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Merge pull request #74106 from dalexeev/astar-grid-2d-negative-coords

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Allow negative coordinates in `AStarGrid2D`
This commit is contained in:
Rémi Verschelde 2023-04-26 11:35:55 +02:00
commit cc0edf810f
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GPG key ID: C3336907360768E1
3 changed files with 66 additions and 36 deletions
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74
core/math/a_star_grid_2d.cpp
View file

@ -32,6 +32,8 @@
#include "core/variant/typed_array.h"
#define GET_POINT_UNCHECKED(m_id) points[m_id.y - region.position.y][m_id.x - region.position.x]
static real_t heuristic_euclidian(const Vector2i &p_from, const Vector2i &p_to) {
real_t dx = (real_t)ABS(p_to.x - p_from.x);
real_t dy = (real_t)ABS(p_to.y - p_from.y);
@ -59,16 +61,29 @@ static real_t heuristic_chebyshev(const Vector2i &p_from, const Vector2i &p_to)
static real_t (*heuristics[AStarGrid2D::HEURISTIC_MAX])(const Vector2i &, const Vector2i &) = { heuristic_euclidian, heuristic_manhattan, heuristic_octile, heuristic_chebyshev };
void AStarGrid2D::set_region(const Rect2i &p_region) {
ERR_FAIL_COND(p_region.size.x < 0 || p_region.size.y < 0);
if (p_region != region) {
region = p_region;
dirty = true;
}
}
Rect2i AStarGrid2D::get_region() const {
return region;
}
void AStarGrid2D::set_size(const Size2i &p_size) {
WARN_DEPRECATED_MSG(R"(The "size" property is deprecated, use "region" instead.)");
ERR_FAIL_COND(p_size.x < 0 || p_size.y < 0);
if (p_size != size) {
size = p_size;
if (p_size != region.size) {
region.size = p_size;
dirty = true;
}
}
Size2i AStarGrid2D::get_size() const {
return size;
return region.size;
}
void AStarGrid2D::set_offset(const Vector2 &p_offset) {
@ -95,9 +110,11 @@ Size2 AStarGrid2D::get_cell_size() const {
void AStarGrid2D::update() {
points.clear();
for (int64_t y = 0; y < size.y; y++) {
const int64_t end_x = region.position.x + region.size.width;
const int64_t end_y = region.position.y + region.size.height;
for (int64_t y = region.position.y; y < end_y; y++) {
LocalVector<Point> line;
for (int64_t x = 0; x < size.x; x++) {
for (int64_t x = region.position.x; x < end_x; x++) {
line.push_back(Point(Vector2i(x, y), offset + Vector2(x, y) * cell_size));
}
points.push_back(line);
@ -106,11 +123,11 @@ void AStarGrid2D::update() {
}
bool AStarGrid2D::is_in_bounds(int p_x, int p_y) const {
return p_x >= 0 && p_x < size.width && p_y >= 0 && p_y < size.height;
return region.has_point(Vector2i(p_x, p_y));
}
bool AStarGrid2D::is_in_boundsv(const Vector2i &p_id) const {
return p_id.x >= 0 && p_id.x < size.width && p_id.y >= 0 && p_id.y < size.height;
return region.has_point(p_id);
}
bool AStarGrid2D::is_dirty() const {
@ -154,27 +171,27 @@ AStarGrid2D::Heuristic AStarGrid2D::get_default_estimate_heuristic() const {
void AStarGrid2D::set_point_solid(const Vector2i &p_id, bool p_solid) {
ERR_FAIL_COND_MSG(dirty, "Grid is not initialized. Call the update method.");
ERR_FAIL_COND_MSG(!is_in_boundsv(p_id), vformat("Can't set if point is disabled. Point out of bounds (%s/%s, %s/%s).", p_id.x, size.width, p_id.y, size.height));
points[p_id.y][p_id.x].solid = p_solid;
ERR_FAIL_COND_MSG(!is_in_boundsv(p_id), vformat("Can't set if point is disabled. Point %s out of bounds %s.", p_id, region));
GET_POINT_UNCHECKED(p_id).solid = p_solid;
}
bool AStarGrid2D::is_point_solid(const Vector2i &p_id) const {
ERR_FAIL_COND_V_MSG(dirty, false, "Grid is not initialized. Call the update method.");
ERR_FAIL_COND_V_MSG(!is_in_boundsv(p_id), false, vformat("Can't get if point is disabled. Point out of bounds (%s/%s, %s/%s).", p_id.x, size.width, p_id.y, size.height));
return points[p_id.y][p_id.x].solid;
ERR_FAIL_COND_V_MSG(!is_in_boundsv(p_id), false, vformat("Can't get if point is disabled. Point %s out of bounds %s.", p_id, region));
return GET_POINT_UNCHECKED(p_id).solid;
}
void AStarGrid2D::set_point_weight_scale(const Vector2i &p_id, real_t p_weight_scale) {
ERR_FAIL_COND_MSG(dirty, "Grid is not initialized. Call the update method.");
ERR_FAIL_COND_MSG(!is_in_boundsv(p_id), vformat("Can't set point's weight scale. Point out of bounds (%s/%s, %s/%s).", p_id.x, size.width, p_id.y, size.height));
ERR_FAIL_COND_MSG(!is_in_boundsv(p_id), vformat("Can't set point's weight scale. Point %s out of bounds %s.", p_id, region));
ERR_FAIL_COND_MSG(p_weight_scale < 0.0, vformat("Can't set point's weight scale less than 0.0: %f.", p_weight_scale));
points[p_id.y][p_id.x].weight_scale = p_weight_scale;
GET_POINT_UNCHECKED(p_id).weight_scale = p_weight_scale;
}
real_t AStarGrid2D::get_point_weight_scale(const Vector2i &p_id) const {
ERR_FAIL_COND_V_MSG(dirty, 0, "Grid is not initialized. Call the update method.");
ERR_FAIL_COND_V_MSG(!is_in_boundsv(p_id), 0, vformat("Can't get point's weight scale. Point out of bounds (%s/%s, %s/%s).", p_id.x, size.width, p_id.y, size.height));
return points[p_id.y][p_id.x].weight_scale;
ERR_FAIL_COND_V_MSG(!is_in_boundsv(p_id), 0, vformat("Can't get point's weight scale. Point %s out of bounds %s.", p_id, region));
return GET_POINT_UNCHECKED(p_id).weight_scale;
}
AStarGrid2D::Point *AStarGrid2D::_jump(Point *p_from, Point *p_to) {
@ -285,15 +302,15 @@ void AStarGrid2D::_get_nbors(Point *p_point, LocalVector<Point *> &r_nbors) {
bool has_left = false;
bool has_right = false;
if (p_point->id.x - 1 >= 0) {
if (p_point->id.x - 1 >= region.position.x) {
left = _get_point_unchecked(p_point->id.x - 1, p_point->id.y);
has_left = true;
}
if (p_point->id.x + 1 < size.width) {
if (p_point->id.x + 1 < region.position.x + region.size.width) {
right = _get_point_unchecked(p_point->id.x + 1, p_point->id.y);
has_right = true;
}
if (p_point->id.y - 1 >= 0) {
if (p_point->id.y - 1 >= region.position.y) {
top = _get_point_unchecked(p_point->id.x, p_point->id.y - 1);
if (has_left) {
top_left = _get_point_unchecked(p_point->id.x - 1, p_point->id.y - 1);
@ -302,7 +319,7 @@ void AStarGrid2D::_get_nbors(Point *p_point, LocalVector<Point *> &r_nbors) {
top_right = _get_point_unchecked(p_point->id.x + 1, p_point->id.y - 1);
}
}
if (p_point->id.y + 1 < size.height) {
if (p_point->id.y + 1 < region.position.y + region.size.height) {
bottom = _get_point_unchecked(p_point->id.x, p_point->id.y + 1);
if (has_left) {
bottom_left = _get_point_unchecked(p_point->id.x - 1, p_point->id.y + 1);
@ -461,19 +478,19 @@ real_t AStarGrid2D::_compute_cost(const Vector2i &p_from_id, const Vector2i &p_t
void AStarGrid2D::clear() {
points.clear();
size = Vector2i();
region = Rect2i();
}
Vector2 AStarGrid2D::get_point_position(const Vector2i &p_id) const {
ERR_FAIL_COND_V_MSG(dirty, Vector2(), "Grid is not initialized. Call the update method.");
ERR_FAIL_COND_V_MSG(!is_in_boundsv(p_id), Vector2(), vformat("Can't get point's position. Point out of bounds (%s/%s, %s/%s).", p_id.x, size.width, p_id.y, size.height));
return points[p_id.y][p_id.x].pos;
ERR_FAIL_COND_V_MSG(!is_in_boundsv(p_id), Vector2(), vformat("Can't get point's position. Point %s out of bounds %s.", p_id, region));
return GET_POINT_UNCHECKED(p_id).pos;
}
Vector<Vector2> AStarGrid2D::get_point_path(const Vector2i &p_from_id, const Vector2i &p_to_id) {
ERR_FAIL_COND_V_MSG(dirty, Vector<Vector2>(), "Grid is not initialized. Call the update method.");
ERR_FAIL_COND_V_MSG(!is_in_boundsv(p_from_id), Vector<Vector2>(), vformat("Can't get id path. Point out of bounds (%s/%s, %s/%s)", p_from_id.x, size.width, p_from_id.y, size.height));
ERR_FAIL_COND_V_MSG(!is_in_boundsv(p_to_id), Vector<Vector2>(), vformat("Can't get id path. Point out of bounds (%s/%s, %s/%s)", p_to_id.x, size.width, p_to_id.y, size.height));
ERR_FAIL_COND_V_MSG(!is_in_boundsv(p_from_id), Vector<Vector2>(), vformat("Can't get id path. Point %s out of bounds %s.", p_from_id, region));
ERR_FAIL_COND_V_MSG(!is_in_boundsv(p_to_id), Vector<Vector2>(), vformat("Can't get id path. Point %s out of bounds %s.", p_to_id, region));
Point *a = _get_point(p_from_id.x, p_from_id.y);
Point *b = _get_point(p_to_id.x, p_to_id.y);
@ -520,8 +537,8 @@ Vector<Vector2> AStarGrid2D::get_point_path(const Vector2i &p_from_id, const Vec
TypedArray<Vector2i> AStarGrid2D::get_id_path(const Vector2i &p_from_id, const Vector2i &p_to_id) {
ERR_FAIL_COND_V_MSG(dirty, TypedArray<Vector2i>(), "Grid is not initialized. Call the update method.");
ERR_FAIL_COND_V_MSG(!is_in_boundsv(p_from_id), TypedArray<Vector2i>(), vformat("Can't get id path. Point out of bounds (%s/%s, %s/%s)", p_from_id.x, size.width, p_from_id.y, size.height));
ERR_FAIL_COND_V_MSG(!is_in_boundsv(p_to_id), TypedArray<Vector2i>(), vformat("Can't get id path. Point out of bounds (%s/%s, %s/%s)", p_to_id.x, size.width, p_to_id.y, size.height));
ERR_FAIL_COND_V_MSG(!is_in_boundsv(p_from_id), TypedArray<Vector2i>(), vformat("Can't get id path. Point %s out of bounds %s.", p_from_id, region));
ERR_FAIL_COND_V_MSG(!is_in_boundsv(p_to_id), TypedArray<Vector2i>(), vformat("Can't get id path. Point %s out of bounds %s.", p_to_id, region));
Point *a = _get_point(p_from_id.x, p_from_id.y);
Point *b = _get_point(p_to_id.x, p_to_id.y);
@ -565,6 +582,8 @@ TypedArray<Vector2i> AStarGrid2D::get_id_path(const Vector2i &p_from_id, const V
}
void AStarGrid2D::_bind_methods() {
ClassDB::bind_method(D_METHOD("set_region", "region"), &AStarGrid2D::set_region);
ClassDB::bind_method(D_METHOD("get_region"), &AStarGrid2D::get_region);
ClassDB::bind_method(D_METHOD("set_size", "size"), &AStarGrid2D::set_size);
ClassDB::bind_method(D_METHOD("get_size"), &AStarGrid2D::get_size);
ClassDB::bind_method(D_METHOD("set_offset", "offset"), &AStarGrid2D::set_offset);
@ -596,6 +615,7 @@ void AStarGrid2D::_bind_methods() {
GDVIRTUAL_BIND(_estimate_cost, "from_id", "to_id")
GDVIRTUAL_BIND(_compute_cost, "from_id", "to_id")
ADD_PROPERTY(PropertyInfo(Variant::RECT2I, "region"), "set_region", "get_region");
ADD_PROPERTY(PropertyInfo(Variant::VECTOR2I, "size"), "set_size", "get_size");
ADD_PROPERTY(PropertyInfo(Variant::VECTOR2, "offset"), "set_offset", "get_offset");
ADD_PROPERTY(PropertyInfo(Variant::VECTOR2, "cell_size"), "set_cell_size", "get_cell_size");
@ -617,3 +637,5 @@ void AStarGrid2D::_bind_methods() {
BIND_ENUM_CONSTANT(DIAGONAL_MODE_ONLY_IF_NO_OBSTACLES);
BIND_ENUM_CONSTANT(DIAGONAL_MODE_MAX);
}
#undef GET_POINT_UNCHECKED

15
core/math/a_star_grid_2d.h
View file

@ -58,7 +58,7 @@ public:
};
private:
Size2i size;
Rect2i region;
Vector2 offset;
Size2 cell_size = Size2(1, 1);
bool dirty = false;
@ -107,21 +107,21 @@ private:
private: // Internal routines.
_FORCE_INLINE_ bool _is_walkable(int64_t p_x, int64_t p_y) const {
if (p_x >= 0 && p_y >= 0 && p_x < size.width && p_y < size.height) {
return !points[p_y][p_x].solid;
if (region.has_point(Vector2i(p_x, p_y))) {
return !points[p_y - region.position.y][p_x - region.position.x].solid;
}
return false;
}
_FORCE_INLINE_ Point *_get_point(int64_t p_x, int64_t p_y) {
if (p_x >= 0 && p_y >= 0 && p_x < size.width && p_y < size.height) {
return &points[p_y][p_x];
if (region.has_point(Vector2i(p_x, p_y))) {
return &points[p_y - region.position.y][p_x - region.position.x];
}
return nullptr;
}
_FORCE_INLINE_ Point *_get_point_unchecked(int64_t p_x, int64_t p_y) {
return &points[p_y][p_x];
return &points[p_y - region.position.y][p_x - region.position.x];
}
void _get_nbors(Point *p_point, LocalVector<Point *> &r_nbors);
@ -138,6 +138,9 @@ protected:
GDVIRTUAL2RC(real_t, _compute_cost, Vector2i, Vector2i)
public:
void set_region(const Rect2i &p_region);
Rect2i get_region() const;
void set_size(const Size2i &p_size);
Size2i get_size() const;

13
doc/classes/AStarGrid2D.xml
View file

@ -5,11 +5,11 @@
</brief_description>
<description>
Compared to [AStar2D] you don't need to manually create points or connect them together. It also supports multiple type of heuristics and modes for diagonal movement. This class also provides a jumping mode which is faster to calculate than without it in the [AStar2D] class.
In contrast to [AStar2D], you only need set the [member size] of the grid, optionally set the [member cell_size] and then call the [method update] method:
In contrast to [AStar2D], you only need set the [member region] of the grid, optionally set the [member cell_size] and then call the [method update] method:
[codeblocks]
[gdscript]
var astar_grid = AStarGrid2D.new()
astar_grid.size = Vector2i(32, 32)
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)
@ -49,7 +49,7 @@
<method name="clear">
<return type="void" />
<description>
Clears the grid and sets the [member size] to [constant Vector2i.ZERO].
Clears the grid and sets the [member region] to [code]Rect2i(0, 0, 0, 0)[/code].
</description>
</method>
<method name="get_id_path">
@ -132,7 +132,8 @@
<method name="update">
<return type="void" />
<description>
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 [member size], [member cell_size] or [member offset] are changed. [method is_dirty] will return [code]true[/code] if this is the case and this needs to be called.
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 [member region], [member cell_size] or [member offset] are changed. [method is_dirty] will return [code]true[/code] if this is the case and this needs to be called.
[b]Note:[/b] All point data (solidity and weight scale) will be cleared.
</description>
</method>
</methods>
@ -156,8 +157,12 @@
<member name="offset" type="Vector2" setter="set_offset" getter="get_offset" default="Vector2(0, 0)">
The offset of the grid which will be applied to calculate the resulting point position returned by [method get_point_path]. If changed, [method update] needs to be called before finding the next path.
</member>
<member name="region" type="Rect2i" setter="set_region" getter="get_region" default="Rect2i(0, 0, 0, 0)">
The region of grid cells available for pathfinding. If changed, [method update] needs to be called before finding the next path.
</member>
<member name="size" type="Vector2i" setter="set_size" getter="get_size" default="Vector2i(0, 0)">
The size of the grid (number of cells of size [member cell_size] on each axis). If changed, [method update] needs to be called before finding the next path.
[b]Note:[/b] This property is deprecated, use [member region] instead.
</member>
</members>
<constants>