236 lines
8.2 KiB
C++
236 lines
8.2 KiB
C++
/**************************************************************************/
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/* a_star_grid_2d.h */
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/**************************************************************************/
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/* This file is part of: */
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/* GODOT ENGINE */
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/* https://godotengine.org */
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/**************************************************************************/
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/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */
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/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */
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/* */
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/* Permission is hereby granted, free of charge, to any person obtaining */
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/* a copy of this software and associated documentation files (the */
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/* "Software"), to deal in the Software without restriction, including */
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/* without limitation the rights to use, copy, modify, merge, publish, */
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/* distribute, sublicense, and/or sell copies of the Software, and to */
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/* permit persons to whom the Software is furnished to do so, subject to */
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/* the following conditions: */
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/* */
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/* The above copyright notice and this permission notice shall be */
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/* included in all copies or substantial portions of the Software. */
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/* */
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/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
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/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
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/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */
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/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
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/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
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/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
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/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
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/**************************************************************************/
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#ifndef A_STAR_GRID_2D_H
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#define A_STAR_GRID_2D_H
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#include "core/object/gdvirtual.gen.inc"
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#include "core/object/ref_counted.h"
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#include "core/templates/list.h"
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#include "core/templates/local_vector.h"
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class AStarGrid2D : public RefCounted {
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GDCLASS(AStarGrid2D, RefCounted);
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public:
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enum DiagonalMode {
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DIAGONAL_MODE_ALWAYS,
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DIAGONAL_MODE_NEVER,
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DIAGONAL_MODE_AT_LEAST_ONE_WALKABLE,
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DIAGONAL_MODE_ONLY_IF_NO_OBSTACLES,
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DIAGONAL_MODE_MAX,
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};
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enum Heuristic {
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HEURISTIC_EUCLIDEAN,
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HEURISTIC_MANHATTAN,
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HEURISTIC_OCTILE,
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HEURISTIC_CHEBYSHEV,
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HEURISTIC_MAX,
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};
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enum CellShape {
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CELL_SHAPE_SQUARE,
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CELL_SHAPE_ISOMETRIC_RIGHT,
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CELL_SHAPE_ISOMETRIC_DOWN,
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CELL_SHAPE_MAX,
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};
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private:
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Rect2i region;
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Vector2 offset;
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Size2 cell_size = Size2(1, 1);
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bool dirty = false;
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CellShape cell_shape = CELL_SHAPE_SQUARE;
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bool jumping_enabled = false;
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DiagonalMode diagonal_mode = DIAGONAL_MODE_ALWAYS;
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Heuristic default_compute_heuristic = HEURISTIC_EUCLIDEAN;
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Heuristic default_estimate_heuristic = HEURISTIC_EUCLIDEAN;
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struct Point {
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Vector2i id;
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Vector2 pos;
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real_t weight_scale = 1.0;
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// Used for pathfinding.
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Point *prev_point = nullptr;
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real_t g_score = 0;
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real_t f_score = 0;
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uint64_t open_pass = 0;
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uint64_t closed_pass = 0;
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// Used for getting last_closest_point.
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real_t abs_g_score = 0;
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real_t abs_f_score = 0;
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Point() {}
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Point(const Vector2i &p_id, const Vector2 &p_pos) :
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id(p_id), pos(p_pos) {}
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};
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struct SortPoints {
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_FORCE_INLINE_ bool operator()(const Point *A, const Point *B) const { // Returns true when the Point A is worse than Point B.
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if (A->f_score > B->f_score) {
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return true;
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} else if (A->f_score < B->f_score) {
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return false;
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} else {
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return A->g_score < B->g_score; // If the f_costs are the same then prioritize the points that are further away from the start.
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}
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}
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};
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LocalVector<bool> solid_mask;
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LocalVector<LocalVector<Point>> points;
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Point *end = nullptr;
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Point *last_closest_point = nullptr;
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uint64_t pass = 1;
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private: // Internal routines.
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_FORCE_INLINE_ size_t _to_mask_index(int32_t p_x, int32_t p_y) const {
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return ((p_y - region.position.y + 1) * (region.size.x + 2)) + p_x - region.position.x + 1;
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}
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_FORCE_INLINE_ bool _is_walkable(int32_t p_x, int32_t p_y) const {
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return !solid_mask[_to_mask_index(p_x, p_y)];
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}
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_FORCE_INLINE_ Point *_get_point(int32_t p_x, int32_t p_y) {
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if (region.has_point(Vector2i(p_x, p_y))) {
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return &points[p_y - region.position.y][p_x - region.position.x];
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}
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return nullptr;
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}
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_FORCE_INLINE_ void _set_solid_unchecked(int32_t p_x, int32_t p_y, bool p_solid) {
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solid_mask[_to_mask_index(p_x, p_y)] = p_solid;
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}
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_FORCE_INLINE_ void _set_solid_unchecked(const Vector2i &p_id, bool p_solid) {
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solid_mask[_to_mask_index(p_id.x, p_id.y)] = p_solid;
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}
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_FORCE_INLINE_ bool _get_solid_unchecked(const Vector2i &p_id) const {
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return solid_mask[_to_mask_index(p_id.x, p_id.y)];
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}
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_FORCE_INLINE_ Point *_get_point_unchecked(int32_t p_x, int32_t p_y) {
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return &points[p_y - region.position.y][p_x - region.position.x];
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}
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_FORCE_INLINE_ Point *_get_point_unchecked(const Vector2i &p_id) {
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return &points[p_id.y - region.position.y][p_id.x - region.position.x];
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}
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_FORCE_INLINE_ const Point *_get_point_unchecked(const Vector2i &p_id) const {
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return &points[p_id.y - region.position.y][p_id.x - region.position.x];
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}
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void _get_nbors(Point *p_point, LocalVector<Point *> &r_nbors);
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Point *_jump(Point *p_from, Point *p_to);
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Point *_forced_successor(int32_t p_x, int32_t p_y, int32_t p_dx, int32_t p_dy, bool p_inclusive = false);
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bool _solve(Point *p_begin_point, Point *p_end_point);
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protected:
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static void _bind_methods();
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virtual real_t _estimate_cost(const Vector2i &p_from_id, const Vector2i &p_end_id);
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virtual real_t _compute_cost(const Vector2i &p_from_id, const Vector2i &p_to_id);
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GDVIRTUAL2RC(real_t, _estimate_cost, Vector2i, Vector2i)
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GDVIRTUAL2RC(real_t, _compute_cost, Vector2i, Vector2i)
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#ifndef DISABLE_DEPRECATED
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TypedArray<Vector2i> _get_id_path_bind_compat_88047(const Vector2i &p_from, const Vector2i &p_to);
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Vector<Vector2> _get_point_path_bind_compat_88047(const Vector2i &p_from, const Vector2i &p_to);
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static void _bind_compatibility_methods();
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#endif
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public:
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void set_region(const Rect2i &p_region);
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Rect2i get_region() const;
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void set_size(const Size2i &p_size);
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Size2i get_size() const;
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void set_offset(const Vector2 &p_offset);
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Vector2 get_offset() const;
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void set_cell_size(const Size2 &p_cell_size);
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Size2 get_cell_size() const;
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void set_cell_shape(CellShape p_cell_shape);
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CellShape get_cell_shape() const;
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void update();
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bool is_in_bounds(int32_t p_x, int32_t p_y) const;
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bool is_in_boundsv(const Vector2i &p_id) const;
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bool is_dirty() const;
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void set_jumping_enabled(bool p_enabled);
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bool is_jumping_enabled() const;
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void set_diagonal_mode(DiagonalMode p_diagonal_mode);
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DiagonalMode get_diagonal_mode() const;
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void set_default_compute_heuristic(Heuristic p_heuristic);
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Heuristic get_default_compute_heuristic() const;
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void set_default_estimate_heuristic(Heuristic p_heuristic);
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Heuristic get_default_estimate_heuristic() const;
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void set_point_solid(const Vector2i &p_id, bool p_solid = true);
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bool is_point_solid(const Vector2i &p_id) const;
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void set_point_weight_scale(const Vector2i &p_id, real_t p_weight_scale);
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real_t get_point_weight_scale(const Vector2i &p_id) const;
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void fill_solid_region(const Rect2i &p_region, bool p_solid = true);
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void fill_weight_scale_region(const Rect2i &p_region, real_t p_weight_scale);
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void clear();
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Vector2 get_point_position(const Vector2i &p_id) const;
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TypedArray<Dictionary> get_point_data_in_region(const Rect2i &p_region) const;
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Vector<Vector2> get_point_path(const Vector2i &p_from, const Vector2i &p_to, bool p_allow_partial_path = false);
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TypedArray<Vector2i> get_id_path(const Vector2i &p_from, const Vector2i &p_to, bool p_allow_partial_path = false);
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};
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VARIANT_ENUM_CAST(AStarGrid2D::DiagonalMode);
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VARIANT_ENUM_CAST(AStarGrid2D::Heuristic);
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VARIANT_ENUM_CAST(AStarGrid2D::CellShape)
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#endif // A_STAR_GRID_2D_H
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