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Merge pull request #59354 from Chaosus/astar3d

This commit is contained in:
Rémi Verschelde 2022-03-22 13:15:21 +01:00 committed by GitHub
parent 7538ad81ac 7913e04950
commit 4c55a6529a
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GPG Key ID: 4AEE18F83AFDEB23
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/math/geometry_3d.h"
#include "core/object/script_language.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)) { if (points.has(last_free_id)) {
int cur_new_id = last_free_id + 1; int cur_new_id = last_free_id + 1;
while (points.has(cur_new_id)) { while (points.has(cur_new_id)) {
@ -45,7 +45,7 @@ int AStar::get_available_point_id() const {
return last_free_id; 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_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)); 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; Point *p;
bool p_exists = points.lookup(p_id, 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)); 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; 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; Point *p;
bool p_exists = points.lookup(p_id, 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)); 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; 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; Point *p;
bool p_exists = points.lookup(p_id, 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)); 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; 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; Point *p;
bool p_exists = points.lookup(p_id, 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)); 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; p->weight_scale = p_weight_scale;
} }
void AStar::remove_point(int p_id) { void AStar3D::remove_point(int p_id) {
Point *p; Point *p;
bool p_exists = points.lookup(p_id, 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)); 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; 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)); ERR_FAIL_COND_MSG(p_id == p_with_id, vformat("Can't connect point with id: %d to itself.", p_id));
Point *a; Point *a;
@ -165,7 +165,7 @@ void AStar::connect_points(int p_id, int p_with_id, bool bidirectional) {
segments.insert(s); 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; Point *a;
bool a_exists = points.lookup(p_id, 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)); 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); return points.has(p_id);
} }
Array AStar::get_point_ids() { Array AStar3D::get_point_ids() {
Array point_list; Array point_list;
for (OAHashMap<int, Point *>::Iterator it = points.iter(); it.valid; it = points.next_iter(it)) { 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; return point_list;
} }
Vector<int> AStar::get_point_connections(int p_id) { Vector<int> AStar3D::get_point_connections(int p_id) {
Point *p; Point *p;
bool p_exists = points.lookup(p_id, 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)); 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; 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); Segment s(p_id, p_with_id);
const Set<Segment>::Element *element = segments.find(s); 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); (bidirectional || (element->get().direction & s.direction) == s.direction);
} }
void AStar::clear() { void AStar3D::clear() {
last_free_id = 0; last_free_id = 0;
for (OAHashMap<int, Point *>::Iterator it = points.iter(); it.valid; it = points.next_iter(it)) { for (OAHashMap<int, Point *>::Iterator it = points.iter(); it.valid; it = points.next_iter(it)) {
memdelete(*(it.value)); memdelete(*(it.value));
@ -250,21 +250,21 @@ void AStar::clear() {
points.clear(); points.clear();
} }
int AStar::get_point_count() const { int AStar3D::get_point_count() const {
return points.get_num_elements(); return points.get_num_elements();
} }
int AStar::get_point_capacity() const { int AStar3D::get_point_capacity() const {
return points.get_capacity(); 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(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)); 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); 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; int closest_id = -1;
real_t closest_dist = 1e20; 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; 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; real_t closest_dist = 1e20;
Vector3 closest_point; Vector3 closest_point;
@ -318,7 +318,7 @@ Vector3 AStar::get_closest_position_in_segment(const Vector3 &p_point) const {
return closest_point; return closest_point;
} }
bool AStar::_solve(Point *begin_point, Point *end_point) { bool AStar3D::_solve(Point *begin_point, Point *end_point) {
pass++; pass++;
if (!end_point->enabled) { if (!end_point->enabled) {
@ -380,7 +380,7 @@ bool AStar::_solve(Point *begin_point, Point *end_point) {
return found_route; 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; real_t scost;
if (GDVIRTUAL_CALL(_estimate_cost, p_from_id, p_to_id, scost)) { if (GDVIRTUAL_CALL(_estimate_cost, p_from_id, p_to_id, scost)) {
return 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); 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; real_t scost;
if (GDVIRTUAL_CALL(_compute_cost, p_from_id, p_to_id, scost)) { if (GDVIRTUAL_CALL(_compute_cost, p_from_id, p_to_id, scost)) {
return 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); 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; Point *a;
bool from_exists = points.lookup(p_from_id, 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)); 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; 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; Point *a;
bool from_exists = points.lookup(p_from_id, 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)); 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; 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; Point *p;
bool p_exists = points.lookup(p_id, 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)); 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; p->enabled = !p_disabled;
} }
bool AStar::is_point_disabled(int p_id) const { bool AStar3D::is_point_disabled(int p_id) const {
Point *p; Point *p;
bool p_exists = points.lookup(p_id, 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)); 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; return !p->enabled;
} }
void AStar::_bind_methods() { void AStar3D::_bind_methods() {
ClassDB::bind_method(D_METHOD("get_available_point_id"), &AStar::get_available_point_id); 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"), &AStar::add_point, DEFVAL(1.0)); 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"), &AStar::get_point_position); ClassDB::bind_method(D_METHOD("get_point_position", "id"), &AStar3D::get_point_position);
ClassDB::bind_method(D_METHOD("set_point_position", "id", "position"), &AStar::set_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"), &AStar::get_point_weight_scale); 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"), &AStar::set_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"), &AStar::remove_point); ClassDB::bind_method(D_METHOD("remove_point", "id"), &AStar3D::remove_point);
ClassDB::bind_method(D_METHOD("has_point", "id"), &AStar::has_point); ClassDB::bind_method(D_METHOD("has_point", "id"), &AStar3D::has_point);
ClassDB::bind_method(D_METHOD("get_point_connections", "id"), &AStar::get_point_connections); ClassDB::bind_method(D_METHOD("get_point_connections", "id"), &AStar3D::get_point_connections);
ClassDB::bind_method(D_METHOD("get_point_ids"), &AStar::get_point_ids); 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("set_point_disabled", "id", "disabled"), &AStar3D::set_point_disabled, DEFVAL(true));
ClassDB::bind_method(D_METHOD("is_point_disabled", "id"), &AStar::is_point_disabled); 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("connect_points", "id", "to_id", "bidirectional"), &AStar3D::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("disconnect_points", "id", "to_id", "bidirectional"), &AStar3D::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("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_count"), &AStar3D::get_point_count);
ClassDB::bind_method(D_METHOD("get_point_capacity"), &AStar::get_point_capacity); ClassDB::bind_method(D_METHOD("get_point_capacity"), &AStar3D::get_point_capacity);
ClassDB::bind_method(D_METHOD("reserve_space", "num_nodes"), &AStar::reserve_space); ClassDB::bind_method(D_METHOD("reserve_space", "num_nodes"), &AStar3D::reserve_space);
ClassDB::bind_method(D_METHOD("clear"), &AStar::clear); 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_point", "to_position", "include_disabled"), &AStar3D::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_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_point_path", "from_id", "to_id"), &AStar3D::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_id_path", "from_id", "to_id"), &AStar3D::get_id_path);
GDVIRTUAL_BIND(_estimate_cost, "from_id", "to_id") GDVIRTUAL_BIND(_estimate_cost, "from_id", "to_id")
GDVIRTUAL_BIND(_compute_cost, "from_id", "to_id") GDVIRTUAL_BIND(_compute_cost, "from_id", "to_id")
} }
AStar::~AStar() { AStar3D::~AStar3D() {
clear(); clear();
} }
@ -660,11 +660,11 @@ real_t AStar2D::_estimate_cost(int p_from_id, int p_to_id) {
return scost; return scost;
} }
AStar::Point *from_point; AStar3D::Point *from_point;
bool from_exists = astar.points.lookup(p_from_id, 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)); 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); 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)); 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; return scost;
} }
AStar::Point *from_point; AStar3D::Point *from_point;
bool from_exists = astar.points.lookup(p_from_id, 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)); 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); 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)); 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) { 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); 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)); 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); 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)); 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; return ret;
} }
AStar::Point *begin_point = a; AStar3D::Point *begin_point = a;
AStar::Point *end_point = b; AStar3D::Point *end_point = b;
bool found_route = _solve(begin_point, end_point); bool found_route = _solve(begin_point, end_point);
if (!found_route) { if (!found_route) {
return Vector<Vector2>(); return Vector<Vector2>();
} }
AStar::Point *p = end_point; AStar3D::Point *p = end_point;
int pc = 1; // Begin point int pc = 1; // Begin point
while (p != begin_point) { while (p != begin_point) {
pc++; pc++;
@ -723,7 +723,7 @@ Vector<Vector2> AStar2D::get_point_path(int p_from_id, int p_to_id) {
{ {
Vector2 *w = path.ptrw(); Vector2 *w = path.ptrw();
AStar::Point *p2 = end_point; AStar3D::Point *p2 = end_point;
int idx = pc - 1; int idx = pc - 1;
while (p2 != begin_point) { while (p2 != begin_point) {
w[idx--] = Vector2(p2->pos.x, p2->pos.y); 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) { 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); 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)); 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); 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)); 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; return ret;
} }
AStar::Point *begin_point = a; AStar3D::Point *begin_point = a;
AStar::Point *end_point = b; AStar3D::Point *end_point = b;
bool found_route = _solve(begin_point, end_point); bool found_route = _solve(begin_point, end_point);
if (!found_route) { if (!found_route) {
return Vector<int>(); return Vector<int>();
} }
AStar::Point *p = end_point; AStar3D::Point *p = end_point;
int pc = 1; // Begin point int pc = 1; // Begin point
while (p != begin_point) { while (p != begin_point) {
pc++; pc++;
@ -785,7 +785,7 @@ Vector<int> AStar2D::get_id_path(int p_from_id, int p_to_id) {
return path; 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++; astar.pass++;
if (!end_point->enabled) { if (!end_point->enabled) {
@ -794,15 +794,15 @@ bool AStar2D::_solve(AStar::Point *begin_point, AStar::Point *end_point) {
bool found_route = false; bool found_route = false;
Vector<AStar::Point *> open_list; Vector<AStar3D::Point *> open_list;
SortArray<AStar::Point *, AStar::SortPoints> sorter; SortArray<AStar3D::Point *, AStar3D::SortPoints> sorter;
begin_point->g_score = 0; begin_point->g_score = 0;
begin_point->f_score = _estimate_cost(begin_point->id, end_point->id); begin_point->f_score = _estimate_cost(begin_point->id, end_point->id);
open_list.push_back(begin_point); open_list.push_back(begin_point);
while (!open_list.is_empty()) { 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) { if (p == end_point) {
found_route = true; 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); open_list.remove_at(open_list.size() - 1);
p->closed_pass = astar.pass; // Mark the point as closed 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)) { for (OAHashMap<int, AStar3D::Point *>::Iterator it = p->neighbours.iter(); it.valid; it = p->neighbours.next_iter(it)) {
AStar::Point *e = *(it.value); // The neighbour point AStar3D::Point *e = *(it.value); // The neighbour point
if (!e->enabled || e->closed_pass == astar.pass) { if (!e->enabled || e->closed_pass == astar.pass) {
continue; continue;

12
core/math/a_star.h
View File

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

2
core/register_core_types.cpp
View File

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

2
doc/classes/AStar2D.xml
View File

@ -4,7 +4,7 @@
AStar class representation that uses 2D vectors as edges. AStar class representation that uses 2D vectors as edges.
</brief_description> </brief_description>
<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> </description>
<tutorials> <tutorials>
</tutorials> </tutorials>

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

@ -1,16 +1,16 @@
<?xml version="1.0" encoding="UTF-8" ?> <?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> <brief_description>
An implementation of A* to find the shortest paths among connected points in space. An implementation of A* to find the shortest paths among connected points in space.
</brief_description> </brief_description>
<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. 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]. 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] [codeblocks]
[gdscript] [gdscript]
class MyAStar: class MyAStar:
extends AStar extends AStar3D
func _compute_cost(u, v): func _compute_cost(u, v):
return abs(u - v) return abs(u - v)
@ -19,7 +19,7 @@
return min(0, abs(u - v) - 1) return min(0, abs(u - v) - 1)
[/gdscript] [/gdscript]
[csharp] [csharp]
public class MyAStar : AStar public class MyAStar : AStar3D
{ {
public override float _ComputeCost(int u, int v) public override float _ComputeCost(int u, int v)
{ {
@ -44,7 +44,7 @@
<argument index="1" name="to_id" type="int" /> <argument index="1" name="to_id" type="int" />
<description> <description>
Called when computing the cost between two connected points. 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> </description>
</method> </method>
<method name="_estimate_cost" qualifiers="virtual const"> <method name="_estimate_cost" qualifiers="virtual const">
@ -53,7 +53,7 @@
<argument index="1" name="to_id" type="int" /> <argument index="1" name="to_id" type="int" />
<description> <description>
Called when estimating the cost between a point and the path's ending point. 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> </description>
</method> </method>
<method name="add_point"> <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. 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] [codeblocks]
[gdscript] [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 astar.add_point(1, Vector3(1, 0, 0), 4) # Adds the point (1, 0, 0) with weight_scale 4 and id 1
[/gdscript] [/gdscript]
[csharp] [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 astar.AddPoint(1, new Vector3(1, 0, 0), 4); // Adds the point (1, 0, 0) with weight_scale 4 and id 1
[/csharp] [/csharp]
[/codeblocks] [/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. 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] [codeblocks]
[gdscript] [gdscript]
var astar = AStar.new() var astar = AStar3D.new()
astar.add_point(1, Vector3(1, 1, 0)) astar.add_point(1, Vector3(1, 1, 0))
astar.add_point(2, Vector3(0, 5, 0)) astar.add_point(2, Vector3(0, 5, 0))
astar.connect_points(1, 2, false) astar.connect_points(1, 2, false)
[/gdscript] [/gdscript]
[csharp] [csharp]
var astar = new AStar(); var astar = new AStar3D();
astar.AddPoint(1, new Vector3(1, 1, 0)); astar.AddPoint(1, new Vector3(1, 1, 0));
astar.AddPoint(2, new Vector3(0, 5, 0)); astar.AddPoint(2, new Vector3(0, 5, 0));
astar.ConnectPoints(1, 2, false); 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. Returns the closest position to [code]to_position[/code] that resides inside a segment between two connected points.
[codeblocks] [codeblocks]
[gdscript] [gdscript]
var astar = AStar.new() var astar = AStar3D.new()
astar.add_point(1, Vector3(0, 0, 0)) astar.add_point(1, Vector3(0, 0, 0))
astar.add_point(2, Vector3(0, 5, 0)) astar.add_point(2, Vector3(0, 5, 0))
astar.connect_points(1, 2) astar.connect_points(1, 2)
var res = astar.get_closest_position_in_segment(Vector3(3, 3, 0)) # Returns (0, 3, 0) var res = astar.get_closest_position_in_segment(Vector3(3, 3, 0)) # Returns (0, 3, 0)
[/gdscript] [/gdscript]
[csharp] [csharp]
var astar = new AStar(); var astar = new AStar3D();
astar.AddPoint(1, new Vector3(0, 0, 0)); astar.AddPoint(1, new Vector3(0, 0, 0));
astar.AddPoint(2, new Vector3(0, 5, 0)); astar.AddPoint(2, new Vector3(0, 5, 0));
astar.ConnectPoints(1, 2); astar.ConnectPoints(1, 2);
@ -168,10 +168,10 @@
<argument index="0" name="from_id" type="int" /> <argument index="0" name="from_id" type="int" />
<argument index="1" name="to_id" type="int" /> <argument index="1" name="to_id" type="int" />
<description> <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] [codeblocks]
[gdscript] [gdscript]
var astar = AStar.new() var astar = AStar3D.new()
astar.add_point(1, Vector3(0, 0, 0)) astar.add_point(1, Vector3(0, 0, 0))
astar.add_point(2, Vector3(0, 1, 0), 1) # Default weight is 1 astar.add_point(2, Vector3(0, 1, 0), 1) # Default weight is 1
astar.add_point(3, Vector3(1, 1, 0)) astar.add_point(3, Vector3(1, 1, 0))
@ -185,7 +185,7 @@
var res = astar.get_id_path(1, 3) # Returns [1, 2, 3] var res = astar.get_id_path(1, 3) # Returns [1, 2, 3]
[/gdscript] [/gdscript]
[csharp] [csharp]
var astar = new AStar(); var astar = new AStar3D();
astar.AddPoint(1, new Vector3(0, 0, 0)); astar.AddPoint(1, new Vector3(0, 0, 0));
astar.AddPoint(2, new Vector3(0, 1, 0), 1); // Default weight is 1 astar.AddPoint(2, new Vector3(0, 1, 0), 1); // Default weight is 1
astar.AddPoint(3, new Vector3(1, 1, 0)); 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. Returns an array with the IDs of the points that form the connection with the given point.
[codeblocks] [codeblocks]
[gdscript] [gdscript]
var astar = AStar.new() var astar = AStar3D.new()
astar.add_point(1, Vector3(0, 0, 0)) astar.add_point(1, Vector3(0, 0, 0))
astar.add_point(2, Vector3(0, 1, 0)) astar.add_point(2, Vector3(0, 1, 0))
astar.add_point(3, Vector3(1, 1, 0)) astar.add_point(3, Vector3(1, 1, 0))
@ -225,7 +225,7 @@
var neighbors = astar.get_point_connections(1) # Returns [2, 3] var neighbors = astar.get_point_connections(1) # Returns [2, 3]
[/gdscript] [/gdscript]
[csharp] [csharp]
var astar = new AStar(); var astar = new AStar3D();
astar.AddPoint(1, new Vector3(0, 0, 0)); astar.AddPoint(1, new Vector3(0, 0, 0));
astar.AddPoint(2, new Vector3(0, 1, 0)); astar.AddPoint(2, new Vector3(0, 1, 0));
astar.AddPoint(3, new Vector3(1, 1, 0)); astar.AddPoint(3, new Vector3(1, 1, 0));
@ -255,7 +255,7 @@
<argument index="0" name="from_id" type="int" /> <argument index="0" name="from_id" type="int" />
<argument index="1" name="to_id" type="int" /> <argument index="1" name="to_id" type="int" />
<description> <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. [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> </description>
</method> </method>

1
scene/register_scene_types.cpp
View File

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

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

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