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Pretty much finished custom pathfinding

main
Yan Wittmann 2024-11-12 16:07:31 +01:00
parent d6bf267bdc
commit 2e9b1264f0
4 changed files with 98 additions and 29 deletions
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18
pathfinding-algorithms/project.godot
View File

@ -15,6 +15,24 @@ run/main_scene="res://scenes/custom-solver/custom-graph-solver.tscn"
config/features=PackedStringArray("4.3", "Forward Plus")
config/icon="res://icon.svg"
[input]
draw_toggle_polygon={
"deadzone": 0.5,
"events": [Object(InputEventKey,"resource_local_to_scene":false,"resource_name":"","device":-1,"window_id":0,"alt_pressed":false,"shift_pressed":false,"ctrl_pressed":false,"meta_pressed":false,"pressed":false,"keycode":0,"physical_keycode":80,"key_label":0,"unicode":112,"location":0,"echo":false,"script":null)
]
}
draw_toggle_nodes={
"deadzone": 0.5,
"events": [Object(InputEventKey,"resource_local_to_scene":false,"resource_name":"","device":-1,"window_id":0,"alt_pressed":false,"shift_pressed":false,"ctrl_pressed":false,"meta_pressed":false,"pressed":false,"keycode":0,"physical_keycode":78,"key_label":0,"unicode":110,"location":0,"echo":false,"script":null)
]
}
draw_toggle_edges={
"deadzone": 0.5,
"events": [Object(InputEventKey,"resource_local_to_scene":false,"resource_name":"","device":-1,"window_id":0,"alt_pressed":false,"shift_pressed":false,"ctrl_pressed":false,"meta_pressed":false,"pressed":false,"keycode":0,"physical_keycode":69,"key_label":0,"unicode":101,"location":0,"echo":false,"script":null)
]
}
[navigation]
2d/default_edge_connection_margin=40.0

52
pathfinding-algorithms/scenes/custom-solver/NavigationGraph.gd
View File

@ -6,6 +6,9 @@ var navigation_nodes: Dictionary = {}
# type is Dictionary[CNavigationPolygon, Array[NavigationNode]]
var polygon_nodes: Dictionary = {}
var latest_navigation_result: PathfindingResult = null
var draw_polygons: bool = true
var draw_nodes: bool = false
var draw_edges: bool = false
func all_nodes() -> Array[NavigationNode]:
@ -116,11 +119,11 @@ func erase_and_create_nodes_from_polygons(new_polys: Array[PackedVector2Array])
polygon_nodes[navpoly] = []
# create one in the center of each polygon that is kept no matter what
var poly_center: Vector2 = navpoly.center()
var center_node: NavigationNode = add_node(poly_center.x, poly_center.y, -1)
center_node.was_merged = true
polygon_nodes[navpoly].append(center_node)
navpoly.center_node = center_node
# var poly_center: Vector2 = navpoly.center()
# var center_node: NavigationNode = add_node(poly_center.x, poly_center.y, -1)
# center_node.was_merged = true
# polygon_nodes[navpoly].append(center_node)
# navpoly.center_node = center_node
for i in range(len(poly) - 1):
var center: Vector2 = (poly[i] + poly[i + 1]) / 2
@ -149,14 +152,18 @@ func connect_all_nodes(nodes: Array[NavigationNode]) -> void:
func _draw() -> void:
for from in all_nodes():
for to in get_connections(from):
draw_line(from.position, to.position, Color.RED, 1, false)
draw_circle(from.position, 5, Color.RED)
if draw_nodes or draw_edges:
for from in all_nodes():
if draw_edges:
for to in get_connections(from):
draw_line(from.position, to.position, Color.RED, 1, false)
if draw_nodes:
draw_circle(from.position, 5, Color.RED)
for poly in all_polygons():
draw_colored_polygon(poly.polygon, Color(0.5, 0.4, 0.9, 0.3))
draw_polyline(poly.polygon, Color.WHITE, 1, true)
if draw_polygons:
for poly in all_polygons():
draw_colored_polygon(poly.polygon, Color(0.5, 0.4, 0.9, 0.3))
draw_polyline(poly.polygon, Color.WHITE, 1, true)
if latest_navigation_result != null:
if latest_navigation_result.path.size() > 1:
@ -205,15 +212,24 @@ func determine_next_position(current_position: Vector2, target_position: Vector2
# we will have to insert the start node into the graph and connect it to the nodes within the polygon,
# and remove it later on again
var start_node: NavigationNode = add_node(current_position.x, current_position.y, -1)
var nodes_in_polygon: Array[NavigationNode] = get_nodes_in_polygon(current_polygon)
var start_node: NavigationNode = add_node(current_position.x, current_position.y, -1)
var nodes_in_current_polygon: Array[NavigationNode] = get_nodes_in_polygon(current_polygon)
polygon_nodes[current_polygon].append(start_node)
for node in nodes_in_polygon:
for node in nodes_in_current_polygon:
add_connection(start_node, node)
# the target position is simple, just take the center of the target polygon since we just need any point
# in the polygon to roughly navigate to it, the alternate algorithm above will take care of the rest
var end_node: NavigationNode = target_polygon.center_node
# the target position is simple, just find the closest node in the polygon to the target position,
# the alternate algorithm for within a polygon above will take care of the rest
var end_node: NavigationNode = null
var min_distance: float = INF
var nodes_in_target_polygon: Array[NavigationNode] = get_nodes_in_polygon(target_polygon)
for node in nodes_in_target_polygon:
var distance: float = target_position.distance_to(node.position)
if distance < min_distance:
min_distance = distance
end_node = node
var path: Array[NavigationNode] = dijkstra(start_node, end_node)
result.path = path

17
pathfinding-algorithms/scenes/custom-solver/custom-graph-solver.tscn
View File

@ -9,12 +9,22 @@
radius = 24.9999
height = 49.9999
[node name="custom-graph-solver" type="Node2D"]
[node name="custom-graph-solver" type="Node2D" node_paths=PackedStringArray("navigation_polygon")]
script = ExtResource("1_tis1c")
navigation_polygon = [NodePath("NavPolygon2D_1"), NodePath("SmallPolygon2D"), NodePath("NavPolygon2D_2")]
[node name="NavPolygon2D_2" type="Polygon2D" parent="."]
polygon = PackedVector2Array(474, 298, 379, 295, 381, 261, 479, 98, 422, 71, 336, 203, 334, 47, 255, 43, 49, 42, 48, 119, 55, 247, 109, 244, 112, 126, 253, 119, 249, 176, 153, 177, 153, 240, 253, 236, 289, 322, 69, 300, 74, 390, 475, 400, 484, 463, 104, 458, 108, 630, 222, 633, 222, 542, 476, 569, 748, 642, 984, 642, 979, 580, 911, 563, 910, 495, 831, 495, 847, 563, 701, 493, 656, 402, 926, 414, 995, 516, 1110, 517, 985, 319, 774, 292, 765, 244, 884, 266, 896, 206, 764, 167, 675, 226, 703, 295, 652, 295, 554, 179, 805, 106, 935, 128, 998, 249, 1105, 257, 934, 19, 616, 61, 476, 167)
[node name="NavPolygon2D_1" type="Polygon2D" parent="."]
visible = false
polygon = PackedVector2Array(164, 56, 379, 23, 603, 53, 684, 152, 759, 255, 572, 293, 598, 166, 422, 106, 344, 158, 509, 312, 438, 454, 489, 504, 610, 342, 734, 323, 834, 199, 786, 85, 958, 43, 1117, 48, 1109, 194, 1137, 565, 916, 550, 887, 386, 965, 359, 962, 473, 1000, 494, 1002, 204, 928, 184, 916, 304, 837, 382, 835, 541, 752, 563, 732, 421, 627, 450, 592, 618, 335, 540, 295, 412, 361, 311, 190, 169, 194, 329, 278, 510, 132, 589, 133, 459, 77, 311, 48, 130)
[node name="SmallPolygon2D" type="Polygon2D" parent="."]
visible = false
invert_border = 0.1
polygon = PackedVector2Array(516, 218, 475, 104, 677, 121, 582, 247, 598, 333, 394, 315)
[node name="NavGraph" type="Node2D" parent="."]
script = ExtResource("1_5s4ud")
@ -34,8 +44,3 @@ texture = ExtResource("3_ibv8u")
[node name="CollisionShape2D" type="CollisionShape2D" parent="CharacterBody2D"]
shape = SubResource("CapsuleShape2D_gqxbx")
[node name="TestPolygon2D" type="Polygon2D" parent="."]
visible = false
invert_border = 0.1
polygon = PackedVector2Array(516, 218, 475, 104, 677, 121, 582, 247, 598, 333, 394, 315)

40
pathfinding-algorithms/scenes/custom-solver/custom_graph_solver.gd
View File

@ -1,11 +1,41 @@
extends Node2D
@onready var navigation_polygon: Polygon2D = $NavPolygon2D_1
@export var navigation_polygon: Array[Polygon2D] = []
@onready var graph: NavigationGraph = $NavGraph
@onready var character: CharacterBody2D = $CharacterBody2D
var seleted_polygon: int = 0
func _ready() -> void:
navigation_polygon.hide()
var polygons = Geometry2D.decompose_polygon_in_convex(navigation_polygon.polygon)
graph.erase_and_create_nodes_from_polygons(polygons)
for polygon in navigation_polygon:
polygon.hide()
update_polygon()
func update_polygon():
var polygons: Array[PackedVector2Array] = Geometry2D.decompose_polygon_in_convex(navigation_polygon[seleted_polygon].polygon)
graph.erase_and_create_nodes_from_polygons(polygons)
func _process(delta: float) -> void:
# check for left and right arrow keys to change the selected polygon (0, len(navigation_polygon)-1)
if Input.is_action_just_pressed("ui_right"):
seleted_polygon += 1
if seleted_polygon >= len(navigation_polygon):
seleted_polygon = 0
update_polygon()
if Input.is_action_just_pressed("ui_left"):
seleted_polygon -= 1
if seleted_polygon < 0:
seleted_polygon = len(navigation_polygon) - 1
update_polygon()
if Input.is_action_just_pressed("draw_toggle_polygon"):
graph.draw_polygons = !graph.draw_polygons
if Input.is_action_just_pressed("draw_toggle_nodes") or Input.is_action_just_pressed("draw_toggle_edges"):
graph.draw_nodes = !graph.draw_nodes
graph.draw_edges = !graph.draw_edges