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Merge pull request #27506 from Chaosus/astar

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Added functions to AStar for disable/enable points to effectivly create obstacles
This commit is contained in:
Rémi Verschelde 2019-04-08 12:19:51 +02:00 committed by GitHub
commit 3cf2bdbd84
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3 changed files with 46 additions and 0 deletions
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22
core/math/a_star.cpp
View file

@ -55,6 +55,7 @@ void AStar::add_point(int p_id, const Vector3 &p_pos, real_t p_weight_scale) {
pt->weight_scale = p_weight_scale;
pt->prev_point = NULL;
pt->last_pass = 0;
pt->enabled = true;
points[p_id] = pt;
} else {
points[p_id]->pos = p_pos;
@ -242,6 +243,9 @@ bool AStar::_solve(Point *begin_point, Point *end_point) {
pass++;
if (!end_point->enabled)
return false;
SelfList<Point>::List open_list;
bool found_route = false;
@ -249,6 +253,10 @@ bool AStar::_solve(Point *begin_point, Point *end_point) {
for (Set<Point *>::Element *E = begin_point->neighbours.front(); E; E = E->next()) {
Point *n = E->get();
if (!n->enabled)
continue;
n->prev_point = begin_point;
n->distance = _compute_cost(begin_point->id, n->id) * n->weight_scale;
n->last_pass = pass;
@ -290,6 +298,9 @@ bool AStar::_solve(Point *begin_point, Point *end_point) {
Point *e = E->get();
if (!e->enabled)
continue;
real_t distance = _compute_cost(p->id, e->id) * e->weight_scale + p->distance;
if (e->last_pass == pass) {
@ -438,6 +449,14 @@ PoolVector<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) {
points[p_id]->enabled = !p_disabled;
}
bool AStar::is_point_disabled(int p_id) const {
return !points[p_id]->enabled;
}
void AStar::_bind_methods() {
ClassDB::bind_method(D_METHOD("get_available_point_id"), &AStar::get_available_point_id);
@ -450,6 +469,9 @@ void AStar::_bind_methods() {
ClassDB::bind_method(D_METHOD("has_point", "id"), &AStar::has_point);
ClassDB::bind_method(D_METHOD("get_points"), &AStar::get_points);
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("get_point_connections", "id"), &AStar::get_point_connections);
ClassDB::bind_method(D_METHOD("connect_points", "id", "to_id", "bidirectional"), &AStar::connect_points, DEFVAL(true));

4
core/math/a_star.h
View file

@ -54,6 +54,7 @@ class AStar : public Reference {
Vector3 pos;
real_t weight_scale;
uint64_t last_pass;
bool enabled;
Set<Point *> neighbours;
@ -114,6 +115,9 @@ public:
PoolVector<int> get_point_connections(int p_id);
Array get_points();
void set_point_disabled(int p_id, bool p_disabled = true);
bool is_point_disabled(int p_id) const;
void connect_points(int p_id, int p_with_id, bool bidirectional = true);
void disconnect_points(int p_id, int p_with_id);
bool are_points_connected(int p_id, int p_with_id) const;

20
doc/classes/AStar.xml
View file

@ -226,6 +226,15 @@
Returns whether a point associated with the given id exists.
</description>
</method>
<method name="is_point_disabled" qualifiers="const">
<return type="bool">
</return>
<argument index="0" name="id" type="int">
</argument>
<description>
Returns whether a point is disabled or not for pathfinding. By default, all points are enabled.
</description>
</method>
<method name="remove_point">
<return type="void">
</return>
@ -235,6 +244,17 @@
Removes the point associated with the given id from the points pool.
</description>
</method>
<method name="set_point_disabled">
<return type="void">
</return>
<argument index="0" name="id" type="int">
</argument>
<argument index="1" name="disabled" type="bool" default="true">
</argument>
<description>
Disables or enables the specified point for pathfinding. Useful for making a temporary obstacle.
</description>
</method>
<method name="set_point_position">
<return type="void">
</return>