class-description NEWS COMMUNITY STORE TUTORIALS SIGN UP LOGIN LOGOUT ROKOJORI NEWSLETTER SIGN UP LOGIN LOGOUT NEWS COMMUNITY STORE TUTORIALS TOGGLE FULLSCREEN VOLLBILD AN/AUS ObjectRefCounted AStarGrid2D
An implementation of A* for finding the shortest path between two points on a partial 2D grid.

AStarGrid2D is a variant of AStar2D that is specialized for partial 2D grids. It is simpler to use because it doesn't require you to manually create points and connect them together. This class also supports multiple types of heuristics, modes for diagonal movement, and a jumping mode to speed up calculations.

To use AStarGrid2D, you only need to set the region of the grid, optionally set the cell_size, and then call the update() method:

var astar_grid = AStarGrid2D.new() astar_grid.region = Rect2i(0, 0, 32, 32) astar_grid.cell_size = Vector2(16, 16) astar_grid.update() print(astar_grid.get_id_path(Vector2i(0, 0), Vector2i(3, 4))) # Prints [(0, 0), (1, 1), (2, 2), (3, 3), (3, 4)] print(astar_grid.get_point_path(Vector2i(0, 0), Vector2i(3, 4))) # Prints [(0, 0), (16, 16), (32, 32), (48, 48), (48, 64)]

To remove a point from the pathfinding grid, it must be set as "solid" with set_point_solid().

 Enum Heuristic<>():Enum

HEURISTIC_EUCLIDEAN = 0

The Euclidean heuristic to be used for the pathfinding using the following formula:


HEURISTIC_MANHATTAN = 1

The Manhattan heuristic to be used for the pathfinding using the following formula:


HEURISTIC_OCTILE = 2

The Octile heuristic to be used for the pathfinding using the following formula:


HEURISTIC_CHEBYSHEV = 3

The Chebyshev heuristic to be used for the pathfinding using the following formula:


HEURISTIC_MAX = 4

Represents the size of the Heuristic enum.

 Enum DiagonalMode<>():Enum

DIAGONAL_MODE_ALWAYS = 0

The pathfinding algorithm will ignore solid neighbors around the target cell and allow passing using diagonals.


DIAGONAL_MODE_NEVER = 1

The pathfinding algorithm will ignore all diagonals and the way will be always orthogonal.


DIAGONAL_MODE_AT_LEAST_ONE_WALKABLE = 2

The pathfinding algorithm will avoid using diagonals if at least two obstacles have been placed around the neighboring cells of the specific path segment.


DIAGONAL_MODE_ONLY_IF_NO_OBSTACLES = 3

The pathfinding algorithm will avoid using diagonals if any obstacle has been placed around the neighboring cells of the specific path segment.


DIAGONAL_MODE_MAX = 4

Represents the size of the DiagonalMode enum.

 Enum CellShape<>():Enum

CELL_SHAPE_SQUARE = 0

Rectangular cell shape.


CELL_SHAPE_ISOMETRIC_RIGHT = 1

Diamond cell shape (for isometric look). Cell coordinates layout where the horizontal axis goes up-right, and the vertical one goes down-right.


CELL_SHAPE_ISOMETRIC_DOWN = 2

Diamond cell shape (for isometric look). Cell coordinates layout where the horizontal axis goes down-right, and the vertical one goes down-left.


CELL_SHAPE_MAX = 3

Represents the size of the CellShape enum.

 CellShape cell_shape<>():CellShape

The cell shape. Affects how the positions are placed in the grid. If changed, update() needs to be called before finding the next path.

 Vector2 cell_size<>():Vector2

The size of the point cell which will be applied to calculate the resulting point position returned by get_point_path(). If changed, update() needs to be called before finding the next path.

 Heuristic default_compute_heuristic<>():Heuristic

The default Heuristic which will be used to calculate the cost between two points if _compute_cost() was not overridden.

 Heuristic default_estimate_heuristic<>():Heuristic

The default Heuristic which will be used to calculate the cost between the point and the end point if _estimate_cost() was not overridden.

 DiagonalMode diagonal_mode<>():DiagonalMode

A specific DiagonalMode mode which will force the path to avoid or accept the specified diagonals.

 bool jumping_enabled<>():bool

Enables or disables jumping to skip up the intermediate points and speeds up the searching algorithm.

Note: Currently, toggling it on disables the consideration of weight scaling in pathfinding.

 Vector2 offset<>():Vector2

The offset of the grid which will be applied to calculate the resulting point position returned by get_point_path(). If changed, update() needs to be called before finding the next path.

 Rect2i region<>():Rect2i

The region of grid cells available for pathfinding. If changed, update() needs to be called before finding the next path.

 Vector2i size<>():Vector2i

Deprecated: Use region instead.

The size of the grid (number of cells of size cell_size on each axis). If changed, update() needs to be called before finding the next path.

 float _compute_cost<>( Vector2i from_id=, from_id:Vector2i=, Vector2i to_id=, to_id:Vector2i=, ):float

Called when computing the cost between two connected points.

Note that this function is hidden in the default AStarGrid2D class.

 float _estimate_cost<>( Vector2i from_id=, from_id:Vector2i=, Vector2i end_id=, end_id:Vector2i=, ):float

Called when estimating the cost between a point and the path's ending point.

Note that this function is hidden in the default AStarGrid2D class.

 void clear<>():void

Clears the grid and sets the region to Rect2i(0, 0, 0, 0).

 void fill_solid_region<>( Rect2i region=, region:Rect2i=, bool solid=true, solid:bool=true, ):void

Fills the given region on the grid with the specified value for the solid flag.

Note: Calling update() is not needed after the call of this function.

 void fill_weight_scale_region<>( Rect2i region=, region:Rect2i=, float weight_scale=, weight_scale:float=, ):void

Fills the given region on the grid with the specified value for the weight scale.

Note: Calling update() is not needed after the call of this function.

 Array get_id_path<>( Vector2i from_id=, from_id:Vector2i=, Vector2i to_id=, to_id:Vector2i=, bool allow_partial_path=false, allow_partial_path:bool=false, ):Array

Returns an array with the IDs of the points that form the path found by AStar2D between the given points. The array is ordered from the starting point to the ending point of the path.

If there is no valid path to the target, and allow_partial_path is true, returns a path to the point closest to the target that can be reached.

Note: When allow_partial_path is true and to_id is solid the search may take an unusually long time to finish.

 Array get_point_data_in_region<>( Rect2i region=, region:Rect2i=, ):Array

Returns an array of dictionaries with point data (id: Vector2i, position: Vector2, solid: bool, weight_scale: float) within a region.

 PackedVector2Array get_point_path<>( Vector2i from_id=, from_id:Vector2i=, Vector2i to_id=, to_id:Vector2i=, bool allow_partial_path=false, allow_partial_path:bool=false, ):PackedVector2Array

Returns an array with the points that are in the path found by AStarGrid2D between the given points. The array is ordered from the starting point to the ending point of the path.

If there is no valid path to the target, and allow_partial_path is true, returns a path to the point closest to the target that can be reached.

Note: This method is not thread-safe. If called from a Thread, it will return an empty array and will print an error message.

Additionally, when allow_partial_path is true and to_id is solid the search may take an unusually long time to finish.

 Vector2 get_point_position<>( Vector2i id=, id:Vector2i=, ):Vector2

Returns the position of the point associated with the given id.

 float get_point_weight_scale<>( Vector2i id=, id:Vector2i=, ):float

Returns the weight scale of the point associated with the given id.

 bool is_dirty<>():bool

Indicates that the grid parameters were changed and update() needs to be called.

 bool is_in_bounds<>( int x=, x:int=, int y=, y:int=, ):bool

Returns true if the x and y is a valid grid coordinate (id), i.e. if it is inside region. Equivalent to region.has_point(Vector2i(x, y)).

 bool is_in_boundsv<>( Vector2i id=, id:Vector2i=, ):bool

Returns true if the id vector is a valid grid coordinate, i.e. if it is inside region. Equivalent to region.has_point(id).

 bool is_point_solid<>( Vector2i id=, id:Vector2i=, ):bool

Returns true if a point is disabled for pathfinding. By default, all points are enabled.

 void set_point_solid<>( Vector2i id=, id:Vector2i=, bool solid=true, solid:bool=true, ):void

Disables or enables the specified point for pathfinding. Useful for making an obstacle. By default, all points are enabled.

Note: Calling update() is not needed after the call of this function.

 void set_point_weight_scale<>( Vector2i id=, id:Vector2i=, float weight_scale=, weight_scale:float=, ):void

Sets the weight_scale for the point with the given id. The weight_scale is multiplied by the result of _compute_cost() when determining the overall cost of traveling across a segment from a neighboring point to this point.

Note: Calling update() is not needed after the call of this function.

 void update<>():void

Updates the internal state of the grid according to the parameters to prepare it to search the path. Needs to be called if parameters like region, cell_size or offset are changed. is_dirty() will return true if this is the case and this needs to be called.

Note: All point data (solidity and weight scale) will be cleared.


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