Gorilla.Utils.Pathfinding.AStar

Fields

• protected FStartPosition : TPoint3D
  
• protected FEndPosition : TPoint3D
  
• protected FAgentWidth : Integer
  
• protected FSearching : Boolean
  
• protected FFound : Boolean
  
• protected FAStack : :TGorillaPathfindingAStar.:1
  
• protected FSource : TPoint
  
• protected FGoal : TPoint
  
• protected FFreedom : Integer
  
• protected FDiagonals : Boolean
  
• protected FFallback : Boolean
  
• protected FOnInspectBlock : TOnInspectBlock
  
• protected FDoOnInspectBlock : TOnInspectBlock
  
• protected FSize3D : TPointF
  
• protected FGrid : :TGorillaPathfindingAStar.:3
  
• protected FGridDimensions : TPoint
  
• protected FAdjustedGridSize : TPoint
  
• protected FMaxVal : Integer
  
• protected FPathError : Boolean
  
• protected FPath : TArray<System.Types.TPoint>
  
• protected FClosestPoint : TAStarRec
  
• protected FIsClosest : Boolean
  
• protected FOffsets :
  
• protected FCurrentList : TList<Gorilla.Utils.Pathfinding.TGorillaPathfindingObstacle>
  
• protected FStep : Integer
  

Methods

• public constructor Create  ( AOwner :  TComponent ) ;
• public destructor Destroy  ( ) ;
• protected procedure SetupOffsets  ( ) ;  virtual;
• protected procedure InspectBlock  ( X :  Integer; Y :  Integer ) ;  virtual;
• protected procedure Step  ( ) ;  virtual;
• protected procedure CalcBestPath  ( ) ;  virtual;
• protected procedure LookForPath  ( ) ;  virtual;
• protected procedure ClearPath  ( ) ;
• protected procedure VerifyCoordinates  ( const  APoint :  TPoint ) ;  overload;
• protected procedure VerifyCoordinates  ( const  APoint :  TPoint3D ) ;  overload;
• protected function GetPath3D  ( )  : TArray<System.Math.Vectors.TPoint3D> ;  virtual;
• protected function DoCheckCoordinates  ( const  AObstacles :  TList<Gorilla.Utils.Pathfinding.TGorillaPathfindingObstacle>; const  X :  Integer; const  Y :  Integer; const  Fx :  Integer; const  Fy :  Integer )  : Integer ;  virtual;

  This function is called when path finder asks you weither it can process coordinate X,Y. Fx, Fy are the coordinates from where the pathfinder is coming, you can use that to make some blocks only passable thru some sides and not all 4.

  Parameters

  • const  AObstacles :  TList<Gorilla.Utils.Pathfinding.TGorillaPathfindingObstacle>  -  List of obstacles to be checked if blocking. Column of A* grid. Row of A* grid.
  • const  X :  Integer  -  List of obstacles to be checked if blocking. Column of A* grid. Row of A* grid.
  • const  Y :  Integer  -  List of obstacles to be checked if blocking. Column of A* grid. Row of A* grid.
  • const  Fx :  Integer  -  List of obstacles to be checked if blocking. Column of A* grid. Row of A* grid.
  • const  Fy :  Integer  -  List of obstacles to be checked if blocking. Column of A* grid. Row of A* grid.
• protected procedure DoFindPath  ( const  ASrc :  TPoint; const  ADest :  TPoint ) ;  virtual;

  Computes the path from source to destination coordinates.

• public procedure FindPath  ( const  ASrc :  TPoint3D; const  ADest :  TPoint3D ) ;  overload virtual;

  Computes the path from 3D source and destination coordinates.

  Parameters

  • const  ASrc :  TPoint3D  -  The 3d starting coordinates. The 3d destination coordinates.
  • const  ADest :  TPoint3D  -  The 3d starting coordinates. The 3d destination coordinates.
• public procedure FindPath  ( const  ADest :  TPoint3D ) ;  overload virtual;

  Computes the path from 3D source and destination coordinates.

  Parameters

  • const  ADest :  TPoint3D  -  This function only needs the destination coordinates. If you have assigned an agent control, its coordinates will automatically be read. Otherwise the starting point is [0, 0, 0].
• public function GetGridCoordinate  ( const  APoint :  TPoint3D; const  ADimension :  TPoint; const  ASize3D :  TPointF )  : TPoint ;  class virtual;

  Convertes 3D coordinates to grid coordinates depending on a supplied grid dimension and 3D space size.

• public function ToNewPath3D  ( const  AOwner :  TComponent )  : TGorillaPath3D ;  virtual;

  Returns a new path3d component with the created path coordinates.

  Parameters

  • const  AOwner :  TComponent  -  Owner component of newly created path3d component.
• public procedure ApplyToPath3D  ( const  APath :  TGorillaPath3D ) ;  virtual;

  Applies the compute path to an existing path3d instance.

• public procedure Draw  ( const  ABitmap :  TBitmap ) ;  overload;

  Draws the pathfinder grid with a path into a bitmap

Properties

• public Path : TArray<System.Types.TPoint>

  Computed a star path in grid coordinates.

  read FPath
  
• public Path3D : TArray<System.Math.Vectors.TPoint3D>

  Computed a star path in 3D coordinates build from grid coordinates.

  read GetPath3D
  
• public StartPosition : TPoint3D

  Returns the starting position supplied by the FindPath routine.

  read FStartPosition
  
• public EndPosition : TPoint3D

  Returns the end position supplied by the FindPath routine.

  read FEndPosition
  
• public AdjustedGridSize : TPoint

  The adjusted grid size is a combination of configured gridsize and half of agent width.

  read FAdjustedGridSize
  
• published GridDimensions : TPoint

  Set or get the grid dimensions in units.

  read FGridDimensions
  write FGridDimensions
  
• published Size3D : TPointF

  Set or get size of 3D area suspected.

  read FSize3D
  write FSize3D
  
• published Diagonals : Boolean

  Defines if diagonal paths are possible.

  read FDiagonals
  write FDiagonals
  
• published Fallback : Boolean

  Defines if a fallback scenario should be computed in case not path could be found.

  read FFallback
  write FFallback