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Restore weight scale for AStarGrid2D (partially)

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This commit is contained in:
Yuri Rubinsky 2022-12-20 11:48:53 +03:00
parent dcb3754db0
commit 8c478dcec9
3 changed files with 41 additions and 1 deletions
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21
core/math/a_star_grid_2d.cpp
View file

@ -155,6 +155,19 @@ bool AStarGrid2D::is_point_solid(const Vector2i &p_id) const {
return points[p_id.y][p_id.x].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(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;
}
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;
}
AStarGrid2D::Point *AStarGrid2D::_jump(Point *p_from, Point *p_to) {
if (!p_to || p_to->solid) {
return nullptr;
@ -388,7 +401,10 @@ bool AStarGrid2D::_solve(Point *p_begin_point, Point *p_end_point) {
_get_nbors(p, nbors);
for (List<Point *>::Element *E = nbors.front(); E; E = E->next()) {
Point *e = E->get(); // The neighbour point.
real_t weight_scale = 1.0;
if (jumping_enabled) {
// TODO: Make it works with weight_scale.
e = _jump(p, e);
if (!e || e->closed_pass == pass) {
continue;
@ -397,9 +413,10 @@ bool AStarGrid2D::_solve(Point *p_begin_point, Point *p_end_point) {
if (e->solid || e->closed_pass == pass) {
continue;
}
weight_scale = e->weight_scale;
}
real_t tentative_g_score = p->g_score + _compute_cost(p->id, e->id);
real_t tentative_g_score = p->g_score + _compute_cost(p->id, e->id) * weight_scale;
bool new_point = false;
if (e->open_pass != pass) { // The point wasn't inside the open list.
@ -559,6 +576,8 @@ void AStarGrid2D::_bind_methods() {
ClassDB::bind_method(D_METHOD("get_default_heuristic"), &AStarGrid2D::get_default_heuristic);
ClassDB::bind_method(D_METHOD("set_point_solid", "id", "solid"), &AStarGrid2D::set_point_solid, DEFVAL(true));
ClassDB::bind_method(D_METHOD("is_point_solid", "id"), &AStarGrid2D::is_point_solid);
ClassDB::bind_method(D_METHOD("set_point_weight_scale", "id", "weight_scale"), &AStarGrid2D::set_point_weight_scale);
ClassDB::bind_method(D_METHOD("get_point_weight_scale", "id"), &AStarGrid2D::get_point_weight_scale);
ClassDB::bind_method(D_METHOD("clear"), &AStarGrid2D::clear);
ClassDB::bind_method(D_METHOD("get_point_path", "from_id", "to_id"), &AStarGrid2D::get_point_path);

4
core/math/a_star_grid_2d.h
View file

@ -72,6 +72,7 @@ private:
bool solid = false;
Vector2 pos;
real_t weight_scale = 1.0;
// Used for pathfinding.
Point *prev_point = nullptr;
@ -166,6 +167,9 @@ public:
void set_point_solid(const Vector2i &p_id, bool p_solid = true);
bool is_point_solid(const Vector2i &p_id) const;
void set_point_weight_scale(const Vector2i &p_id, real_t p_weight_scale);
real_t get_point_weight_scale(const Vector2i &p_id) const;
void clear();
Vector<Vector2> get_point_path(const Vector2i &p_from, const Vector2i &p_to);

17
doc/classes/AStarGrid2D.xml
View file

@ -69,6 +69,13 @@
[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>
</method>
<method name="get_point_weight_scale" qualifiers="const">
<return type="float" />
<param index="0" name="id" type="Vector2i" />
<description>
Returns the weight scale of the point associated with the given [param id].
</description>
</method>
<method name="is_dirty" qualifiers="const">
<return type="bool" />
<description>
@ -106,6 +113,15 @@
[b]Note:[/b] Calling [method update] is not needed after the call of this function.
</description>
</method>
<method name="set_point_weight_scale">
<return type="void" />
<param index="0" name="id" type="Vector2i" />
<param index="1" name="weight_scale" type="float" />
<description>
Sets the [param weight_scale] for the point with the given [param id]. The [param weight_scale] 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.
[b]Note:[/b] Calling [method update] is not needed after the call of this function.
</description>
</method>
<method name="update">
<return type="void" />
<description>
@ -125,6 +141,7 @@
</member>
<member name="jumping_enabled" type="bool" setter="set_jumping_enabled" getter="is_jumping_enabled" default="false">
Enables or disables jumping to skip up the intermediate points and speeds up the searching algorithm.
[b]Note:[/b] Currently, toggling it on disables the consideration of weight scaling in pathfinding.
</member>
<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.