Struct AStar2D

AStar class representation that uses 2D vectors as edges.

struct AStar2D ;

This is a wrapper for the AStar class which uses 2D vectors instead of 3D vectors.

Methods

NameDescription
addPoint 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.
arePointsConnected Returns whether there is a connection/segment between the given points.
clear Clears all the points and segments.
connectPoints Creates a segment between the given points. If bidirectional is false, only movement from id to to_id is allowed, not the reverse direction.
disconnectPoints Deletes the segment between the given points.
getAvailablePointId Returns the next available point ID with no point associated to it.
getClosestPoint 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.
getClosestPositionInSegment Returns the closest position to to_position that resides inside a segment between two connected points.
getIdPath 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.
getPointCapacity Returns the capacity of the structure backing the points, useful in conjunction with reserve_space.
getPointConnections Returns an array with the IDs of the points that form the connection with the given point.
getPointCount Returns the number of points currently in the points pool.
getPointPath Returns an array with the points that are in the path found by AStar2D between the given points. The array is ordered from the starting point to the ending point of the path.
getPointPosition Returns the position of the point associated with the given id.
getPoints Returns an array of all points.
getPointWeightScale Returns the weight scale of the point associated with the given id.
hasPoint Returns whether a point associated with the given id exists.
isPointDisabled Returns whether a point is disabled or not for pathfinding. By default, all points are enabled.
removePoint Removes the point associated with the given id from the points pool.
reserveSpace 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.
setPointDisabled Disables or enables the specified point for pathfinding. Useful for making a temporary obstacle.
setPointPosition Sets the position for the point with the given id.
setPointWeightScale Sets the weight_scale for the point with the given id.