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.. _class_AStar3D:
AStar3D
=======
**繼承：** :ref:`RefCounted<class_RefCounted>` **<** :ref:`Object<class_Object>`
A\* 的一種實作，用於尋找 3D 空間中連接圖中的兩個頂點之間的最短路徑。
.. rst-class:: classref-introduction-group
說明
----
A\*（A Star）是一種用於路徑尋找（pathfinding）與圖遍歷（graph traversal）的電腦演算法，可在頂點（點）之間，沿著一組指定邊（線段）規劃最短路徑。因其效能與準確度而被廣泛使用。Godot 的 A\* 實作預設在 3D 空間中使用點並以歐氏距離計算。
你必須先使用 :ref:`add_point()<class_AStar3D_method_add_point>` 手動加入點，再用 :ref:`connect_points()<class_AStar3D_method_connect_points>` 手動建立線段。完成後，可透過 :ref:`are_points_connected()<class_AStar3D_method_are_points_connected>` 檢查兩點之間是否存在路徑，利用 :ref:`get_id_path()<class_AStar3D_method_get_id_path>` 取得由索引組成的路徑，或使用 :ref:`get_point_path()<class_AStar3D_method_get_point_path>` 取得包含實際座標的路徑。
亦可改用非歐氏距離。若要這麼做，請撰寫一個繼承自 **AStar3D** 的腳本，並覆寫 :ref:`_compute_cost()<class_AStar3D_private_method__compute_cost>` 與 :ref:`_estimate_cost()<class_AStar3D_private_method__estimate_cost>` 兩個方法。這兩個方法皆應接收兩個點的 ID，並回傳這兩點之間的距離。
\ **範例：** 使用曼哈頓距離取代歐氏距離：
.. tabs::
.. code-tab:: gdscript
class_name MyAStar3D
extends AStar3D
func _compute_cost(u, v):
var u_pos = get_point_position(u)
var v_pos = get_point_position(v)
return abs(u_pos.x - v_pos.x) + abs(u_pos.y - v_pos.y) + abs(u_pos.z - v_pos.z)
func _estimate_cost(u, v):
var u_pos = get_point_position(u)
var v_pos = get_point_position(v)
return abs(u_pos.x - v_pos.x) + abs(u_pos.y - v_pos.y) + abs(u_pos.z - v_pos.z)
.. code-tab:: csharp
using Godot;
[GlobalClass]
public partial class MyAStar3D : AStar3D
{
public override float _ComputeCost(long fromId, long toId)
{
Vector3 fromPoint = GetPointPosition(fromId);
Vector3 toPoint = GetPointPosition(toId);
return Mathf.Abs(fromPoint.X - toPoint.X) + Mathf.Abs(fromPoint.Y - toPoint.Y) + Mathf.Abs(fromPoint.Z - toPoint.Z);
}
public override float _EstimateCost(long fromId, long toId)
{
Vector3 fromPoint = GetPointPosition(fromId);
Vector3 toPoint = GetPointPosition(toId);
return Mathf.Abs(fromPoint.X - toPoint.X) + Mathf.Abs(fromPoint.Y - toPoint.Y) + Mathf.Abs(fromPoint.Z - toPoint.Z);
}
}
\ :ref:`_estimate_cost()<class_AStar3D_private_method__estimate_cost>` 應傳回距離的下界，即 ``_estimate_cost(u, v) <= _compute_cost(u, v)``\ 。這能為演算法提供提示，因為自訂的 :ref:`_compute_cost()<class_AStar3D_private_method__compute_cost>` 可能計算量較大。若非如此，請讓 :ref:`_estimate_cost()<class_AStar3D_private_method__estimate_cost>` 回傳與 :ref:`_compute_cost()<class_AStar3D_private_method__compute_cost>` 相同的值，以提供演算法最準確的資訊。
若使用預設的 :ref:`_estimate_cost()<class_AStar3D_private_method__estimate_cost>` 與 :ref:`_compute_cost()<class_AStar3D_private_method__compute_cost>`\ ，或自訂 :ref:`_estimate_cost()<class_AStar3D_private_method__estimate_cost>` 的回傳值確實為成本下界，則 A\* 回傳的路徑即為最低成本路徑。此處，路徑成本等於路徑中所有線段的 :ref:`_compute_cost()<class_AStar3D_private_method__compute_cost>` 結果乘以各線段端點的 ``weight_scale`` 後的總和。若使用預設方法且所有點的 ``weight_scale`` 均為 ``1.0``\ ，則成本即為路徑中各線段之歐氏距離總和。
.. rst-class:: classref-reftable-group
屬性
----
.. table::
:widths: auto
+-------------------------+--------------------------------------------------------------------------------+-----------+
| :ref:`bool<class_bool>` | :ref:`neighbor_filter_enabled<class_AStar3D_property_neighbor_filter_enabled>` | ``false`` |
+-------------------------+--------------------------------------------------------------------------------+-----------+
.. rst-class:: classref-reftable-group
方法
----
.. table::
:widths: auto
+-----------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| :ref:`float<class_float>` | :ref:`_compute_cost<class_AStar3D_private_method__compute_cost>`\ (\ from_id\: :ref:`int<class_int>`, to_id\: :ref:`int<class_int>`\ ) |virtual| |const| |
+-----------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| :ref:`float<class_float>` | :ref:`_estimate_cost<class_AStar3D_private_method__estimate_cost>`\ (\ from_id\: :ref:`int<class_int>`, end_id\: :ref:`int<class_int>`\ ) |virtual| |const| |
+-----------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| :ref:`bool<class_bool>` | :ref:`_filter_neighbor<class_AStar3D_private_method__filter_neighbor>`\ (\ from_id\: :ref:`int<class_int>`, neighbor_id\: :ref:`int<class_int>`\ ) |virtual| |const| |
+-----------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |void| | :ref:`add_point<class_AStar3D_method_add_point>`\ (\ id\: :ref:`int<class_int>`, position\: :ref:`Vector3<class_Vector3>`, weight_scale\: :ref:`float<class_float>` = 1.0\ ) |
+-----------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| :ref:`bool<class_bool>` | :ref:`are_points_connected<class_AStar3D_method_are_points_connected>`\ (\ id\: :ref:`int<class_int>`, to_id\: :ref:`int<class_int>`, bidirectional\: :ref:`bool<class_bool>` = true\ ) |const| |
+-----------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |void| | :ref:`clear<class_AStar3D_method_clear>`\ (\ ) |
+-----------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |void| | :ref:`connect_points<class_AStar3D_method_connect_points>`\ (\ id\: :ref:`int<class_int>`, to_id\: :ref:`int<class_int>`, bidirectional\: :ref:`bool<class_bool>` = true\ ) |
+-----------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |void| | :ref:`disconnect_points<class_AStar3D_method_disconnect_points>`\ (\ id\: :ref:`int<class_int>`, to_id\: :ref:`int<class_int>`, bidirectional\: :ref:`bool<class_bool>` = true\ ) |
+-----------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| :ref:`int<class_int>` | :ref:`get_available_point_id<class_AStar3D_method_get_available_point_id>`\ (\ ) |const| |
+-----------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| :ref:`int<class_int>` | :ref:`get_closest_point<class_AStar3D_method_get_closest_point>`\ (\ to_position\: :ref:`Vector3<class_Vector3>`, include_disabled\: :ref:`bool<class_bool>` = false\ ) |const| |
+-----------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| :ref:`Vector3<class_Vector3>` | :ref:`get_closest_position_in_segment<class_AStar3D_method_get_closest_position_in_segment>`\ (\ to_position\: :ref:`Vector3<class_Vector3>`\ ) |const| |
+-----------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| :ref:`PackedInt64Array<class_PackedInt64Array>` | :ref:`get_id_path<class_AStar3D_method_get_id_path>`\ (\ from_id\: :ref:`int<class_int>`, to_id\: :ref:`int<class_int>`, allow_partial_path\: :ref:`bool<class_bool>` = false\ ) |
+-----------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| :ref:`int<class_int>` | :ref:`get_point_capacity<class_AStar3D_method_get_point_capacity>`\ (\ ) |const| |
+-----------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| :ref:`PackedInt64Array<class_PackedInt64Array>` | :ref:`get_point_connections<class_AStar3D_method_get_point_connections>`\ (\ id\: :ref:`int<class_int>`\ ) |
+-----------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| :ref:`int<class_int>` | :ref:`get_point_count<class_AStar3D_method_get_point_count>`\ (\ ) |const| |
+-----------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| :ref:`PackedInt64Array<class_PackedInt64Array>` | :ref:`get_point_ids<class_AStar3D_method_get_point_ids>`\ (\ ) |
+-----------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| :ref:`PackedVector3Array<class_PackedVector3Array>` | :ref:`get_point_path<class_AStar3D_method_get_point_path>`\ (\ from_id\: :ref:`int<class_int>`, to_id\: :ref:`int<class_int>`, allow_partial_path\: :ref:`bool<class_bool>` = false\ ) |
+-----------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| :ref:`Vector3<class_Vector3>` | :ref:`get_point_position<class_AStar3D_method_get_point_position>`\ (\ id\: :ref:`int<class_int>`\ ) |const| |
+-----------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| :ref:`float<class_float>` | :ref:`get_point_weight_scale<class_AStar3D_method_get_point_weight_scale>`\ (\ id\: :ref:`int<class_int>`\ ) |const| |
+-----------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| :ref:`bool<class_bool>` | :ref:`has_point<class_AStar3D_method_has_point>`\ (\ id\: :ref:`int<class_int>`\ ) |const| |
+-----------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| :ref:`bool<class_bool>` | :ref:`is_point_disabled<class_AStar3D_method_is_point_disabled>`\ (\ id\: :ref:`int<class_int>`\ ) |const| |
+-----------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |void| | :ref:`remove_point<class_AStar3D_method_remove_point>`\ (\ id\: :ref:`int<class_int>`\ ) |
+-----------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |void| | :ref:`reserve_space<class_AStar3D_method_reserve_space>`\ (\ num_nodes\: :ref:`int<class_int>`\ ) |
+-----------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |void| | :ref:`set_point_disabled<class_AStar3D_method_set_point_disabled>`\ (\ id\: :ref:`int<class_int>`, disabled\: :ref:`bool<class_bool>` = true\ ) |
+-----------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |void| | :ref:`set_point_position<class_AStar3D_method_set_point_position>`\ (\ id\: :ref:`int<class_int>`, position\: :ref:`Vector3<class_Vector3>`\ ) |
+-----------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |void| | :ref:`set_point_weight_scale<class_AStar3D_method_set_point_weight_scale>`\ (\ id\: :ref:`int<class_int>`, weight_scale\: :ref:`float<class_float>`\ ) |
+-----------------------------------------------------+-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
.. rst-class:: classref-section-separator
----
.. rst-class:: classref-descriptions-group
屬性說明
--------
.. _class_AStar3D_property_neighbor_filter_enabled:
.. rst-class:: classref-property
:ref:`bool<class_bool>` **neighbor_filter_enabled** = ``false`` :ref:`🔗<class_AStar3D_property_neighbor_filter_enabled>`
.. rst-class:: classref-property-setget
- |void| **set_neighbor_filter_enabled**\ (\ value\: :ref:`bool<class_bool>`\ )
- :ref:`bool<class_bool>` **is_neighbor_filter_enabled**\ (\ )
If ``true`` enables the filtering of neighbors via :ref:`_filter_neighbor()<class_AStar3D_private_method__filter_neighbor>`.
.. rst-class:: classref-section-separator
----
.. rst-class:: classref-descriptions-group
方法說明
--------
.. _class_AStar3D_private_method__compute_cost:
.. rst-class:: classref-method
:ref:`float<class_float>` **_compute_cost**\ (\ from_id\: :ref:`int<class_int>`, to_id\: :ref:`int<class_int>`\ ) |virtual| |const| :ref:`🔗<class_AStar3D_private_method__compute_cost>`
計算兩個連接點之間成本時呼叫。
注意：此函式在預設的 **AStar3D** 類別中為隱藏。
.. rst-class:: classref-item-separator
----
.. _class_AStar3D_private_method__estimate_cost:
.. rst-class:: classref-method
:ref:`float<class_float>` **_estimate_cost**\ (\ from_id\: :ref:`int<class_int>`, end_id\: :ref:`int<class_int>`\ ) |virtual| |const| :ref:`🔗<class_AStar3D_private_method__estimate_cost>`
估算某點與路徑終點之間成本時呼叫。
注意：此函式在預設的 **AStar3D** 類別中為隱藏。
.. rst-class:: classref-item-separator
----
.. _class_AStar3D_private_method__filter_neighbor:
.. rst-class:: classref-method
:ref:`bool<class_bool>` **_filter_neighbor**\ (\ from_id\: :ref:`int<class_int>`, neighbor_id\: :ref:`int<class_int>`\ ) |virtual| |const| :ref:`🔗<class_AStar3D_private_method__filter_neighbor>`
Called when neighboring point enters processing and if :ref:`neighbor_filter_enabled<class_AStar3D_property_neighbor_filter_enabled>` is ``true``. If ``true`` is returned the point will not be processed.
Note that this function is hidden in the default **AStar3D** class.
.. rst-class:: classref-item-separator
----
.. _class_AStar3D_method_add_point:
.. rst-class:: classref-method
|void| **add_point**\ (\ id\: :ref:`int<class_int>`, position\: :ref:`Vector3<class_Vector3>`, weight_scale\: :ref:`float<class_float>` = 1.0\ ) :ref:`🔗<class_AStar3D_method_add_point>`
在給定的位置新增一個點並指定其識別碼。 ``id`` 必須大於等於 0，\ ``weight_scale`` 必須大於等於 0.0。
在計算從鄰近點移動至此點的段落總成本時，會將 :ref:`_compute_cost()<class_AStar3D_private_method__compute_cost>` 的結果乘以 ``weight_scale``\ 。因此在其他條件相同時，演算法傾向選擇擁有較低 ``weight_scale`` 的點來組成路徑。
.. tabs::
.. code-tab:: gdscript
var astar = AStar3D.new()
astar.add_point(1, Vector3(1, 0, 0), 4) # 新增點 (1, 0, 0)，weight_scale 為 4，id 為 1
.. code-tab:: csharp
var astar = new AStar3D();
astar.AddPoint(1, new Vector3(1, 0, 0), 4); // 新增點 (1, 0, 0)，weight_scale 為 4，id 為 1
若同一 ``id`` 已存在點，則其位置與權重比例會被更新為新的值。
.. rst-class:: classref-item-separator
----
.. _class_AStar3D_method_are_points_connected:
.. rst-class:: classref-method
:ref:`bool<class_bool>` **are_points_connected**\ (\ id\: :ref:`int<class_int>`, to_id\: :ref:`int<class_int>`, bidirectional\: :ref:`bool<class_bool>` = true\ ) |const| :ref:`🔗<class_AStar3D_method_are_points_connected>`
返回兩個給定點是否透過線段直接連接。如果 ``bidirectional`` 為 ``false``\ ，則僅檢查是否能從 ``id`` 移動至 ``to_id``\ 。
.. rst-class:: classref-item-separator
----
.. _class_AStar3D_method_clear:
.. rst-class:: classref-method
|void| **clear**\ (\ ) :ref:`🔗<class_AStar3D_method_clear>`
清除所有點與線段。
.. rst-class:: classref-item-separator
----
.. _class_AStar3D_method_connect_points:
.. rst-class:: classref-method
|void| **connect_points**\ (\ id\: :ref:`int<class_int>`, to_id\: :ref:`int<class_int>`, bidirectional\: :ref:`bool<class_bool>` = true\ ) :ref:`🔗<class_AStar3D_method_connect_points>`
在兩個指定點之間建立線段。若 ``bidirectional`` 為 ``false``\ ，則僅允許從 ``id`` 移動至 ``to_id``\ ，反向則不允許。
.. tabs::
.. code-tab:: gdscript
var astar = AStar3D.new()
astar.add_point(1, Vector3(1, 1, 0))
astar.add_point(2, Vector3(0, 5, 0))
astar.connect_points(1, 2, false)
.. code-tab:: csharp
var astar = new AStar3D();
astar.AddPoint(1, new Vector3(1, 1, 0));
astar.AddPoint(2, new Vector3(0, 5, 0));
astar.ConnectPoints(1, 2, false);
.. rst-class:: classref-item-separator
----
.. _class_AStar3D_method_disconnect_points:
.. rst-class:: classref-method
|void| **disconnect_points**\ (\ id\: :ref:`int<class_int>`, to_id\: :ref:`int<class_int>`, bidirectional\: :ref:`bool<class_bool>` = true\ ) :ref:`🔗<class_AStar3D_method_disconnect_points>`
刪除兩點之間的線段。若 ``bidirectional`` 為 ``false``\ ，僅會阻止自 ``id`` 到 ``to_id`` 的移動，原有的單向線段可能仍保留。
.. rst-class:: classref-item-separator
----
.. _class_AStar3D_method_get_available_point_id:
.. rst-class:: classref-method
:ref:`int<class_int>` **get_available_point_id**\ (\ ) |const| :ref:`🔗<class_AStar3D_method_get_available_point_id>`
取得下一個尚未使用的點 ID。
.. rst-class:: classref-item-separator
----
.. _class_AStar3D_method_get_closest_point:
.. rst-class:: classref-method
:ref:`int<class_int>` **get_closest_point**\ (\ to_position\: :ref:`Vector3<class_Vector3>`, include_disabled\: :ref:`bool<class_bool>` = false\ ) |const| :ref:`🔗<class_AStar3D_method_get_closest_point>`
回傳最接近 ``to_position`` 的點之 ID，可選擇是否納入已停用的點。若點池為空則回傳 ``-1``\ 。
\ **注意：** 若有多個點同樣最接近，將回傳最小 ID 的點，以確保結果一致。
.. rst-class:: classref-item-separator
----
.. _class_AStar3D_method_get_closest_position_in_segment:
.. rst-class:: classref-method
:ref:`Vector3<class_Vector3>` **get_closest_position_in_segment**\ (\ to_position\: :ref:`Vector3<class_Vector3>`\ ) |const| :ref:`🔗<class_AStar3D_method_get_closest_position_in_segment>`
返回位於兩個連接點之間線段中、最靠近 ``to_position`` 的位置。
.. tabs::
.. code-tab:: gdscript
var astar = AStar3D.new()
astar.add_point(1, Vector3(0, 0, 0))
astar.add_point(2, Vector3(0, 5, 0))
astar.connect_points(1, 2)
var res = astar.get_closest_position_in_segment(Vector3(3, 3, 0)) # 回傳 (0, 3, 0)
.. code-tab:: csharp
var astar = new AStar3D();
astar.AddPoint(1, new Vector3(0, 0, 0));
astar.AddPoint(2, new Vector3(0, 5, 0));
astar.ConnectPoints(1, 2);
Vector3 res = astar.GetClosestPositionInSegment(new Vector3(3, 3, 0)); // 回傳 (0, 3, 0)
此結果位於 ``y = 0`` 至 ``y = 5`` 的線段上，為該線段中最接近給定點的位置。
.. rst-class:: classref-item-separator
----
.. _class_AStar3D_method_get_id_path:
.. rst-class:: classref-method
:ref:`PackedInt64Array<class_PackedInt64Array>` **get_id_path**\ (\ from_id\: :ref:`int<class_int>`, to_id\: :ref:`int<class_int>`, allow_partial_path\: :ref:`bool<class_bool>` = false\ ) :ref:`🔗<class_AStar3D_method_get_id_path>`
返回一個陣列，包含 AStar3D 在給定兩點之間找到的路徑上各點的 ID。陣列按起點到終點排序。
若不存在通往目標的有效路徑且 ``allow_partial_path`` 為 ``true``\ ，則會回傳通往最接近目標且可到達之點的路徑。
\ **注意：**\ 當 ``allow_partial_path`` 為 ``true`` 且 ``to_id`` 已被停用時，搜尋可能需要異常長的時間才能完成。
.. tabs::
.. code-tab:: gdscript
var astar = AStar3D.new()
astar.add_point(1, Vector3(0, 0, 0))
astar.add_point(2, Vector3(0, 1, 0), 1) # 預設權重為 1
astar.add_point(3, Vector3(1, 1, 0))
astar.add_point(4, Vector3(2, 0, 0))
astar.connect_points(1, 2, false)
astar.connect_points(2, 3, false)
astar.connect_points(4, 3, false)
astar.connect_points(1, 4, false)
var res = astar.get_id_path(1, 3) # 回傳 [1, 2, 3]
.. code-tab:: csharp
var astar = new AStar3D();
astar.AddPoint(1, new Vector3(0, 0, 0));
astar.AddPoint(2, new Vector3(0, 1, 0), 1); // 預設權重為 1
astar.AddPoint(3, new Vector3(1, 1, 0));
astar.AddPoint(4, new Vector3(2, 0, 0));
astar.ConnectPoints(1, 2, false);
astar.ConnectPoints(2, 3, false);
astar.ConnectPoints(4, 3, false);
astar.ConnectPoints(1, 4, false);
long[] res = astar.GetIdPath(1, 3); // 回傳 [1, 2, 3]
若將第 2 個點的權重改為 3，則結果會變為 ``[1, 4, 3]``\ ，因為即便距離較長，透過點 4 的「成本」仍低於透過點 2。
.. rst-class:: classref-item-separator
----
.. _class_AStar3D_method_get_point_capacity:
.. rst-class:: classref-method
:ref:`int<class_int>` **get_point_capacity**\ (\ ) |const| :ref:`🔗<class_AStar3D_method_get_point_capacity>`
回傳儲存點資料結構的容量，可配合 :ref:`reserve_space()<class_AStar3D_method_reserve_space>` 使用。
.. rst-class:: classref-item-separator
----
.. _class_AStar3D_method_get_point_connections:
.. rst-class:: classref-method
:ref:`PackedInt64Array<class_PackedInt64Array>` **get_point_connections**\ (\ id\: :ref:`int<class_int>`\ ) :ref:`🔗<class_AStar3D_method_get_point_connections>`
返回一個陣列，包含與指定點直接相連之點的 ID。
.. tabs::
.. code-tab:: gdscript
var astar = AStar3D.new()
astar.add_point(1, Vector3(0, 0, 0))
astar.add_point(2, Vector3(0, 1, 0))
astar.add_point(3, Vector3(1, 1, 0))
astar.add_point(4, Vector3(2, 0, 0))
astar.connect_points(1, 2, true)
astar.connect_points(1, 3, true)
var neighbors = astar.get_point_connections(1) # 回傳 [2, 3]
.. code-tab:: csharp
var astar = new AStar3D();
astar.AddPoint(1, new Vector3(0, 0, 0));
astar.AddPoint(2, new Vector3(0, 1, 0));
astar.AddPoint(3, new Vector3(1, 1, 0));
astar.AddPoint(4, new Vector3(2, 0, 0));
astar.ConnectPoints(1, 2, true);
astar.ConnectPoints(1, 3, true);
long[] neighbors = astar.GetPointConnections(1); // 回傳 [2, 3]
.. rst-class:: classref-item-separator
----
.. _class_AStar3D_method_get_point_count:
.. rst-class:: classref-method
:ref:`int<class_int>` **get_point_count**\ (\ ) |const| :ref:`🔗<class_AStar3D_method_get_point_count>`
回傳目前點池中的點數。
.. rst-class:: classref-item-separator
----
.. _class_AStar3D_method_get_point_ids:
.. rst-class:: classref-method
:ref:`PackedInt64Array<class_PackedInt64Array>` **get_point_ids**\ (\ ) :ref:`🔗<class_AStar3D_method_get_point_ids>`
回傳所有點 ID 的陣列。
.. rst-class:: classref-item-separator
----
.. _class_AStar3D_method_get_point_path:
.. rst-class:: classref-method
:ref:`PackedVector3Array<class_PackedVector3Array>` **get_point_path**\ (\ from_id\: :ref:`int<class_int>`, to_id\: :ref:`int<class_int>`, allow_partial_path\: :ref:`bool<class_bool>` = false\ ) :ref:`🔗<class_AStar3D_method_get_point_path>`
Returns an array with the points that are in the path found by AStar3D 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; it can only be used from a single :ref:`Thread<class_Thread>` at a given time. Consider using :ref:`Mutex<class_Mutex>` to ensure exclusive access to one thread to avoid race conditions.
Additionally, when ``allow_partial_path`` is ``true`` and ``to_id`` is disabled the search may take an unusually long time to finish.
.. rst-class:: classref-item-separator
----
.. _class_AStar3D_method_get_point_position:
.. rst-class:: classref-method
:ref:`Vector3<class_Vector3>` **get_point_position**\ (\ id\: :ref:`int<class_int>`\ ) |const| :ref:`🔗<class_AStar3D_method_get_point_position>`
回傳與指定 ``id`` 相關聯之點的位置。
.. rst-class:: classref-item-separator
----
.. _class_AStar3D_method_get_point_weight_scale:
.. rst-class:: classref-method
:ref:`float<class_float>` **get_point_weight_scale**\ (\ id\: :ref:`int<class_int>`\ ) |const| :ref:`🔗<class_AStar3D_method_get_point_weight_scale>`
回傳與指定 ``id`` 相關聯之點的權重係數。
.. rst-class:: classref-item-separator
----
.. _class_AStar3D_method_has_point:
.. rst-class:: classref-method
:ref:`bool<class_bool>` **has_point**\ (\ id\: :ref:`int<class_int>`\ ) |const| :ref:`🔗<class_AStar3D_method_has_point>`
檢查是否存在與指定 ``id`` 相關聯的點。
.. rst-class:: classref-item-separator
----
.. _class_AStar3D_method_is_point_disabled:
.. rst-class:: classref-method
:ref:`bool<class_bool>` **is_point_disabled**\ (\ id\: :ref:`int<class_int>`\ ) |const| :ref:`🔗<class_AStar3D_method_is_point_disabled>`
檢查指定點在尋路時是否被停用；預設所有點均啟用。
.. rst-class:: classref-item-separator
----
.. _class_AStar3D_method_remove_point:
.. rst-class:: classref-method
|void| **remove_point**\ (\ id\: :ref:`int<class_int>`\ ) :ref:`🔗<class_AStar3D_method_remove_point>`
自點池中移除與指定 ``id`` 相關聯的點。
.. rst-class:: classref-item-separator
----
.. _class_AStar3D_method_reserve_space:
.. rst-class:: classref-method
|void| **reserve_space**\ (\ num_nodes\: :ref:`int<class_int>`\ ) :ref:`🔗<class_AStar3D_method_reserve_space>`
在內部為 ``num_nodes`` 個點預先保留空間；當一次加入大量已知點數（如網格上的所有點）時特別有用。
.. rst-class:: classref-item-separator
----
.. _class_AStar3D_method_set_point_disabled:
.. rst-class:: classref-method
|void| **set_point_disabled**\ (\ id\: :ref:`int<class_int>`, disabled\: :ref:`bool<class_bool>` = true\ ) :ref:`🔗<class_AStar3D_method_set_point_disabled>`
啟用或停用指定點的尋路功能，可用來製作臨時障礙物。
.. rst-class:: classref-item-separator
----
.. _class_AStar3D_method_set_point_position:
.. rst-class:: classref-method
|void| **set_point_position**\ (\ id\: :ref:`int<class_int>`, position\: :ref:`Vector3<class_Vector3>`\ ) :ref:`🔗<class_AStar3D_method_set_point_position>`
為具有指定 ``id`` 的點設定新位置 ``position``\ 。
.. rst-class:: classref-item-separator
----
.. _class_AStar3D_method_set_point_weight_scale:
.. rst-class:: classref-method
|void| **set_point_weight_scale**\ (\ id\: :ref:`int<class_int>`, weight_scale\: :ref:`float<class_float>`\ ) :ref:`🔗<class_AStar3D_method_set_point_weight_scale>`
為具有指定 ``id`` 的點設定 ``weight_scale``\ 。在計算從鄰近點移動至此點之線段的總代價時，會把 ``weight_scale`` 乘上 :ref:`_compute_cost()<class_AStar3D_private_method__compute_cost>` 的結果。
.. |virtual| replace:: :abbr:`virtual (本方法通常需要使用者覆寫才能生效。)`
.. |required| replace:: :abbr:`required (This method is required to be overridden when extending its base class.)`
.. |const| replace:: :abbr:`const (本方法沒有副作用。不會修改該實例的任何成員變數。)`
.. |vararg| replace:: :abbr:`vararg (本方法除了這裡描述的參數外，還可以接受任意數量的參數。)`
.. |constructor| replace:: :abbr:`constructor (本方法用於建構一個型別。)`
.. |static| replace:: :abbr:`static (本方法無需實例即可呼叫，因此可以直接使用類別名稱呼叫。)`
.. |operator| replace:: :abbr:`operator (本方法描述將本型別作為左運算元時可用的有效運算子。)`
.. |bitfield| replace:: :abbr:`BitField (此值是由下列旗標組成的位元遮罩整數。)`
.. |void| replace:: :abbr:`void (無回傳值。)`
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