godot-docs/classes/class_astargrid2d.rst

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.. _class_AStarGrid2D:

AStarGrid2D
===========

**Inherits:** :ref:`RefCounted<class_RefCounted>` **<** :ref:`Object<class_Object>`

A\* (or "A-Star") pathfinding tailored to find the shortest paths on 2D grids.

.. rst-class:: classref-introduction-group

Description
-----------

Compared to :ref:`AStar2D<class_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 :ref:`AStar2D<class_AStar2D>` class.

In contrast to :ref:`AStar2D<class_AStar2D>`, you only need set the :ref:`size<class_AStarGrid2D_property_size>` of the grid, optionally set the :ref:`cell_size<class_AStarGrid2D_property_cell_size>` and then call the :ref:`update<class_AStarGrid2D_method_update>` method:


.. tabs::

 .. code-tab:: gdscript

    var astar_grid = AStarGrid2D.new()
    astar_grid.size = Vector2i(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)
    print(astar_grid.get_point_path(Vector2i(0, 0), Vector2i(3, 4))) # prints (0, 0), (16, 16), (32, 32), (48, 48), (48, 64)

 .. code-tab:: csharp

    AStarGrid2D astarGrid = new AStarGrid2D();
    astarGrid.Size = new Vector2i(32, 32);
    astarGrid.CellSize = new Vector2i(16, 16);
    astarGrid.Update();
    GD.Print(astarGrid.GetIdPath(Vector2i.Zero, new Vector2i(3, 4))); // prints (0, 0), (1, 1), (2, 2), (3, 3), (3, 4)
    GD.Print(astarGrid.GetPointPath(Vector2i.Zero, new Vector2i(3, 4))); // prints (0, 0), (16, 16), (32, 32), (48, 48), (48, 64)



.. rst-class:: classref-reftable-group

Properties
----------

.. table::
   :widths: auto

   +----------------------------------------------------+------------------------------------------------------------------------+--------------------+
   | :ref:`Vector2<class_Vector2>`                      | :ref:`cell_size<class_AStarGrid2D_property_cell_size>`                 | ``Vector2(1, 1)``  |
   +----------------------------------------------------+------------------------------------------------------------------------+--------------------+
   | :ref:`Heuristic<enum_AStarGrid2D_Heuristic>`       | :ref:`default_heuristic<class_AStarGrid2D_property_default_heuristic>` | ``0``              |
   +----------------------------------------------------+------------------------------------------------------------------------+--------------------+
   | :ref:`DiagonalMode<enum_AStarGrid2D_DiagonalMode>` | :ref:`diagonal_mode<class_AStarGrid2D_property_diagonal_mode>`         | ``0``              |
   +----------------------------------------------------+------------------------------------------------------------------------+--------------------+
   | :ref:`bool<class_bool>`                            | :ref:`jumping_enabled<class_AStarGrid2D_property_jumping_enabled>`     | ``false``          |
   +----------------------------------------------------+------------------------------------------------------------------------+--------------------+
   | :ref:`Vector2<class_Vector2>`                      | :ref:`offset<class_AStarGrid2D_property_offset>`                       | ``Vector2(0, 0)``  |
   +----------------------------------------------------+------------------------------------------------------------------------+--------------------+
   | :ref:`Vector2i<class_Vector2i>`                    | :ref:`size<class_AStarGrid2D_property_size>`                           | ``Vector2i(0, 0)`` |
   +----------------------------------------------------+------------------------------------------------------------------------+--------------------+

.. rst-class:: classref-reftable-group

Methods
-------

.. table::
   :widths: auto

   +-----------------------------------------------------+-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | :ref:`float<class_float>`                           | :ref:`_compute_cost<class_AStarGrid2D_method__compute_cost>` **(** :ref:`Vector2i<class_Vector2i>` from_id, :ref:`Vector2i<class_Vector2i>` to_id **)** |virtual| |const|   |
   +-----------------------------------------------------+-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | :ref:`float<class_float>`                           | :ref:`_estimate_cost<class_AStarGrid2D_method__estimate_cost>` **(** :ref:`Vector2i<class_Vector2i>` from_id, :ref:`Vector2i<class_Vector2i>` to_id **)** |virtual| |const| |
   +-----------------------------------------------------+-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | void                                                | :ref:`clear<class_AStarGrid2D_method_clear>` **(** **)**                                                                                                                    |
   +-----------------------------------------------------+-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | :ref:`Vector2i[]<class_Vector2i>`                   | :ref:`get_id_path<class_AStarGrid2D_method_get_id_path>` **(** :ref:`Vector2i<class_Vector2i>` from_id, :ref:`Vector2i<class_Vector2i>` to_id **)**                         |
   +-----------------------------------------------------+-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | :ref:`PackedVector2Array<class_PackedVector2Array>` | :ref:`get_point_path<class_AStarGrid2D_method_get_point_path>` **(** :ref:`Vector2i<class_Vector2i>` from_id, :ref:`Vector2i<class_Vector2i>` to_id **)**                   |
   +-----------------------------------------------------+-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | :ref:`Vector2<class_Vector2>`                       | :ref:`get_point_position<class_AStarGrid2D_method_get_point_position>` **(** :ref:`Vector2i<class_Vector2i>` id **)** |const|                                               |
   +-----------------------------------------------------+-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | :ref:`float<class_float>`                           | :ref:`get_point_weight_scale<class_AStarGrid2D_method_get_point_weight_scale>` **(** :ref:`Vector2i<class_Vector2i>` id **)** |const|                                       |
   +-----------------------------------------------------+-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | :ref:`bool<class_bool>`                             | :ref:`is_dirty<class_AStarGrid2D_method_is_dirty>` **(** **)** |const|                                                                                                      |
   +-----------------------------------------------------+-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | :ref:`bool<class_bool>`                             | :ref:`is_in_bounds<class_AStarGrid2D_method_is_in_bounds>` **(** :ref:`int<class_int>` x, :ref:`int<class_int>` y **)** |const|                                             |
   +-----------------------------------------------------+-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | :ref:`bool<class_bool>`                             | :ref:`is_in_boundsv<class_AStarGrid2D_method_is_in_boundsv>` **(** :ref:`Vector2i<class_Vector2i>` id **)** |const|                                                         |
   +-----------------------------------------------------+-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | :ref:`bool<class_bool>`                             | :ref:`is_point_solid<class_AStarGrid2D_method_is_point_solid>` **(** :ref:`Vector2i<class_Vector2i>` id **)** |const|                                                       |
   +-----------------------------------------------------+-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | void                                                | :ref:`set_point_solid<class_AStarGrid2D_method_set_point_solid>` **(** :ref:`Vector2i<class_Vector2i>` id, :ref:`bool<class_bool>` solid=true **)**                         |
   +-----------------------------------------------------+-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | void                                                | :ref:`set_point_weight_scale<class_AStarGrid2D_method_set_point_weight_scale>` **(** :ref:`Vector2i<class_Vector2i>` id, :ref:`float<class_float>` weight_scale **)**       |
   +-----------------------------------------------------+-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
   | void                                                | :ref:`update<class_AStarGrid2D_method_update>` **(** **)**                                                                                                                  |
   +-----------------------------------------------------+-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------+

.. rst-class:: classref-section-separator

----

.. rst-class:: classref-descriptions-group

Enumerations
------------

.. _enum_AStarGrid2D_Heuristic:

.. rst-class:: classref-enumeration

enum **Heuristic**:

.. _class_AStarGrid2D_constant_HEURISTIC_EUCLIDEAN:

.. rst-class:: classref-enumeration-constant

:ref:`Heuristic<enum_AStarGrid2D_Heuristic>` **HEURISTIC_EUCLIDEAN** = ``0``

The `Euclidean heuristic <https://en.wikipedia.org/wiki/Euclidean_distance>`__ to be used for the pathfinding using the following formula:

::

    dx = abs(to_id.x - from_id.x)
    dy = abs(to_id.y - from_id.y)
    result = sqrt(dx * dx + dy * dy)

\ **Note:** This is also the internal heuristic used in :ref:`AStar3D<class_AStar3D>` and :ref:`AStar2D<class_AStar2D>` by default (with the inclusion of possible z-axis coordinate).

.. _class_AStarGrid2D_constant_HEURISTIC_MANHATTAN:

.. rst-class:: classref-enumeration-constant

:ref:`Heuristic<enum_AStarGrid2D_Heuristic>` **HEURISTIC_MANHATTAN** = ``1``

The `Manhattan heuristic <https://en.wikipedia.org/wiki/Taxicab_geometry>`__ to be used for the pathfinding using the following formula:

::

    dx = abs(to_id.x - from_id.x)
    dy = abs(to_id.y - from_id.y)
    result = dx + dy

\ **Note:** This heuristic is intended to be used with 4-side orthogonal movements, provided by setting the :ref:`diagonal_mode<class_AStarGrid2D_property_diagonal_mode>` to :ref:`DIAGONAL_MODE_NEVER<class_AStarGrid2D_constant_DIAGONAL_MODE_NEVER>`.

.. _class_AStarGrid2D_constant_HEURISTIC_OCTILE:

.. rst-class:: classref-enumeration-constant

:ref:`Heuristic<enum_AStarGrid2D_Heuristic>` **HEURISTIC_OCTILE** = ``2``

The Octile heuristic to be used for the pathfinding using the following formula:

::

    dx = abs(to_id.x - from_id.x)
    dy = abs(to_id.y - from_id.y)
    f = sqrt(2) - 1
    result = (dx < dy) ? f * dx + dy : f * dy + dx;

.. _class_AStarGrid2D_constant_HEURISTIC_CHEBYSHEV:

.. rst-class:: classref-enumeration-constant

:ref:`Heuristic<enum_AStarGrid2D_Heuristic>` **HEURISTIC_CHEBYSHEV** = ``3``

The `Chebyshev heuristic <https://en.wikipedia.org/wiki/Chebyshev_distance>`__ to be used for the pathfinding using the following formula:

::

    dx = abs(to_id.x - from_id.x)
    dy = abs(to_id.y - from_id.y)
    result = max(dx, dy)

.. _class_AStarGrid2D_constant_HEURISTIC_MAX:

.. rst-class:: classref-enumeration-constant

:ref:`Heuristic<enum_AStarGrid2D_Heuristic>` **HEURISTIC_MAX** = ``4``

Represents the size of the :ref:`Heuristic<enum_AStarGrid2D_Heuristic>` enum.

.. rst-class:: classref-item-separator

----

.. _enum_AStarGrid2D_DiagonalMode:

.. rst-class:: classref-enumeration

enum **DiagonalMode**:

.. _class_AStarGrid2D_constant_DIAGONAL_MODE_ALWAYS:

.. rst-class:: classref-enumeration-constant

:ref:`DiagonalMode<enum_AStarGrid2D_DiagonalMode>` **DIAGONAL_MODE_ALWAYS** = ``0``

The pathfinding algorithm will ignore solid neighbors around the target cell and allow passing using diagonals.

.. _class_AStarGrid2D_constant_DIAGONAL_MODE_NEVER:

.. rst-class:: classref-enumeration-constant

:ref:`DiagonalMode<enum_AStarGrid2D_DiagonalMode>` **DIAGONAL_MODE_NEVER** = ``1``

The pathfinding algorithm will ignore all diagonals and the way will be always orthogonal.

.. _class_AStarGrid2D_constant_DIAGONAL_MODE_AT_LEAST_ONE_WALKABLE:

.. rst-class:: classref-enumeration-constant

:ref:`DiagonalMode<enum_AStarGrid2D_DiagonalMode>` **DIAGONAL_MODE_AT_LEAST_ONE_WALKABLE** = ``2``

The pathfinding algorithm will avoid using diagonals if at least two obstacles have been placed around the neighboring cells of the specific path segment.

.. _class_AStarGrid2D_constant_DIAGONAL_MODE_ONLY_IF_NO_OBSTACLES:

.. rst-class:: classref-enumeration-constant

:ref:`DiagonalMode<enum_AStarGrid2D_DiagonalMode>` **DIAGONAL_MODE_ONLY_IF_NO_OBSTACLES** = ``3``

The pathfinding algorithm will avoid using diagonals if any obstacle has been placed around the neighboring cells of the specific path segment.

.. _class_AStarGrid2D_constant_DIAGONAL_MODE_MAX:

.. rst-class:: classref-enumeration-constant

:ref:`DiagonalMode<enum_AStarGrid2D_DiagonalMode>` **DIAGONAL_MODE_MAX** = ``4``

Represents the size of the :ref:`DiagonalMode<enum_AStarGrid2D_DiagonalMode>` enum.

.. rst-class:: classref-section-separator

----

.. rst-class:: classref-descriptions-group

Property Descriptions
---------------------

.. _class_AStarGrid2D_property_cell_size:

.. rst-class:: classref-property

:ref:`Vector2<class_Vector2>` **cell_size** = ``Vector2(1, 1)``

.. rst-class:: classref-property-setget

- void **set_cell_size** **(** :ref:`Vector2<class_Vector2>` value **)**
- :ref:`Vector2<class_Vector2>` **get_cell_size** **(** **)**

The size of the point cell which will be applied to calculate the resulting point position returned by :ref:`get_point_path<class_AStarGrid2D_method_get_point_path>`. If changed, :ref:`update<class_AStarGrid2D_method_update>` needs to be called before finding the next path.

.. rst-class:: classref-item-separator

----

.. _class_AStarGrid2D_property_default_heuristic:

.. rst-class:: classref-property

:ref:`Heuristic<enum_AStarGrid2D_Heuristic>` **default_heuristic** = ``0``

.. rst-class:: classref-property-setget

- void **set_default_heuristic** **(** :ref:`Heuristic<enum_AStarGrid2D_Heuristic>` value **)**
- :ref:`Heuristic<enum_AStarGrid2D_Heuristic>` **get_default_heuristic** **(** **)**

The default :ref:`Heuristic<enum_AStarGrid2D_Heuristic>` which will be used to calculate the path if :ref:`_compute_cost<class_AStarGrid2D_method__compute_cost>` and/or :ref:`_estimate_cost<class_AStarGrid2D_method__estimate_cost>` were not overridden.

.. rst-class:: classref-item-separator

----

.. _class_AStarGrid2D_property_diagonal_mode:

.. rst-class:: classref-property

:ref:`DiagonalMode<enum_AStarGrid2D_DiagonalMode>` **diagonal_mode** = ``0``

.. rst-class:: classref-property-setget

- void **set_diagonal_mode** **(** :ref:`DiagonalMode<enum_AStarGrid2D_DiagonalMode>` value **)**
- :ref:`DiagonalMode<enum_AStarGrid2D_DiagonalMode>` **get_diagonal_mode** **(** **)**

A specific :ref:`DiagonalMode<enum_AStarGrid2D_DiagonalMode>` mode which will force the path to avoid or accept the specified diagonals.

.. rst-class:: classref-item-separator

----

.. _class_AStarGrid2D_property_jumping_enabled:

.. rst-class:: classref-property

:ref:`bool<class_bool>` **jumping_enabled** = ``false``

.. rst-class:: classref-property-setget

- void **set_jumping_enabled** **(** :ref:`bool<class_bool>` value **)**
- :ref:`bool<class_bool>` **is_jumping_enabled** **(** **)**

Enables or disables jumping to skip up the intermediate points and speeds up the searching algorithm.

\ **Note:** Currently, toggling it on disables the consideration of weight scaling in pathfinding.

.. rst-class:: classref-item-separator

----

.. _class_AStarGrid2D_property_offset:

.. rst-class:: classref-property

:ref:`Vector2<class_Vector2>` **offset** = ``Vector2(0, 0)``

.. rst-class:: classref-property-setget

- void **set_offset** **(** :ref:`Vector2<class_Vector2>` value **)**
- :ref:`Vector2<class_Vector2>` **get_offset** **(** **)**

The offset of the grid which will be applied to calculate the resulting point position returned by :ref:`get_point_path<class_AStarGrid2D_method_get_point_path>`. If changed, :ref:`update<class_AStarGrid2D_method_update>` needs to be called before finding the next path.

.. rst-class:: classref-item-separator

----

.. _class_AStarGrid2D_property_size:

.. rst-class:: classref-property

:ref:`Vector2i<class_Vector2i>` **size** = ``Vector2i(0, 0)``

.. rst-class:: classref-property-setget

- void **set_size** **(** :ref:`Vector2i<class_Vector2i>` value **)**
- :ref:`Vector2i<class_Vector2i>` **get_size** **(** **)**

The size of the grid (number of cells of size :ref:`cell_size<class_AStarGrid2D_property_cell_size>` on each axis). If changed, :ref:`update<class_AStarGrid2D_method_update>` needs to be called before finding the next path.

.. rst-class:: classref-section-separator

----

.. rst-class:: classref-descriptions-group

Method Descriptions
-------------------

.. _class_AStarGrid2D_method__compute_cost:

.. rst-class:: classref-method

:ref:`float<class_float>` **_compute_cost** **(** :ref:`Vector2i<class_Vector2i>` from_id, :ref:`Vector2i<class_Vector2i>` to_id **)** |virtual| |const|

Called when computing the cost between two connected points.

Note that this function is hidden in the default ``AStarGrid2D`` class.

.. rst-class:: classref-item-separator

----

.. _class_AStarGrid2D_method__estimate_cost:

.. rst-class:: classref-method

:ref:`float<class_float>` **_estimate_cost** **(** :ref:`Vector2i<class_Vector2i>` from_id, :ref:`Vector2i<class_Vector2i>` to_id **)** |virtual| |const|

Called when estimating the cost between a point and the path's ending point.

Note that this function is hidden in the default ``AStarGrid2D`` class.

.. rst-class:: classref-item-separator

----

.. _class_AStarGrid2D_method_clear:

.. rst-class:: classref-method

void **clear** **(** **)**

Clears the grid and sets the :ref:`size<class_AStarGrid2D_property_size>` to :ref:`Vector2i.ZERO<class_Vector2i_constant_ZERO>`.

.. rst-class:: classref-item-separator

----

.. _class_AStarGrid2D_method_get_id_path:

.. rst-class:: classref-method

:ref:`Vector2i[]<class_Vector2i>` **get_id_path** **(** :ref:`Vector2i<class_Vector2i>` from_id, :ref:`Vector2i<class_Vector2i>` to_id **)**

Returns an array with the IDs of the points that form the path found by AStar2D between the given points. The array is ordered from the starting point to the ending point of the path.

.. rst-class:: classref-item-separator

----

.. _class_AStarGrid2D_method_get_point_path:

.. rst-class:: classref-method

:ref:`PackedVector2Array<class_PackedVector2Array>` **get_point_path** **(** :ref:`Vector2i<class_Vector2i>` from_id, :ref:`Vector2i<class_Vector2i>` to_id **)**

Returns an array with the points that are in the path found by AStarGrid2D between the given points. The array is ordered from the starting point to the ending point of the path.

\ **Note:** This method is not thread-safe. If called from a :ref:`Thread<class_Thread>`, it will return an empty :ref:`PackedVector3Array<class_PackedVector3Array>` and will print an error message.

.. rst-class:: classref-item-separator

----

.. _class_AStarGrid2D_method_get_point_position:

.. rst-class:: classref-method

:ref:`Vector2<class_Vector2>` **get_point_position** **(** :ref:`Vector2i<class_Vector2i>` id **)** |const|

Returns the position of the point associated with the given ``id``.

.. rst-class:: classref-item-separator

----

.. _class_AStarGrid2D_method_get_point_weight_scale:

.. rst-class:: classref-method

:ref:`float<class_float>` **get_point_weight_scale** **(** :ref:`Vector2i<class_Vector2i>` id **)** |const|

Returns the weight scale of the point associated with the given ``id``.

.. rst-class:: classref-item-separator

----

.. _class_AStarGrid2D_method_is_dirty:

.. rst-class:: classref-method

:ref:`bool<class_bool>` **is_dirty** **(** **)** |const|

Indicates that the grid parameters were changed and :ref:`update<class_AStarGrid2D_method_update>` needs to be called.

.. rst-class:: classref-item-separator

----

.. _class_AStarGrid2D_method_is_in_bounds:

.. rst-class:: classref-method

:ref:`bool<class_bool>` **is_in_bounds** **(** :ref:`int<class_int>` x, :ref:`int<class_int>` y **)** |const|

Returns ``true`` if the ``x`` and ``y`` is a valid grid coordinate (id).

.. rst-class:: classref-item-separator

----

.. _class_AStarGrid2D_method_is_in_boundsv:

.. rst-class:: classref-method

:ref:`bool<class_bool>` **is_in_boundsv** **(** :ref:`Vector2i<class_Vector2i>` id **)** |const|

Returns ``true`` if the ``id`` vector is a valid grid coordinate.

.. rst-class:: classref-item-separator

----

.. _class_AStarGrid2D_method_is_point_solid:

.. rst-class:: classref-method

:ref:`bool<class_bool>` **is_point_solid** **(** :ref:`Vector2i<class_Vector2i>` id **)** |const|

Returns ``true`` if a point is disabled for pathfinding. By default, all points are enabled.

.. rst-class:: classref-item-separator

----

.. _class_AStarGrid2D_method_set_point_solid:

.. rst-class:: classref-method

void **set_point_solid** **(** :ref:`Vector2i<class_Vector2i>` id, :ref:`bool<class_bool>` solid=true **)**

Disables or enables the specified point for pathfinding. Useful for making an obstacle. By default, all points are enabled.

\ **Note:** Calling :ref:`update<class_AStarGrid2D_method_update>` is not needed after the call of this function.

.. rst-class:: classref-item-separator

----

.. _class_AStarGrid2D_method_set_point_weight_scale:

.. rst-class:: classref-method

void **set_point_weight_scale** **(** :ref:`Vector2i<class_Vector2i>` id, :ref:`float<class_float>` weight_scale **)**

Sets the ``weight_scale`` for the point with the given ``id``. The ``weight_scale`` is multiplied by the result of :ref:`_compute_cost<class_AStarGrid2D_method__compute_cost>` when determining the overall cost of traveling across a segment from a neighboring point to this point.

\ **Note:** Calling :ref:`update<class_AStarGrid2D_method_update>` is not needed after the call of this function.

.. rst-class:: classref-item-separator

----

.. _class_AStarGrid2D_method_update:

.. rst-class:: classref-method

void **update** **(** **)**

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 :ref:`size<class_AStarGrid2D_property_size>`, :ref:`cell_size<class_AStarGrid2D_property_cell_size>` or :ref:`offset<class_AStarGrid2D_property_offset>` are changed. :ref:`is_dirty<class_AStarGrid2D_method_is_dirty>` will return ``true`` if this is the case and this needs to be called.

.. |virtual| replace:: :abbr:`virtual (This method should typically be overridden by the user to have any effect.)`
.. |const| replace:: :abbr:`const (This method has no side effects. It doesn't modify any of the instance's member variables.)`
.. |vararg| replace:: :abbr:`vararg (This method accepts any number of arguments after the ones described here.)`
.. |constructor| replace:: :abbr:`constructor (This method is used to construct a type.)`
.. |static| replace:: :abbr:`static (This method doesn't need an instance to be called, so it can be called directly using the class name.)`
.. |operator| replace:: :abbr:`operator (This method describes a valid operator to use with this type as left-hand operand.)`