|
|
@@ -18,6 +18,7 @@
|
|
|
return min(0, abs(u - v) - 1)
|
|
|
[/codeblock]
|
|
|
[method _estimate_cost] should return a lower bound of the distance, i.e. [code]_estimate_cost(u, v) <= _compute_cost(u, v)[/code]. This serves as a hint to the algorithm because the custom [code]_compute_cost[/code] might be computation-heavy. If this is not the case, make [method _estimate_cost] return the same value as [method _compute_cost] to provide the algorithm with the most accurate information.
|
|
|
+ If the default [method _estimate_cost] and [method _compute_cost] methods are used, or if the supplied [method _estimate_cost] method returns a lower bound of the cost, then the paths returned by A* will be the lowest cost paths. Here, the cost of a path equals to the sum of the [method _compute_cost] results of all segments in the path multiplied by the [code]weight_scale[/code]s of the end points of the respective segments. If the default methods are used and the [code]weight_scale[/code]s of all points are set to [code]1.0[/code], then this equals to the sum of Euclidean distances of all segments in the path.
|
|
|
</description>
|
|
|
<tutorials>
|
|
|
</tutorials>
|
|
|
@@ -56,7 +57,8 @@
|
|
|
<argument index="2" name="weight_scale" type="float" default="1.0">
|
|
|
</argument>
|
|
|
<description>
|
|
|
- Adds a new point at the given position with the given identifier. The algorithm prefers points with lower [code]weight_scale[/code] to form a path. The [code]id[/code] must be 0 or larger, and the [code]weight_scale[/code] must be 1 or larger.
|
|
|
+ Adds a new point at the given position with the given identifier. The [code]id[/code] must be 0 or larger, and the [code]weight_scale[/code] must be 1 or larger.
|
|
|
+ The [code]weight_scale[/code] is multiplied by the result of [method _compute_cost] when determining the overall cost of traveling across a segment from a neighboring point to this point. Thus, all else being equal, the algorithm prefers points with lower [code]weight_scale[/code]s to form a path.
|
|
|
[codeblock]
|
|
|
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
|
|
|
@@ -315,7 +317,7 @@
|
|
|
<argument index="1" name="weight_scale" type="float">
|
|
|
</argument>
|
|
|
<description>
|
|
|
- Sets the [code]weight_scale[/code] for the point with the given [code]id[/code].
|
|
|
+ Sets the [code]weight_scale[/code] for the point with the given [code]id[/code]. The [code]weight_scale[/code] is multiplied by the result of [method _compute_cost] when determining the overall cost of traveling across a segment from a neighboring point to this point.
|
|
|
</description>
|
|
|
</method>
|
|
|
</methods>
|
Maganty Rushyendra