forked from 2121578/gai-ca2
126 lines
4.5 KiB
GDScript
126 lines
4.5 KiB
GDScript
class_name TilemapNavigation
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extends Node
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var tilemap_types: TileMapTileTypes = TileMapTileTypes.new()
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#
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var world: World = null
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var player: PlayerManager = null
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#
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# Dictionary[Vector2i, Array[Vector2i]] (target, path)
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var found_paths: Dictionary = {}
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var failed_positions: Array[Vector2i] = []
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var chosen_path: Array[Vector2i] = []
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func game_tick_start() -> void:
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found_paths = {}
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failed_positions = []
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chosen_path = []
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func game_tick_end() -> void:
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world.tilemap_nav_vis.clear_cells()
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# use tilemap_types.NAVIGATION_CHECKED, tilemap_types.NAVIGATION_FAILED and tilemap_types.NAVIGATION_CHOSEN
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for path in found_paths.values():
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for pos in path:
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world.tilemap_nav_vis.set_cell(pos, tilemap_types.NAVIGATION_CHECKED)
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for pos in failed_positions:
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world.tilemap_nav_vis.set_cell(pos, tilemap_types.NAVIGATION_FAILED)
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for pos in chosen_path:
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world.tilemap_nav_vis.set_cell(pos, tilemap_types.NAVIGATION_CHOSEN)
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func is_within_radius(position: Vector2i, center: Vector2i, radius: int) -> bool:
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return manhattan_distance(position, center) <= radius
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func manhattan_distance(a: Vector2i, b: Vector2i) -> int:
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return abs(a.x - b.x) + abs(a.y - b.y)
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var walking_directions: Array[Vector2i] = [Vector2i(0, -1), Vector2i(0, 1), Vector2i(-1, 0), Vector2i(1, 0)]
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var f_score: Dictionary = {}
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func find_path_allow_neighbors(start_position: Vector2i, end_position: Vector2i, max_radius: int = -1) -> Array[Vector2i]:
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if world.is_walkable(end_position):
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# check the tile itself first, then check the four surrounding tiles
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var path: Array[Vector2i] = find_path(start_position, end_position, max_radius)
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if path.size() != 0:
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return path
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else:
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for direction in walking_directions:
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var neighbor: Vector2i = end_position + direction
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var path: Array[Vector2i] = find_path(start_position, neighbor, max_radius)
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if path.size() != 0:
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return path
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return []
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func find_path(start_position: Vector2i, end_position: Vector2i, max_radius: int = -1) -> Array[Vector2i]:
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var path: Array[Vector2i] = _find_path_internal(start_position, end_position, max_radius)
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if path.size() > 0:
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found_paths[end_position] = path
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else:
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failed_positions.append(end_position)
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return path
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func _find_path_internal(start_position: Vector2i, end_position: Vector2i, max_radius: int = -1) -> Array[Vector2i]:
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if max_radius > -1 and not is_within_radius(end_position, start_position, max_radius):
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return []
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if not world.is_walkable(end_position):
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return []
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var check_nodes = PriorityQueue.new() # lowest f_score
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var came_from: Dictionary = {}
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var g_score: Dictionary = {}
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var walkable_cache: Dictionary = {}
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f_score = {}
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var visited_nodes: Dictionary = {}
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check_nodes.insert(start_position, 0)
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g_score[start_position] = 0
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f_score[start_position] = manhattan_distance(start_position, end_position) * 1.1 # Heuristic weighting
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while not check_nodes.empty():
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var current: Vector2i = check_nodes.extract()
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if current == end_position:
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var path: Array[Vector2i] = []
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while current in came_from:
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path.insert(0, current)
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current = came_from[current]
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path.insert(0, start_position)
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return path
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visited_nodes[current] = true
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for direction in walking_directions:
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var neighbor: Vector2i = current + direction
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# Combine checks for early skipping
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if neighbor in visited_nodes or (max_radius > -1 and not is_within_radius(neighbor, start_position, max_radius)):
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continue
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if not walkable_cache.has(neighbor):
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walkable_cache[neighbor] = world.is_walkable(neighbor)
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if not walkable_cache[neighbor]:
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continue
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var cost: int = world.tilemap_ground.get_custom_data(neighbor, "cost", 1)
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var tentative_g_score: int = g_score.get(current, INF) + cost
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if tentative_g_score < g_score.get(neighbor, INF):
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came_from[neighbor] = current
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g_score[neighbor] = tentative_g_score
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f_score[neighbor] = tentative_g_score + manhattan_distance(neighbor, end_position) * 1.1 # Heuristic weighting
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if not check_nodes.contains(neighbor):
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check_nodes.insert(neighbor, f_score[neighbor])
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return []
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