(const Vector3 &p_point, bool p_include_disabled) co
return closest_id;
}
Vector3 AStar::get_closest_position_in_segment(const Vector3 &p_point) const {
Vector3 AStar3D::get_closest_position_in_segment(const Vector3 &p_point) const {
real_t closest_dist = 1e20;
Vector3 closest_point;
@ -318,7 +318,7 @@ Vector3 AStar::get_closest_position_in_segment(const Vector3 &p_point) const {
return closest_point;
}
bool AStar::_solve(Point *begin_point, Point *end_point) {
bool AStar3D::_solve(Point *begin_point, Point *end_point) {
pass++;
if (!end_point->enabled) {
@ -380,7 +380,7 @@ bool AStar::_solve(Point *begin_point, Point *end_point) {
return found_route;
}
real_t AStar::_estimate_cost(int p_from_id, int p_to_id) {
real_t AStar3D::_estimate_cost(int p_from_id, int p_to_id) {
real_t scost;
if (GDVIRTUAL_CALL(_estimate_cost, p_from_id, p_to_id, scost)) {
return scost;
@ -397,7 +397,7 @@ real_t AStar::_estimate_cost(int p_from_id, int p_to_id) {
return from_point->pos.distance_to(to_point->pos);
}
real_t AStar::_compute_cost(int p_from_id, int p_to_id) {
real_t AStar3D::_compute_cost(int p_from_id, int p_to_id) {
real_t scost;
if (GDVIRTUAL_CALL(_compute_cost, p_from_id, p_to_id, scost)) {
return scost;
@ -414,7 +414,7 @@ real_t AStar::_compute_cost(int p_from_id, int p_to_id) {
return from_point->pos.distance_to(to_point->pos);
}
Vector<Vector3> AStar::get_point_path(int p_from_id, int p_to_id) {
Vector<Vector3> AStar3D::get_point_path(int p_from_id, int p_to_id) {
Point *a;
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));
@ -463,7 +463,7 @@ Vector<Vector3> AStar::get_point_path(int p_from_id, int p_to_id) {
return path;
}
Vector<int> AStar::get_id_path(int p_from_id, int p_to_id) {
Vector<int> AStar3D::get_id_path(int p_from_id, int p_to_id) {
Point *a;
bool from_exists = points.lookup(p_from_id, a);
ERR_FAIL_COND_V_MSG(!from_exists, Vector<int>(), vformat("Can't get id path. Point with id: %d doesn't exist.", p_from_id));
@ -512,7 +512,7 @@ Vector<int> AStar::get_id_path(int p_from_id, int p_to_id) {
return path;
}
void AStar::set_point_disabled(int p_id, bool p_disabled) {
void AStar3D::set_point_disabled(int p_id, bool p_disabled) {
Point *p;
bool p_exists = points.lookup(p_id, p);
ERR_FAIL_COND_MSG(!p_exists, vformat("Can't set if point is disabled. Point with id: %d doesn't exist.", p_id));
@ -520,7 +520,7 @@ void AStar::set_point_disabled(int p_id, bool p_disabled) {
p->enabled = !p_disabled;
}
bool AStar::is_point_disabled(int p_id) const {
bool AStar3D::is_point_disabled(int p_id) const {
Point *p;
bool p_exists = points.lookup(p_id, p);
ERR_FAIL_COND_V_MSG(!p_exists, false, vformat("Can't get if point is disabled. Point with id: %d doesn't exist.", p_id));
@ -528,41 +528,41 @@ bool AStar::is_point_disabled(int p_id) const {
return !p->enabled;
}
void AStar::_bind_methods() {
ClassDB::bind_method(D_METHOD("get_available_point_id"), &AStar::get_available_point_id);
ClassDB::bind_method(D_METHOD("add_point", "id", "position", "weight_scale"), &AStar::add_point, DEFVAL(1.0));
ClassDB::bind_method(D_METHOD("get_point_position", "id"), &AStar::get_point_position);
ClassDB::bind_method(D_METHOD("set_point_position", "id", "position"), &AStar::set_point_position);
ClassDB::bind_method(D_METHOD("get_point_weight_scale", "id"), &AStar::get_point_weight_scale);
ClassDB::bind_method(D_METHOD("set_point_weight_scale", "id", "weight_scale"), &AStar::set_point_weight_scale);
ClassDB::bind_method(D_METHOD("remove_point", "id"), &AStar::remove_point);
ClassDB::bind_method(D_METHOD("has_point", "id"), &AStar::has_point);
ClassDB::bind_method(D_METHOD("get_point_connections", "id"), &AStar::get_point_connections);
ClassDB::bind_method(D_METHOD("get_point_ids"), &AStar::get_point_ids);
void AStar3D::_bind_methods() {
ClassDB::bind_method(D_METHOD("get_available_point_id"), &AStar3D::get_available_point_id);
ClassDB::bind_method(D_METHOD("add_point", "id", "position", "weight_scale"), &AStar3D::add_point, DEFVAL(1.0));
ClassDB::bind_method(D_METHOD("get_point_position", "id"), &AStar3D::get_point_position);
ClassDB::bind_method(D_METHOD("set_point_position", "id", "position"), &AStar3D::set_point_position);
ClassDB::bind_method(D_METHOD("get_point_weight_scale", "id"), &AStar3D::get_point_weight_scale);
ClassDB::bind_method(D_METHOD("set_point_weight_scale", "id", "weight_scale"), &AStar3D::set_point_weight_scale);
ClassDB::bind_method(D_METHOD("remove_point", "id"), &AStar3D::remove_point);
ClassDB::bind_method(D_METHOD("has_point", "id"), &AStar3D::has_point);
ClassDB::bind_method(D_METHOD("get_point_connections", "id"), &AStar3D::get_point_connections);
ClassDB::bind_method(D_METHOD("get_point_ids"), &AStar3D::get_point_ids);
ClassDB::bind_method(D_METHOD("set_point_disabled", "id", "disabled"), &AStar::set_point_disabled, DEFVAL(true));
ClassDB::bind_method(D_METHOD("is_point_disabled", "id"), &AStar::is_point_disabled);
ClassDB::bind_method(D_METHOD("set_point_disabled", "id", "disabled"), &AStar3D::set_point_disabled, DEFVAL(true));
ClassDB::bind_method(D_METHOD("is_point_disabled", "id"), &AStar3D::is_point_disabled);
ClassDB::bind_method(D_METHOD("connect_points", "id", "to_id", "bidirectional"), &AStar::connect_points, DEFVAL(true));
ClassDB::bind_method(D_METHOD("disconnect_points", "id", "to_id", "bidirectional"), &AStar::disconnect_points, DEFVAL(true));
ClassDB::bind_method(D_METHOD("are_points_connected", "id", "to_id", "bidirectional"), &AStar::are_points_connected, DEFVAL(true));
ClassDB::bind_method(D_METHOD("connect_points", "id", "to_id", "bidirectional"), &AStar3D::connect_points, DEFVAL(true));
ClassDB::bind_method(D_METHOD("disconnect_points", "id", "to_id", "bidirectional"), &AStar3D::disconnect_points, DEFVAL(true));
ClassDB::bind_method(D_METHOD("are_points_connected", "id", "to_id", "bidirectional"), &AStar3D::are_points_connected, DEFVAL(true));
ClassDB::bind_method(D_METHOD("get_point_count"), &AStar::get_point_count);
ClassDB::bind_method(D_METHOD("get_point_capacity"), &AStar::get_point_capacity);
ClassDB::bind_method(D_METHOD("reserve_space", "num_nodes"), &AStar::reserve_space);
ClassDB::bind_method(D_METHOD("clear"), &AStar::clear);
ClassDB::bind_method(D_METHOD("get_point_count"), &AStar3D::get_point_count);
ClassDB::bind_method(D_METHOD("get_point_capacity"), &AStar3D::get_point_capacity);
ClassDB::bind_method(D_METHOD("reserve_space", "num_nodes"), &AStar3D::reserve_space);
ClassDB::bind_method(D_METHOD("clear"), &AStar3D::clear);
ClassDB::bind_method(D_METHOD("get_closest_point", "to_position", "include_disabled"), &AStar::get_closest_point, DEFVAL(false));
ClassDB::bind_method(D_METHOD("get_closest_position_in_segment", "to_position"), &AStar::get_closest_position_in_segment);
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"), &AStar::get_point_path);
ClassDB::bind_method(D_METHOD("get_id_path", "from_id", "to_id"), &AStar::get_id_path);
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);
GDVIRTUAL_BIND(_estimate_cost, "from_id", "to_id")
GDVIRTUAL_BIND(_compute_cost, "from_id", "to_id")
}
AStar::~AStar() {
AStar3D::~AStar3D() {
clear();
}
@ -660,11 +660,11 @@ real_t AStar2D::_estimate_cost(int p_from_id, int p_to_id) {
return scost;
}
AStar::Point *from_point;
AStar3D::Point *from_point;
bool from_exists = astar.points.lookup(p_from_id, from_point);
ERR_FAIL_COND_V_MSG(!from_exists, 0, vformat("Can't estimate cost. Point with id: %d doesn't exist.", p_from_id));
AStar::Point *to_point;
AStar3D::Point *to_point;
bool to_exists = astar.points.lookup(p_to_id, to_point);
ERR_FAIL_COND_V_MSG(!to_exists, 0, vformat("Can't estimate cost. Point with id: %d doesn't exist.", p_to_id));
@ -677,11 +677,11 @@ real_t AStar2D::_compute_cost(int p_from_id, int p_to_id) {
return scost;
}
AStar::Point *from_point;
AStar3D::Point *from_point;
bool from_exists = astar.points.lookup(p_from_id, from_point);
ERR_FAIL_COND_V_MSG(!from_exists, 0, vformat("Can't compute cost. Point with id: %d doesn't exist.", p_from_id));
AStar::Point *to_point;
AStar3D::Point *to_point;
bool to_exists = astar.points.lookup(p_to_id, to_point);
ERR_FAIL_COND_V_MSG(!to_exists, 0, vformat("Can't compute cost. Point with id: %d doesn't exist.", p_to_id));
@ -689,11 +689,11 @@ real_t AStar2D::_compute_cost(int p_from_id, int p_to_id) {
}
Vector<Vector2> AStar2D::get_point_path(int p_from_id, int p_to_id) {
AStar::Point *a;
AStar3D::Point *a;
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));
AStar::Point *b;
AStar3D::Point *b;
bool to_exists = astar.points.lookup(p_to_id, b);
ERR_FAIL_COND_V_MSG(!to_exists, Vector<Vector2>(), vformat("Can't get point path. Point with id: %d doesn't exist.", p_to_id));
@ -702,15 +702,15 @@ Vector<Vector2> AStar2D::get_point_path(int p_from_id, int p_to_id) {
return ret;
}
AStar::Point *begin_point = a;
AStar::Point *end_point = b;
AStar3D::Point *begin_point = a;
AStar3D::Point *end_point = b;
bool found_route = _solve(begin_point, end_point);
if (!found_route) {
return Vector<Vector2>();
}
AStar::Point *p = end_point;
AStar3D::Point *p = end_point;
int pc = 1; // Begin point
while (p != begin_point) {
pc++;
@ -723,7 +723,7 @@ Vector<Vector2> AStar2D::get_point_path(int p_from_id, int p_to_id) {
{
Vector2 *w = path.ptrw();
AStar::Point *p2 = end_point;
AStar3D::Point *p2 = end_point;
int idx = pc - 1;
while (p2 != begin_point) {
w[idx--] = Vector2(p2->pos.x, p2->pos.y);
@ -737,11 +737,11 @@ Vector<Vector2> AStar2D::get_point_path(int p_from_id, int p_to_id) {
}
Vector<int> AStar2D::get_id_path(int p_from_id, int p_to_id) {
AStar::Point *a;
AStar3D::Point *a;
bool from_exists = astar.points.lookup(p_from_id, a);
ERR_FAIL_COND_V_MSG(!from_exists, Vector<int>(), vformat("Can't get id path. Point with id: %d doesn't exist.", p_from_id));
AStar::Point *b;
AStar3D::Point *b;
bool to_exists = astar.points.lookup(p_to_id, b);
ERR_FAIL_COND_V_MSG(!to_exists, Vector<int>(), vformat("Can't get id path. Point with id: %d doesn't exist.", p_to_id));
@ -751,15 +751,15 @@ Vector<int> AStar2D::get_id_path(int p_from_id, int p_to_id) {
return ret;
}
AStar::Point *begin_point = a;
AStar::Point *end_point = b;
AStar3D::Point *begin_point = a;
AStar3D::Point *end_point = b;
bool found_route = _solve(begin_point, end_point);
if (!found_route) {
return Vector<int>();
}
AStar::Point *p = end_point;
AStar3D::Point *p = end_point;
int pc = 1; // Begin point
while (p != begin_point) {
pc++;
@ -785,7 +785,7 @@ Vector<int> AStar2D::get_id_path(int p_from_id, int p_to_id) {
return path;
}
bool AStar2D::_solve(AStar::Point *begin_point, AStar::Point *end_point) {
bool AStar2D::_solve(AStar3D::Point *begin_point, AStar3D::Point *end_point) {
astar.pass++;
if (!end_point->enabled) {
@ -794,15 +794,15 @@ bool AStar2D::_solve(AStar::Point *begin_point, AStar::Point *end_point) {
bool found_route = false;
Vector<AStar::Point *> open_list;
SortArray<AStar::Point *, AStar::SortPoints> sorter;
Vector<AStar3D::Point *> open_list;
SortArray<AStar3D::Point *, AStar3D::SortPoints> sorter;
begin_point->g_score = 0;
begin_point->f_score = _estimate_cost(begin_point->id, end_point->id);
open_list.push_back(begin_point);
while (!open_list.is_empty()) {
AStar::Point *p = open_list[0]; // The currently processed point
AStar3D::Point *p = open_list[0]; // The currently processed point
if (p == end_point) {
found_route = true;
@ -813,8 +813,8 @@ bool AStar2D::_solve(AStar::Point *begin_point, AStar::Point *end_point) {
open_list.remove_at(open_list.size() - 1);
p->closed_pass = astar.pass; // Mark the point as closed
for (OAHashMap<int, AStar::Point *>::Iterator it = p->neighbours.iter(); it.valid; it = p->neighbours.next_iter(it)) {
AStar::Point *e = *(it.value); // The neighbour point
for (OAHashMap<int, AStar3D::Point *>::Iterator it = p->neighbours.iter(); it.valid; it = p->neighbours.next_iter(it)) {
AStar3D::Point *e = *(it.value); // The neighbour point
if (!e->enabled || e->closed_pass == astar.pass) {
continue;

12
core/math/a_star.h
View File

@ -40,8 +40,8 @@
A* pathfinding algorithm.
*/
class AStar : public RefCounted {
GDCLASS(AStar, RefCounted);
class AStar3D : public RefCounted {
GDCLASS(AStar3D, RefCounted);
friend class AStar2D;
struct Point {
@ -156,15 +156,15 @@ public:
Vector<Vector3> get_point_path(int p_from_id, int p_to_id);
Vector<int> get_id_path(int p_from_id, int p_to_id);
AStar() {}
~AStar();
AStar3D() {}
~AStar3D();
};
class AStar2D : public RefCounted {
GDCLASS(AStar2D, RefCounted);
AStar astar;
AStar3D astar;
bool _solve(AStar::Point *begin_point, AStar::Point *end_point);
bool _solve(AStar3D::Point *begin_point, AStar3D::Point *end_point);
protected:
static void _bind_methods();

2
core/register_core_types.cpp
View File

@ -227,7 +227,7 @@ void register_core_types() {
GDREGISTER_CLASS(PackedDataContainer);
GDREGISTER_ABSTRACT_CLASS(PackedDataContainerRef);
GDREGISTER_CLASS(AStar);
GDREGISTER_CLASS(AStar3D);
GDREGISTER_CLASS(AStar2D);
GDREGISTER_CLASS(EncodedObjectAsID);
GDREGISTER_CLASS(RandomNumberGenerator);

2
doc/classes/AStar2D.xml
View File

@ -4,7 +4,7 @@
AStar class representation that uses 2D vectors as edges.
</brief_description>
<description>
This is a wrapper for the [AStar] class which uses 2D vectors instead of 3D vectors.
This is a wrapper for the [AStar3D] class which uses 2D vectors instead of 3D vectors.
</description>
<tutorials>
</tutorials>

36
doc/classes/AStar.xml → doc/classes/AStar3D.xml
View File

@ -1,16 +1,16 @@
<?xml version="1.0" encoding="UTF-8" ?>
<class name="AStar" inherits="RefCounted" version="4.0" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="../class.xsd">
<class name="AStar3D" inherits="RefCounted" version="4.0" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="../class.xsd">
<brief_description>
An implementation of A* to find the shortest paths among connected points in space.
</brief_description>
<description>
A* (A star) is a computer algorithm that is widely used in pathfinding and graph traversal, the process of plotting short paths among vertices (points), passing through a given set of edges (segments). It enjoys widespread use due to its performance and accuracy. Godot's A* implementation uses points in three-dimensional space and Euclidean distances by default.
You must add points manually with [method add_point] and create segments manually with [method connect_points]. Then you can test if there is a path between two points with the [method are_points_connected] function, get a path containing indices by [method get_id_path], or one containing actual coordinates with [method get_point_path].
It is also possible to use non-Euclidean distances. To do so, create a class that extends [code]AStar[/code] and override methods [method _compute_cost] and [method _estimate_cost]. Both take two indices and return a length, as is shown in the following example.
It is also possible to use non-Euclidean distances. To do so, create a class that extends [code]AStar3D[/code] and override methods [method _compute_cost] and [method _estimate_cost]. Both take two indices and return a length, as is shown in the following example.
[codeblocks]
[gdscript]
class MyAStar:
extends AStar
extends AStar3D
func _compute_cost(u, v):
return abs(u - v)
@ -19,7 +19,7 @@
return min(0, abs(u - v) - 1)
[/gdscript]
[csharp]
public class MyAStar : AStar
public class MyAStar : AStar3D
{
public override float _ComputeCost(int u, int v)
{
@ -44,7 +44,7 @@
<argument index="1" name="to_id" type="int" />
<description>
Called when computing the cost between two connected points.
Note that this function is hidden in the default [code]AStar[/code] class.
Note that this function is hidden in the default [code]AStar3D[/code] class.
</description>
</method>
<method name="_estimate_cost" qualifiers="virtual const">
@ -53,7 +53,7 @@
<argument index="1" name="to_id" type="int" />
<description>
Called when estimating the cost between a point and the path's ending point.
Note that this function is hidden in the default [code]AStar[/code] class.
Note that this function is hidden in the default [code]AStar3D[/code] class.
</description>
</method>
<method name="add_point">
@ -66,11 +66,11 @@
The [code]weight_scale[/code] is multiplied by the result of [method _compute_cost] when determining the overall cost of traveling across a segment from a neighboring point to this point. Thus, all else being equal, the algorithm prefers points with lower [code]weight_scale[/code]s to form a path.
[codeblocks]
[gdscript]
var astar = AStar.new()
var astar = AStar3D.new()
astar.add_point(1, Vector3(1, 0, 0), 4) # Adds the point (1, 0, 0) with weight_scale 4 and id 1
[/gdscript]
[csharp]
var astar = new AStar();
var astar = new AStar3D();
astar.AddPoint(1, new Vector3(1, 0, 0), 4); // Adds the point (1, 0, 0) with weight_scale 4 and id 1
[/csharp]
[/codeblocks]
@ -101,13 +101,13 @@
Creates a segment between the given points. If [code]bidirectional[/code] is [code]false[/code], only movement from [code]id[/code] to [code]to_id[/code] is allowed, not the reverse direction.
[codeblocks]
[gdscript]
var astar = AStar.new()
var astar = AStar3D.new()
astar.add_point(1, Vector3(1, 1, 0))
astar.add_point(2, Vector3(0, 5, 0))
astar.connect_points(1, 2, false)
[/gdscript]
[csharp]
var astar = new AStar();
var astar = new AStar3D();
astar.AddPoint(1, new Vector3(1, 1, 0));
astar.AddPoint(2, new Vector3(0, 5, 0));
astar.ConnectPoints(1, 2, false);
@ -146,14 +146,14 @@
Returns the closest position to [code]to_position[/code] that resides inside a segment between two connected points.
[codeblocks]
[gdscript]
var astar = AStar.new()
var astar = AStar3D.new()
astar.add_point(1, Vector3(0, 0, 0))
astar.add_point(2, Vector3(0, 5, 0))
astar.connect_points(1, 2)
var res = astar.get_closest_position_in_segment(Vector3(3, 3, 0)) # Returns (0, 3, 0)
[/gdscript]
[csharp]
var astar = new AStar();
var astar = new AStar3D();
astar.AddPoint(1, new Vector3(0, 0, 0));
astar.AddPoint(2, new Vector3(0, 5, 0));
astar.ConnectPoints(1, 2);
@ -168,10 +168,10 @@
<argument index="0" name="from_id" type="int" />
<argument index="1" name="to_id" type="int" />
<description>
Returns an array with the IDs of the points that form the path found by AStar between the given points. The array is ordered from the starting point to the ending point of the path.
Returns an array with the IDs of the points that form the path found by AStar3D between the given points. The array is ordered from the starting point to the ending point of the path.
[codeblocks]
[gdscript]
var astar = AStar.new()
var astar = AStar3D.new()
astar.add_point(1, Vector3(0, 0, 0))
astar.add_point(2, Vector3(0, 1, 0), 1) # Default weight is 1
astar.add_point(3, Vector3(1, 1, 0))
@ -185,7 +185,7 @@
var res = astar.get_id_path(1, 3) # Returns [1, 2, 3]
[/gdscript]
[csharp]
var astar = new AStar();
var astar = new AStar3D();
astar.AddPoint(1, new Vector3(0, 0, 0));
astar.AddPoint(2, new Vector3(0, 1, 0), 1); // Default weight is 1
astar.AddPoint(3, new Vector3(1, 1, 0));
@ -213,7 +213,7 @@
Returns an array with the IDs of the points that form the connection with the given point.
[codeblocks]
[gdscript]
var astar = AStar.new()
var astar = AStar3D.new()
astar.add_point(1, Vector3(0, 0, 0))
astar.add_point(2, Vector3(0, 1, 0))
astar.add_point(3, Vector3(1, 1, 0))
@ -225,7 +225,7 @@
var neighbors = astar.get_point_connections(1) # Returns [2, 3]
[/gdscript]
[csharp]
var astar = new AStar();
var astar = new AStar3D();
astar.AddPoint(1, new Vector3(0, 0, 0));
astar.AddPoint(2, new Vector3(0, 1, 0));
astar.AddPoint(3, new Vector3(1, 1, 0));
@ -255,7 +255,7 @@
<argument index="0" name="from_id" type="int" />
<argument index="1" name="to_id" type="int" />
<description>
Returns an array with the points that are in the path found by AStar between the given points. The array is ordered from the starting point to the ending point of the path.
Returns an array with the points that are in the path found by AStar3D between the given points. The array is ordered from the starting point to the ending point of the path.
[b]Note:[/b] This method is not thread-safe. If called from a [Thread], it will return an empty [PackedVector3Array] and will print an error message.
</description>
</method>

1
scene/register_scene_types.cpp
View File

@ -895,6 +895,7 @@ void register_scene_types() {
#ifndef DISABLE_DEPRECATED
// Dropped in 4.0, near approximation.
ClassDB::add_compatibility_class("AnimationTreePlayer", "AnimationTree");
ClassDB::add_compatibility_class("AStar", "AStar3D");
ClassDB::add_compatibility_class("BitmapFont", "Font");
ClassDB::add_compatibility_class("DynamicFont", "Font");
ClassDB::add_compatibility_class("DynamicFontData", "FontData");

14
tests/core/math/test_astar.h
View File

@ -37,7 +37,7 @@
namespace TestAStar {
class ABCX : public AStar {
class ABCX : public AStar3D {
public:
enum {
A,
@ -66,7 +66,7 @@ public:
}
};
TEST_CASE("[AStar] ABC path") {
TEST_CASE("[AStar3D] ABC path") {
ABCX abcx;
Vector<int> path = abcx.get_id_path(ABCX::A, ABCX::C);
REQUIRE(path.size() == 3);
@ -75,7 +75,7 @@ TEST_CASE("[AStar] ABC path") {
CHECK(path[2] == ABCX::C);
}
TEST_CASE("[AStar] ABCX path") {
TEST_CASE("[AStar3D] ABCX path") {
ABCX abcx;
Vector<int> path = abcx.get_id_path(ABCX::X, ABCX::C);
REQUIRE(path.size() == 4);
@ -85,8 +85,8 @@ TEST_CASE("[AStar] ABCX path") {
CHECK(path[3] == ABCX::C);
}
TEST_CASE("[AStar] Add/Remove") {
AStar a;
TEST_CASE("[AStar3D] Add/Remove") {
AStar3D a;
// Manual tests.
a.add_point(1, Vector3(0, 0, 0));
@ -213,13 +213,13 @@ TEST_CASE("[AStar] Add/Remove") {
// It's been great work, cheers. \(^ ^)/
}
TEST_CASE("[Stress][AStar] Find paths") {
TEST_CASE("[Stress][AStar3D] Find paths") {
// Random stress tests with Floyd-Warshall.
const int N = 30;
Math::seed(0);
for (int test = 0; test < 1000; test++) {
AStar a;
AStar3D a;
Vector3 p[N];
bool adj[N][N] = { { false } };