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Some changes to Astar code

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This commit is contained in:
Aaron Franke
2020-03-10 06:48:50 -04:00
parent db2941bed4
commit 13f6e015bd
2 changed files with 29 additions and 27 deletions
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43
2d/navigation_astar/character.gd
View File

@@ -1,60 +1,61 @@
extends Position2D
extends Node2D
enum States { IDLE, FOLLOW }
export(float) var speed = 200.0
var _state = null
var path = []
var target_point_world = Vector2()
var target_position = Vector2()
var _path = []
var _target_point_world = Vector2()
var _target_position = Vector2()
var velocity = Vector2()
var _velocity = Vector2()
func _ready():
_change_state(States.IDLE)
func _process(_delta):
if not _state == States.FOLLOW:
if _state != States.FOLLOW:
return
var arrived_to_next_point = move_to(target_point_world)
if arrived_to_next_point:
path.remove(0)
if len(path) == 0:
var _arrived_to_next_point = _move_to(_target_point_world)
if _arrived_to_next_point:
_path.remove(0)
if len(_path) == 0:
_change_state(States.IDLE)
return
target_point_world = path[0]
_target_point_world = _path[0]
func _input(event):
if event.is_action_pressed("click"):
var global_mouse_pos = get_global_mouse_position()
if Input.is_key_pressed(KEY_SHIFT):
global_position = get_global_mouse_position()
global_position = global_mouse_pos
else:
target_position = get_global_mouse_position()
_target_position = global_mouse_pos
_change_state(States.FOLLOW)
func move_to(world_position):
func _move_to(world_position):
var MASS = 10.0
var ARRIVE_DISTANCE = 10.0
var desired_velocity = (world_position - position).normalized() * speed
var steering = desired_velocity - velocity
velocity += steering / MASS
position += velocity * get_process_delta_time()
rotation = velocity.angle()
var steering = desired_velocity - _velocity
_velocity += steering / MASS
position += _velocity * get_process_delta_time()
rotation = _velocity.angle()
return position.distance_to(world_position) < ARRIVE_DISTANCE
func _change_state(new_state):
if new_state == States.FOLLOW:
path = get_parent().get_node("TileMap")._get_path(position, target_position)
if not path or len(path) == 1:
_path = get_parent().get_node("TileMap").get_astar_path(position, _target_position)
if not _path or len(_path) == 1:
_change_state(States.IDLE)
return
# The index 0 is the starting cell
# we don't want the character to move back to it in this example
target_point_world = path[1]
_target_point_world = _path[1]
_state = new_state

13
2d/navigation_astar/pathfind_astar.gd
View File

@@ -4,7 +4,7 @@ const BASE_LINE_WIDTH = 3.0
const DRAW_COLOR = Color.white
# The Tilemap node doesn't have clear bounds so we're defining the map's limits here.
export(Vector2) var map_size = Vector2(16, 16)
export(Vector2) var map_size = Vector2.ONE * 16
# The path start and end variables use setter methods.
# You can find them at the bottom of the script.
@@ -85,10 +85,11 @@ func astar_connect_walkable_cells(points_array):
# left and bottom of it. If it's in the map and not an obstalce.
# We connect the current point with it.
var points_relative = PoolVector2Array([
Vector2(point.x + 1, point.y),
Vector2(point.x - 1, point.y),
Vector2(point.x, point.y + 1),
Vector2(point.x, point.y - 1)])
point + Vector2.RIGHT,
point + Vector2.LEFT,
point + Vector2.DOWN,
point + Vector2.UP,
])
for point_relative in points_relative:
var point_relative_index = calculate_point_index(point_relative)
if is_outside_map_bounds(point_relative):
@@ -135,7 +136,7 @@ func is_outside_map_bounds(point):
return point.x < 0 or point.y < 0 or point.x >= map_size.x or point.y >= map_size.y
func _get_path(world_start, world_end):
func get_astar_path(world_start, world_end):
self.path_start_position = world_to_map(world_start)
self.path_end_position = world_to_map(world_end)
_recalculate_path()