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add partial path return option for astar

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* AStar2D, AStar3D and AStarGrid2D now can return a partial path if the destination point isn't reachable but still in the map. This option is available for both get_point_path and get_id_path
This commit is contained in:
ashley
2024-02-06 20:20:13 -08:00
committed by allison
parent f47f4a02c8
commit aa1bbe1542
10 changed files with 247 additions and 24 deletions
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25
core/math/a_star.h
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@@ -60,6 +60,10 @@ class AStar3D : public RefCounted {
real_t f_score = 0;
uint64_t open_pass = 0;
uint64_t closed_pass = 0;
// Used for getting closest_point_of_last_pathing_call.
real_t abs_g_score = 0;
real_t abs_f_score = 0;
};
struct SortPoints {
@@ -109,6 +113,7 @@ class AStar3D : public RefCounted {
OAHashMap<int64_t, Point *> points;
HashSet<Segment, Segment> segments;
Point *last_closest_point = nullptr;
bool _solve(Point *begin_point, Point *end_point);
@@ -121,6 +126,12 @@ protected:
GDVIRTUAL2RC(real_t, _estimate_cost, int64_t, int64_t)
GDVIRTUAL2RC(real_t, _compute_cost, int64_t, int64_t)
#ifndef DISABLE_DEPRECATED
Vector<int64_t> _get_id_path_bind_compat_88047(int64_t p_from_id, int64_t p_to_id);
Vector<Vector3> _get_point_path_bind_compat_88047(int64_t p_from_id, int64_t p_to_id);
static void _bind_compatibility_methods();
#endif
public:
int64_t get_available_point_id() const;
@@ -149,8 +160,8 @@ public:
int64_t get_closest_point(const Vector3 &p_point, bool p_include_disabled = false) const;
Vector3 get_closest_position_in_segment(const Vector3 &p_point) const;
Vector<Vector3> get_point_path(int64_t p_from_id, int64_t p_to_id);
Vector<int64_t> get_id_path(int64_t p_from_id, int64_t p_to_id);
Vector<Vector3> get_point_path(int64_t p_from_id, int64_t p_to_id, bool p_allow_partial_path = false);
Vector<int64_t> get_id_path(int64_t p_from_id, int64_t p_to_id, bool p_allow_partial_path = false);
AStar3D() {}
~AStar3D();
@@ -171,6 +182,12 @@ protected:
GDVIRTUAL2RC(real_t, _estimate_cost, int64_t, int64_t)
GDVIRTUAL2RC(real_t, _compute_cost, int64_t, int64_t)
#ifndef DISABLE_DEPRECATED
Vector<int64_t> _get_id_path_bind_compat_88047(int64_t p_from_id, int64_t p_to_id);
Vector<Vector2> _get_point_path_bind_compat_88047(int64_t p_from_id, int64_t p_to_id);
static void _bind_compatibility_methods();
#endif
public:
int64_t get_available_point_id() const;
@@ -199,8 +216,8 @@ public:
int64_t get_closest_point(const Vector2 &p_point, bool p_include_disabled = false) const;
Vector2 get_closest_position_in_segment(const Vector2 &p_point) const;
Vector<Vector2> get_point_path(int64_t p_from_id, int64_t p_to_id);
Vector<int64_t> get_id_path(int64_t p_from_id, int64_t p_to_id);
Vector<Vector2> get_point_path(int64_t p_from_id, int64_t p_to_id, bool p_allow_partial_path = false);
Vector<int64_t> get_id_path(int64_t p_from_id, int64_t p_to_id, bool p_allow_partial_path = false);
AStar2D() {}
~AStar2D() {}