godot-docs/classes/class_astar.rst

:github_url: hide

.. Generated automatically by doc/tools/makerst.py in Godot's source tree.
.. DO NOT EDIT THIS FILE, but the AStar.xml source instead.
.. The source is found in doc/classes or modules/<name>/doc_classes.

.. _class_AStar:

AStar
=====

**Inherits:** :ref:`Reference<class_Reference>` **<** :ref:`Object<class_Object>`

**Category:** Core

Brief Description
-----------------

AStar class representation that uses 3d-vectors as edges.

Methods
-------

+-------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| :ref:`float<class_float>`                       | :ref:`_compute_cost<class_AStar_method__compute_cost>` **(** :ref:`int<class_int>` from_id, :ref:`int<class_int>` to_id **)** virtual                                      |
+-------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| :ref:`float<class_float>`                       | :ref:`_estimate_cost<class_AStar_method__estimate_cost>` **(** :ref:`int<class_int>` from_id, :ref:`int<class_int>` to_id **)** virtual                                    |
+-------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| void                                            | :ref:`add_point<class_AStar_method_add_point>` **(** :ref:`int<class_int>` id, :ref:`Vector3<class_Vector3>` position, :ref:`float<class_float>` weight_scale=1.0 **)**    |
+-------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| :ref:`bool<class_bool>`                         | :ref:`are_points_connected<class_AStar_method_are_points_connected>` **(** :ref:`int<class_int>` id, :ref:`int<class_int>` to_id **)** const                               |
+-------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| void                                            | :ref:`clear<class_AStar_method_clear>` **(** **)**                                                                                                                         |
+-------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| void                                            | :ref:`connect_points<class_AStar_method_connect_points>` **(** :ref:`int<class_int>` id, :ref:`int<class_int>` to_id, :ref:`bool<class_bool>` bidirectional=true **)**     |
+-------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| void                                            | :ref:`disconnect_points<class_AStar_method_disconnect_points>` **(** :ref:`int<class_int>` id, :ref:`int<class_int>` to_id **)**                                           |
+-------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| :ref:`int<class_int>`                           | :ref:`get_available_point_id<class_AStar_method_get_available_point_id>` **(** **)** const                                                                                 |
+-------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| :ref:`int<class_int>`                           | :ref:`get_closest_point<class_AStar_method_get_closest_point>` **(** :ref:`Vector3<class_Vector3>` to_position, :ref:`bool<class_bool>` include_disabled=false **)** const |
+-------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| :ref:`Vector3<class_Vector3>`                   | :ref:`get_closest_position_in_segment<class_AStar_method_get_closest_position_in_segment>` **(** :ref:`Vector3<class_Vector3>` to_position **)** const                     |
+-------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| :ref:`PoolIntArray<class_PoolIntArray>`         | :ref:`get_id_path<class_AStar_method_get_id_path>` **(** :ref:`int<class_int>` from_id, :ref:`int<class_int>` to_id **)**                                                  |
+-------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| :ref:`int<class_int>`                           | :ref:`get_point_capacity<class_AStar_method_get_point_capacity>` **(** **)** const                                                                                         |
+-------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| :ref:`PoolIntArray<class_PoolIntArray>`         | :ref:`get_point_connections<class_AStar_method_get_point_connections>` **(** :ref:`int<class_int>` id **)**                                                                |
+-------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| :ref:`int<class_int>`                           | :ref:`get_point_count<class_AStar_method_get_point_count>` **(** **)** const                                                                                               |
+-------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| :ref:`PoolVector3Array<class_PoolVector3Array>` | :ref:`get_point_path<class_AStar_method_get_point_path>` **(** :ref:`int<class_int>` from_id, :ref:`int<class_int>` to_id **)**                                            |
+-------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| :ref:`Vector3<class_Vector3>`                   | :ref:`get_point_position<class_AStar_method_get_point_position>` **(** :ref:`int<class_int>` id **)** const                                                                |
+-------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| :ref:`float<class_float>`                       | :ref:`get_point_weight_scale<class_AStar_method_get_point_weight_scale>` **(** :ref:`int<class_int>` id **)** const                                                        |
+-------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| :ref:`Array<class_Array>`                       | :ref:`get_points<class_AStar_method_get_points>` **(** **)**                                                                                                               |
+-------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| :ref:`bool<class_bool>`                         | :ref:`has_point<class_AStar_method_has_point>` **(** :ref:`int<class_int>` id **)** const                                                                                  |
+-------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| :ref:`bool<class_bool>`                         | :ref:`is_point_disabled<class_AStar_method_is_point_disabled>` **(** :ref:`int<class_int>` id **)** const                                                                  |
+-------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| void                                            | :ref:`remove_point<class_AStar_method_remove_point>` **(** :ref:`int<class_int>` id **)**                                                                                  |
+-------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| void                                            | :ref:`reserve_space<class_AStar_method_reserve_space>` **(** :ref:`int<class_int>` num_nodes **)**                                                                         |
+-------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| void                                            | :ref:`set_point_disabled<class_AStar_method_set_point_disabled>` **(** :ref:`int<class_int>` id, :ref:`bool<class_bool>` disabled=true **)**                               |
+-------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| void                                            | :ref:`set_point_position<class_AStar_method_set_point_position>` **(** :ref:`int<class_int>` id, :ref:`Vector3<class_Vector3>` position **)**                              |
+-------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| void                                            | :ref:`set_point_weight_scale<class_AStar_method_set_point_weight_scale>` **(** :ref:`int<class_int>` id, :ref:`float<class_float>` weight_scale **)**                      |
+-------------------------------------------------+----------------------------------------------------------------------------------------------------------------------------------------------------------------------------+

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

A\* (A star) is a computer algorithm that is widely used in pathfinding and graph traversal, the process of plotting an efficiently directed path between multiple points. It enjoys widespread use due to its performance and accuracy. Godot's A\* implementation make use of vectors as points.

You must add points manually with :ref:`add_point<class_AStar_method_add_point>` and create segments manually with :ref:`connect_points<class_AStar_method_connect_points>`. So you can test if there is a path between two points with the :ref:`are_points_connected<class_AStar_method_are_points_connected>` function, get the list of existing ids in the found path with :ref:`get_id_path<class_AStar_method_get_id_path>`, or the points list with :ref:`get_point_path<class_AStar_method_get_point_path>`.

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

.. _class_AStar_method__compute_cost:

- :ref:`float<class_float>` **_compute_cost** **(** :ref:`int<class_int>` from_id, :ref:`int<class_int>` to_id **)** virtual

Called when computing the cost between two connected points.

----

.. _class_AStar_method__estimate_cost:

- :ref:`float<class_float>` **_estimate_cost** **(** :ref:`int<class_int>` from_id, :ref:`int<class_int>` to_id **)** virtual

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

----

.. _class_AStar_method_add_point:

- void **add_point** **(** :ref:`int<class_int>` id, :ref:`Vector3<class_Vector3>` position, :ref:`float<class_float>` weight_scale=1.0 **)**

Adds a new point at the given position with the given identifier. The algorithm prefers points with lower ``weight_scale`` to form a path. The ``id`` must be 0 or larger, and the ``weight_scale`` must be 1 or larger.

::

    var astar = AStar.new()
    astar.add_point(1, Vector3(1, 0, 0), 4) # Adds the point (1, 0, 0) with weight_scale 4 and id 1

If there already exists a point for the given ``id``, its position and weight scale are updated to the given values.

----

.. _class_AStar_method_are_points_connected:

- :ref:`bool<class_bool>` **are_points_connected** **(** :ref:`int<class_int>` id, :ref:`int<class_int>` to_id **)** const

Returns whether there is a connection/segment between the given points.

----

.. _class_AStar_method_clear:

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

Clears all the points and segments.

----

.. _class_AStar_method_connect_points:

- void **connect_points** **(** :ref:`int<class_int>` id, :ref:`int<class_int>` to_id, :ref:`bool<class_bool>` bidirectional=true **)**

Creates a segment between the given points. If ``bidirectional`` is ``false``, only movement from ``id`` to ``to_id`` is allowed, not the reverse direction.

::

    var astar = AStar.new()
    astar.add_point(1, Vector3(1, 1, 0))
    astar.add_point(2, Vector3(0, 5, 0))
    astar.connect_points(1, 2, false)

----

.. _class_AStar_method_disconnect_points:

- void **disconnect_points** **(** :ref:`int<class_int>` id, :ref:`int<class_int>` to_id **)**

Deletes the segment between the given points.

----

.. _class_AStar_method_get_available_point_id:

- :ref:`int<class_int>` **get_available_point_id** **(** **)** const

Returns the next available point ID with no point associated to it.

----

.. _class_AStar_method_get_closest_point:

- :ref:`int<class_int>` **get_closest_point** **(** :ref:`Vector3<class_Vector3>` to_position, :ref:`bool<class_bool>` include_disabled=false **)** const

Returns the ID of the closest point to ``to_position``, optionally taking disabled points into account. Returns -1 if there are no points in the points pool.

----

.. _class_AStar_method_get_closest_position_in_segment:

- :ref:`Vector3<class_Vector3>` **get_closest_position_in_segment** **(** :ref:`Vector3<class_Vector3>` to_position **)** const

Returns the closest position to ``to_position`` that resides inside a segment between two connected points.

::

    var astar = AStar.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)) # Returns (0, 3, 0)

The result is in the segment that goes from ``y = 0`` to ``y = 5``. It's the closest position in the segment to the given point.

----

.. _class_AStar_method_get_id_path:

- :ref:`PoolIntArray<class_PoolIntArray>` **get_id_path** **(** :ref:`int<class_int>` from_id, :ref:`int<class_int>` to_id **)**

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

::

    var astar = AStar.new()
    astar.add_point(1, Vector3(0, 0, 0))
    astar.add_point(2, Vector3(0, 1, 0), 1) # Default weight is 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) # Returns [1, 2, 3]

If you change the 2nd point's weight to 3, then the result will be ``[1, 4, 3]`` instead, because now even though the distance is longer, it's "easier" to get through point 4 than through point 2.

----

.. _class_AStar_method_get_point_capacity:

- :ref:`int<class_int>` **get_point_capacity** **(** **)** const

Returns the capacity of the structure backing the points, useful in conjunction with ``reserve_space``.

----

.. _class_AStar_method_get_point_connections:

- :ref:`PoolIntArray<class_PoolIntArray>` **get_point_connections** **(** :ref:`int<class_int>` id **)**

Returns an array with the IDs of the points that form the connection with the given point.

::

    var astar = AStar.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) # Returns [2, 3]

----

.. _class_AStar_method_get_point_count:

- :ref:`int<class_int>` **get_point_count** **(** **)** const

Returns the number of points currently in the points pool.

----

.. _class_AStar_method_get_point_path:

- :ref:`PoolVector3Array<class_PoolVector3Array>` **get_point_path** **(** :ref:`int<class_int>` from_id, :ref:`int<class_int>` to_id **)**

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

----

.. _class_AStar_method_get_point_position:

- :ref:`Vector3<class_Vector3>` **get_point_position** **(** :ref:`int<class_int>` id **)** const

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

----

.. _class_AStar_method_get_point_weight_scale:

- :ref:`float<class_float>` **get_point_weight_scale** **(** :ref:`int<class_int>` id **)** const

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

----

.. _class_AStar_method_get_points:

- :ref:`Array<class_Array>` **get_points** **(** **)**

Returns an array of all points.

----

.. _class_AStar_method_has_point:

- :ref:`bool<class_bool>` **has_point** **(** :ref:`int<class_int>` id **)** const

Returns whether a point associated with the given ``id`` exists.

----

.. _class_AStar_method_is_point_disabled:

- :ref:`bool<class_bool>` **is_point_disabled** **(** :ref:`int<class_int>` id **)** const

Returns whether a point is disabled or not for pathfinding. By default, all points are enabled.

----

.. _class_AStar_method_remove_point:

- void **remove_point** **(** :ref:`int<class_int>` id **)**

Removes the point associated with the given ``id`` from the points pool.

----

.. _class_AStar_method_reserve_space:

- void **reserve_space** **(** :ref:`int<class_int>` num_nodes **)**

Reserves space internally for ``num_nodes`` points, useful if you're adding a known large number of points at once, for a grid for instance. New capacity must be greater or equals to old capacity.

----

.. _class_AStar_method_set_point_disabled:

- void **set_point_disabled** **(** :ref:`int<class_int>` id, :ref:`bool<class_bool>` disabled=true **)**

Disables or enables the specified point for pathfinding. Useful for making a temporary obstacle.

----

.. _class_AStar_method_set_point_position:

- void **set_point_position** **(** :ref:`int<class_int>` id, :ref:`Vector3<class_Vector3>` position **)**

Sets the ``position`` for the point with the given ``id``.

----

.. _class_AStar_method_set_point_weight_scale:

- void **set_point_weight_scale** **(** :ref:`int<class_int>` id, :ref:`float<class_float>` weight_scale **)**

Sets the ``weight_scale`` for the point with the given ``id``.