AStar: Add setters for point position and scale weight, cleanup

core/math/a_star.cpp

@@ -42,8 +42,10 @@ int AStar::get_available_point_id() const {
 }
 
 void AStar::add_point(int p_id, const Vector3 &p_pos, real_t p_weight_scale) {
+
 	ERR_FAIL_COND(p_id < 0);
 	ERR_FAIL_COND(p_weight_scale < 1);
+
 	if (!points.has(p_id)) {
 		Point *pt = memnew(Point);
 		pt->id = p_id;
@@ -64,12 +66,29 @@ Vector3 AStar::get_point_position(int p_id) const {
 
 	return points[p_id]->pos;
 }
+
+void AStar::set_point_position(int p_id, const Vector3 &p_pos) {
+
+	ERR_FAIL_COND(!points.has(p_id));
+
+	points[p_id]->pos = p_pos;
+}
+
 real_t AStar::get_point_weight_scale(int p_id) const {
 
 	ERR_FAIL_COND_V(!points.has(p_id), 0);
 
 	return points[p_id]->weight_scale;
 }
+
+void AStar::set_point_weight_scale(int p_id, real_t p_weight_scale) {
+
+	ERR_FAIL_COND(!points.has(p_id));
+	ERR_FAIL_COND(p_weight_scale < 1);
+
+	points[p_id]->weight_scale = p_weight_scale;
+}
+
 void AStar::remove_point(int p_id) {
 
 	ERR_FAIL_COND(!points.has(p_id));
@@ -130,6 +149,7 @@ bool AStar::has_point(int p_id) const {
 }
 
 Array AStar::get_points() {
+
 	Array point_list;
 
 	for (const Map<int, Point *>::Element *E = points.front(); E; E = E->next()) {
@@ -171,6 +191,7 @@ int AStar::get_closest_point(const Vector3 &p_point) const {
 
 	return closest_id;
 }
+
 Vector3 AStar::get_closest_position_in_segment(const Vector3 &p_point) const {
 
 	real_t closest_dist = 1e20;
@@ -222,15 +243,15 @@ bool AStar::_solve(Point *begin_point, Point *end_point) {
 	while (!found_route) {
 
 		if (open_list.first() == NULL) {
-			//could not find path sadly
+			// No path found
 			break;
 		}
-		//check open list
+		// Check open list
 
 		SelfList<Point> *least_cost_point = NULL;
 		real_t least_cost = 1e30;
 
-		//this could be faster (cache previous results)
+		// TODO: Cache previous results
 		for (SelfList<Point> *E = open_list.first(); E; E = E->next()) {
 
 			Point *p = E->self();
@@ -246,7 +267,7 @@ bool AStar::_solve(Point *begin_point, Point *end_point) {
 		}
 
 		Point *p = least_cost_point->self();
-		//open the neighbours for search
+		// Open the neighbours for search
 		int es = p->neighbours.size();
 
 		for (int i = 0; i < es; i++) {
@@ -256,7 +277,7 @@ bool AStar::_solve(Point *begin_point, Point *end_point) {
 			real_t distance = _compute_cost(p->id, e->id) * e->weight_scale + p->distance;
 
 			if (e->last_pass == pass) {
-				//oh this was visited already, can we win the cost?
+				// Already visited, is this cheaper?
 
 				if (e->distance > distance) {
 
@@ -264,15 +285,15 @@ bool AStar::_solve(Point *begin_point, Point *end_point) {
 					e->distance = distance;
 				}
 			} else {
-				//add to open neighbours
+				// Add to open neighbours
 
 				e->prev_point = p;
 				e->distance = distance;
-				e->last_pass = pass; //mark as used
+				e->last_pass = pass; // Mark as used
 				open_list.add(&e->list);
 
 				if (e == end_point) {
-					//oh my reached end! stop algorithm
+					// End reached; stop algorithm
 					found_route = true;
 					break;
 				}
@@ -285,7 +306,7 @@ bool AStar::_solve(Point *begin_point, Point *end_point) {
 		open_list.remove(least_cost_point);
 	}
 
-	//clear the openf list
+	// Clear the openf list
 	while (open_list.first()) {
 		open_list.remove(open_list.first());
 	}
@@ -294,6 +315,7 @@ bool AStar::_solve(Point *begin_point, Point *end_point) {
 }
 
 float AStar::_estimate_cost(int p_from_id, int p_to_id) {
+
 	if (get_script_instance() && get_script_instance()->has_method(SceneStringNames::get_singleton()->_estimate_cost))
 		return get_script_instance()->call(SceneStringNames::get_singleton()->_estimate_cost, p_from_id, p_to_id);
 
@@ -301,6 +323,7 @@ float AStar::_estimate_cost(int p_from_id, int p_to_id) {
 }
 
 float AStar::_compute_cost(int p_from_id, int p_to_id) {
+
 	if (get_script_instance() && get_script_instance()->has_method(SceneStringNames::get_singleton()->_compute_cost))
 		return get_script_instance()->call(SceneStringNames::get_singleton()->_compute_cost, p_from_id, p_to_id);
 
@@ -331,9 +354,9 @@ PoolVector<Vector3> AStar::get_point_path(int p_from_id, int p_to_id) {
 	if (!found_route)
 		return PoolVector<Vector3>();
 
-	//midpoints
+	// Midpoints
 	Point *p = end_point;
-	int pc = 1; //begin point
+	int pc = 1; // Begin point
 	while (p != begin_point) {
 		pc++;
 		p = p->prev_point;
@@ -352,7 +375,7 @@ PoolVector<Vector3> AStar::get_point_path(int p_from_id, int p_to_id) {
 			p = p->prev_point;
 		}
 
-		w[0] = p->pos; //assign first
+		w[0] = p->pos; // Assign first
 	}
 
 	return path;
@@ -382,9 +405,9 @@ PoolVector<int> AStar::get_id_path(int p_from_id, int p_to_id) {
 	if (!found_route)
 		return PoolVector<int>();
 
-	//midpoints
+	// Midpoints
 	Point *p = end_point;
-	int pc = 1; //begin point
+	int pc = 1; // Begin point
 	while (p != begin_point) {
 		pc++;
 		p = p->prev_point;
@@ -403,7 +426,7 @@ PoolVector<int> AStar::get_id_path(int p_from_id, int p_to_id) {
 			p = p->prev_point;
 		}
 
-		w[0] = p->id; //assign first
+		w[0] = p->id; // Assign first
 	}
 
 	return path;
@@ -414,7 +437,9 @@ void AStar::_bind_methods() {
 	ClassDB::bind_method(D_METHOD("get_available_point_id"), &AStar::get_available_point_id);
 	ClassDB::bind_method(D_METHOD("add_point", "id", "position", "weight_scale"), &AStar::add_point, DEFVAL(1.0));
 	ClassDB::bind_method(D_METHOD("get_point_position", "id"), &AStar::get_point_position);
+	ClassDB::bind_method(D_METHOD("set_point_position", "id", "position"), &AStar::set_point_position);
 	ClassDB::bind_method(D_METHOD("get_point_weight_scale", "id"), &AStar::get_point_weight_scale);
+	ClassDB::bind_method(D_METHOD("set_point_weight_scale", "id", "weight_scale"), &AStar::set_point_weight_scale);
 	ClassDB::bind_method(D_METHOD("remove_point", "id"), &AStar::remove_point);
 	ClassDB::bind_method(D_METHOD("has_point", "id"), &AStar::has_point);
 	ClassDB::bind_method(D_METHOD("get_points"), &AStar::get_points);

core/math/a_star.h

@@ -33,6 +33,8 @@
 #include "reference.h"
 #include "self_list.h"
 /**
+	A* pathfinding algorithm
+
 	@author Juan Linietsky <[email protected]>
 */
 
@@ -53,7 +55,7 @@ class AStar : public Reference {
 
 		Vector<Point *> neighbours;
 
-		//used for pathfinding
+		// Used for pathfinding
 		Point *prev_point;
 		real_t distance;
 
@@ -102,7 +104,9 @@ public:
 
 	void add_point(int p_id, const Vector3 &p_pos, real_t p_weight_scale = 1);
 	Vector3 get_point_position(int p_id) const;
+	void set_point_position(int p_id, const Vector3 &p_pos);
 	real_t get_point_weight_scale(int p_id) const;
+	void set_point_weight_scale(int p_id, real_t p_weight_scale);
 	void remove_point(int p_id);
 	bool has_point(int p_id) const;
 	Array get_points();

doc/classes/AStar.xml

@@ -50,6 +50,7 @@
 				
 				as.add_point(1, Vector3(1,0,0), 4) # Adds the point (1,0,0) with weight_scale=4 and id=1
 				[/codeblock]
+				If there already exists a point for the given id, its position and weight scale are updated to the given values.
 			</description>
 		</method>
 		<method name="are_points_connected" qualifiers="const">
@@ -107,7 +108,7 @@
 			<return type="int">
 			</return>
 			<description>
-				Returns an id with no point associated to it.
+				Returns the next available point id with no point associated to it.
 			</description>
 		</method>
 		<method name="get_closest_point" qualifiers="const">
@@ -220,6 +221,28 @@
 				Removes the point associated with the given id from the points pool.
 			</description>
 		</method>
+		<method name="set_point_position">
+			<return type="void">
+			</return>
+			<argument index="0" name="id" type="int">
+			</argument>
+			<argument index="1" name="position" type="Vector3">
+			</argument>
+			<description>
+				Sets the position for the point with the given id.
+			</description>
+		</method>
+		<method name="set_point_weight_scale">
+			<return type="void">
+			</return>
+			<argument index="0" name="id" type="int">
+			</argument>
+			<argument index="1" name="weight_scale" type="float">
+			</argument>
+			<description>
+				Sets the [code]weight_scale[/code] for the point with the given id.
+			</description>
+		</method>
 	</methods>
 	<constants>
 	</constants>