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TileMap BFS寻路实现、六边形网格寻路、路径追溯与流式寻路功能。用于需要网格寻路、动态障碍物避让、游戏AI导航等场景。
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| name | godot-pathfinding |
| description | TileMap BFS寻路实现、六边形网格寻路、路径追溯与流式寻路功能。用于需要网格寻路、动态障碍物避让、游戏AI导航等场景。 |
TileMap网格寻路实现，包含BFS扩散算法、六边形网格支持、路径追溯以及流场寻路功能。
# tile_map_bfs.gd
# TileMap网格BFS寻路实现
class_name TileMapBFS
extends Node2D
signal path_found(path: Array[Vector2i])
signal path_not_found
@export var tile_map: TileMap
@export var obstacles_layer: int = 0 # 障碍物所在的层
var _grid_size: Vector2i
var _walkable: Dictionary = {} # {Vector2i: bool}
func _ready() -> void:
if tile_map:
_initialize_grid()
func _initialize_grid() -> void:
_grid_size = tile_map.get_used_rect().size
var origin := tile_map.get_used_rect().position
for x in range(_grid_size.x):
for y in range(_grid_size.y):
var cell := Vector2i(origin.x + x, origin.y + y)
var tile_data := tile_map.get_cell_tile_data(obstacles_layer, cell)
_walkable[cell] = tile_data == null or not tile_data.get_custom_data("obstacle")
func find_path(start: Vector2i, end: Vector2i) -> Array[Vector2i]:
if not _walkable.has(start) or not _walkable.has(end):
return []
if not _walkable.get(end, false):
return []
if start == end:
return [start]
var open_set: Array[Vector2i] = [start]
var came_from: Dictionary = {}
var visited: Dictionary = {start: true}
while not open_set.is_empty():
var current := open_set.pop_front()
if current == end:
return _reconstruct_path(came_from, current)
for neighbor in _get_neighbors(current):
if not visited.get(neighbor, false) and _walkable.get(neighbor, false):
visited[neighbor] = true
came_from[neighbor] = current
open_set.append(neighbor)
return []
func _get_neighbors(cell: Vector2i) -> Array[Vector2i]:
return [
cell + Vector2i(0, -1), # 上
cell + Vector2i(1, 0), # 右
cell + Vector2i(0, 1), # 下
cell + Vector2i(-1, 0), # 左
]
func _reconstruct_path(came_from: Dictionary, current: Vector2i) -> Array[Vector2i]:
var path: Array[Vector2i] = [current]
while came_from.has(current):
current = came_from[current]
path.push_front(current)
return path
func is_walkable(cell: Vector2i) -> bool:
return _walkable.get(cell, false)
func set_obstacle(cell: Vector2i, obstacle: bool) -> void:
_walkable[cell] = not obstacle
# weighted_bfs.gd
class_name WeightedBFS
extends Node
@export var tile_map: TileMap
@export var obstacles_layer: int = 0
var _cell_cost: Dictionary = {} # 每个格子的移动成本
func _ready() -> void:
_initialize_costs()
func _initialize_costs() -> void:
var rect := tile_map.get_used_rect()
for cell in tile_map.get_used_cells(obstacles_layer):
var tile_data := tile_map.get_cell_tile_data(obstacles_layer, cell)
if tile_data:
_cell_cost[cell] = tile_data.get_custom_data("cost")
else:
_cell_cost[cell] = 1.0
func find_path(start: Vector2i, end: Vector2i) -> Array[Vector2i]:
if start == end:
return [start]
var open_set: Array[Vector2i] = [start]
var came_from: Dictionary = {}
var cost_so_far: Dictionary = {start: 0.0}
var visited: Dictionary = {}
while not open_set.is_empty():
open_set.sort_custom(func(a, b): return cost_so_far[a] < cost_so_far[b])
var current := open_set.pop_front()
if current == end:
return _reconstruct_path(came_from, current)
visited[current] = true
for neighbor in _get_neighbors(current):
if visited.get(neighbor, false):
continue
var move_cost := _get_move_cost(current, neighbor)
var new_cost := cost_so_far[current] + move_cost
if not cost_so_far.has(neighbor) or new_cost < cost_so_far[neighbor]:
cost_so_far[neighbor] = new_cost
came_from[neighbor] = current
if not open_set.has(neighbor):
open_set.append(neighbor)
return []
func _get_neighbors(cell: Vector2i) -> Array[Vector2i]:
return [
cell + Vector2i(0, -1),
cell + Vector2i(1, 0),
cell + Vector2i(0, 1),
cell + Vector2i(-1, 0),
cell + Vector2i(1, -1), # 斜向
cell + Vector2i(1, 1),
cell + Vector2i(-1, 1),
cell + Vector2i(-1, -1),
]
func _get_move_cost(from: Vector2i, to: Vector2i) -> float:
var base_cost := _cell_cost.get(to, 1.0)
# 斜向移动成本更高
if from.x != to.x and from.y != to.y:
return base_cost * 1.414 # sqrt(2)
return base_cost
func _reconstruct_path(came_from: Dictionary, current: Vector2i) -> Array[Vector2i]:
var path: Array[Vector2i] = [current]
while came_from.has(current):
current = came_from[current]
path.push_front(current)
return path
# hexagon_pathfinding.gd
class_name HexagonPathfinding
extends Node
# 六边形网格偏移系统
enum OffsetSystem { POINTY_TOP, FLAT_TOP }
enum CoordinateSystem { CUBE, AXIAL, OFFSET }
@export var offset_system: OffsetSystem = OffsetSystem.POINTY_TOP
@export var tile_map: TileMap
@export var obstacles_layer: int = 0
var _cube_directions := [
Vector3i(1, -1, 0), Vector3i(1, 0, -1), Vector3i(0, 1, -1),
Vector3i(-1, 1, 0), Vector3i(-1, 0, 1), Vector3i(0, -1, 1)
]
func axial_to_cube(hex: Vector2i) -> Vector3i:
return Vector3i(hex.x, hex.y, -hex.x - hex.y)
func cube_to_axial(cube: Vector3i) -> Vector2i:
return Vector2i(cube.x, cube.y)
func offset_to_axial(offset: Vector2i) -> Vector2i:
if offset_system == OffsetSystem.POINTY_TOP:
return Vector2i(offset.x, offset.y - (offset.x - (offset.x & 1)) / 2)
else:
return Vector2i(offset.x - (offset.y - (offset.y & 1)) / 2, offset.y)
func axial_to_offset(axial: Vector2i) -> Vector2i:
if offset_system == OffsetSystem.POINTY_TOP:
return Vector2i(axial.x, axial.y + (axial.x - (axial.x & 1)) / 2)
else:
return Vector2i(axial.x + (axial.y - (axial.y & 1)) / 2, axial.y)
func get_neighbors(hex: Vector2i) -> Array[Vector2i]:
var axial := offset_to_axial(hex)
var cube := axial_to_cube(axial)
var neighbors: Array[Vector2i] = []
for direction in _cube_directions:
var neighbor_cube := cube + direction
var neighbor_axial := cube_to_axial(neighbor_cube)
var neighbor_offset := axial_to_offset(neighbor_axial)
neighbors.append(neighbor_offset)
return neighbors
func is_walkable(hex: Vector2i) -> bool:
var tile_data := tile_map.get_cell_tile_data(obstacles_layer, hex)
return tile_data == null or not tile_data.get_custom_data("obstacle")
func find_path(start: Vector2i, end: Vector2i) -> Array[Vector2i]:
if start == end:
return [start]
if not is_walkable(end):
return []
var open_set: Array[Vector2i] = [start]
var came_from: Dictionary = {}
var visited: Dictionary = {start: true}
while not open_set.is_empty():
var current := open_set.pop_front()
if current == end:
return _reconstruct_path(came_from, current)
for neighbor in get_neighbors(current):
if not visited.get(neighbor, false) and is_walkable(neighbor):
visited[neighbor] = true
came_from[neighbor] = current
open_set.append(neighbor)
return []
func _reconstruct_path(came_from: Dictionary, current: Vector2i) -> Array[Vector2i]:
var path: Array[Vector2i] = [current]
while came_from.has(current):
current = came_from[current]
path.push_front(current)
return path
# 计算两个六边形之间的距离
func distance(a: Vector2i, b: Vector2i) -> int:
var cube_a := axial_to_cube(offset_to_axial(a))
var cube_b := axial_to_cube(offset_to_axial(b))
return maxi(
maxi(abs(cube_a.x - cube_b.x), abs(cube_a.y - cube_b.y)),
abs(cube_a.z - cube_b.z)
)
# path_follower.gd
class_name PathFollower
extends Node2D
@export var path_line: Line2D
@export var move_speed: float = 200.0
var current_path: Array[Vector2i] = []
var current_index: int = 0
var is_moving: bool = false
var target_position: Vector2
signal path_completed
signal position_changed(new_pos: Vector2)
func set_path(path: Array[Vector2i], grid_to_world: Callable) -> void:
current_path = path
current_index = 0
is_moving = false
if path.is_empty():
return
target_position = grid_to_world.call(path[0])
position = target_position
func _physics_process(delta: float) -> void:
if not is_moving or current_path.is_empty():
return
var world_pos := grid_to_world(current_path[current_index])
var direction := (world_pos - position).normalized()
var distance := (world_pos - position).length()
if distance < 5.0:
current_index += 1
position_changed.emit(position)
if current_index >= current_path.size():
is_moving = false
path_completed.emit()
else:
position += direction * move_speed * delta
func start_moving() -> void:
is_moving = true
func stop_moving() -> void:
is_moving = false
func grid_to_world(grid_pos: Vector2i) -> Vector2:
return tile_map.map_to_local(grid_pos)
# 平滑路径（去除多余拐点）
func smooth_path(path: Array[Vector2i], line_of_sight: Callable) -> Array[Vector2i]:
if path.size() <= 2:
return path
var smoothed: Array[Vector2i] = [path[0]]
var current := 0
while current < path.size() - 1:
var furthest := current + 1
for i in range(path.size() - 1, current, -1):
if line_of_sight.call(path[current], path[i]):
furthest = i
break
smoothed.append(path[furthest])
current = furthest
return smoothed
流场寻路是RTS游戏中常用的技术，所有单位共享同一个流场，实现自然的群体避让。
# flow_field.gd
# 流场寻路实现
# 原理：
# 1. 从目标点向外BFS扩散，构建距离场
# 2. 每个格子记录到目标的最短距离
# 3. 流场方向指向距离递减最快的方向
# 4. 单位沿流场方向移动即可到达目标
class_name FlowField
extends Node2D
@export var tile_map: TileMap
@export var obstacles_layer: int = 0
@export var destination_layer: int = 1
var _grid_size: Vector2i
var _cell_size: Vector2i
var _distance_field: Dictionary = {} # {Vector2i: float}
var _flow_field: Dictionary = {} # {Vector2i: Vector2}
var _walkable: Dictionary = {}
var _use_diagonals: bool = true
signal field_ready
func _ready() -> void:
if tile_map:
_initialize()
func _initialize() -> void:
var used_rect := tile_map.get_used_rect()
_grid_size = used_rect.size
_cell_size = tile_map.tile_set.tile_size
_build_walkable_map(used_rect)
func _build_walkable_map(rect: Rect2i) -> void:
for x in range(rect.size.x):
for y in range(rect.size.y):
var cell := Vector2i(rect.position.x + x, rect.position.y + y)
var tile_data := tile_map.get_cell_tile_data(obstacles_layer, cell)
_walkable[cell] = tile_data == null or not tile_data.get_custom_data("obstacle")
func build_field(destination: Vector2i) -> void:
_distance_field.clear()
_flow_field.clear()
# 如果目标不可行走，从最近的可行走格子开始
if not _walkable.get(destination, false):
destination = _find_nearest_walkable(destination)
if destination == Vector2i(-1, -1):
return
# BFS 扩散构建距离场
var queue: Array[Vector2i] = [destination]
_distance_field[destination] = 0.0
while not queue.is_empty():
var current := queue.pop_front()
var current_dist := _distance_field[current]
for neighbor in _get_neighbors(current):
if not _walkable.get(neighbor, false):
continue
var new_dist := current_dist + _get_move_cost(current, neighbor)
if not _distance_field.has(neighbor) or new_dist < _distance_field[neighbor]:
_distance_field[neighbor] = new_dist
queue.append(neighbor)
# 构建流场
for cell in _distance_field.keys():
_flow_field[cell] = _calculate_flow_direction(cell)
field_ready.emit()
func _find_nearest_walkable(target: Vector2i) -> Vector2i:
var closest: Vector2i = Vector2i(-1, -1)
var min_dist := INF
for cell in _walkable.keys():
if _walkable[cell]:
var dist := (cell - target).length()
if dist < min_dist:
min_dist = dist
closest = cell
return closest
func _get_neighbors(cell: Vector2i) -> Array[Vector2i]:
var neighbors: Array[Vector2i] = [
cell + Vector2i(0, -1),
cell + Vector2i(1, 0),
cell + Vector2i(0, 1),
cell + Vector2i(-1, 0),
]
if _use_diagonals:
neighbors.append_array([
cell + Vector2i(1, -1),
cell + Vector2i(1, 1),
cell + Vector2i(-1, 1),
cell + Vector2i(-1, -1),
])
return neighbors
func _get_move_cost(from: Vector2i, to: Vector2i) -> float:
# 斜向移动成本
if from.x != to.x and from.y != to.y:
return 1.414
return 1.0
func _calculate_flow_direction(cell: Vector2i) -> Vector2:
var neighbors := _get_neighbors(cell)
var best_direction := Vector2.ZERO
var lowest_distance := INF
for neighbor in neighbors:
if _distance_field.has(neighbor):
var dist := _distance_field[neighbor]
if dist < lowest_distance:
lowest_distance = dist
var dir := Vector2(neighbor - cell).normalized()
best_direction = dir
return best_direction
func get_flow_direction(cell: Vector2i) -> Vector2:
if _flow_field.has(cell):
return _flow_field[cell]
return Vector2.ZERO
func get_distance(cell: Vector2i) -> float:
return _distance_field.get(cell, INF)
# 移动单位沿流场方向
func move_along_flow(unit_position: Vector2, speed: float, delta: float) -> Vector2:
var cell := tile_map.local_to_map(unit_position)
var flow := get_flow_direction(cell)
if flow.length() > 0.01:
return unit_position + flow * speed * delta
else:
# 如果没有流向（不在流场中），尝试随机移动
return unit_position + Vector2.RIGHT * speed * delta * 0.5
# multi_target_flow_field.gd
class_name MultiTargetFlowField
extends FlowField
var _target_cells: Array[Vector2i] = []
func add_target(cell: Vector2i) -> void:
if not cell in _target_cells:
_target_cells.append(cell)
func remove_target(cell: Vector2i) -> void:
_target_cells.erase(cell)
func clear_targets() -> void:
_target_cells.clear()
func build_field() -> void:
if _target_cells.is_empty():
return
_distance_field.clear()
_flow_field.clear()
# 多目标BFS
var queue: Array[Vector2i] = _target_cells.duplicate()
var visited: Dictionary = {}
for target in _target_cells:
if _walkable.get(target, false):
_distance_field[target] = 0.0
visited[target] = true
while not queue.is_empty():
var current := queue.pop_front()
var current_dist := _distance_field[current]
for neighbor in _get_neighbors(current):
if not _walkable.get(neighbor, false):
continue
if visited.get(neighbor, false):
continue
visited[neighbor] = true
_distance_field[neighbor] = current_dist + _get_move_cost(current, neighbor)
queue.append(neighbor)
# 构建流场
for cell in _distance_field.keys():
_flow_field[cell] = _calculate_flow_direction(cell)
field_ready.emit()
# rts_unit_pathfinding.gd
# 完整的RTS单位寻路系统
class_name RTSUnitPathfinding
extends CharacterBody2D
@export var move_speed: float = 150.0
@export var flow_field: FlowField
@export var unit_radius: float = 16.0
var _current_target: Vector2i = Vector2i(-1, -1)
var _is_selected: bool = false
var _formation_offset: Vector2 = Vector2.ZERO
@onready var selection_indicator: Sprite2D = $SelectionIndicator
@onready var unit_sprite: Sprite2D = $Sprite2D
func _ready() -> void:
selection_indicator.visible = false
func _physics_process(delta: float) -> void:
if _current_target != Vector2i(-1, -1):
_move_along_flow(delta)
func _move_along_flow(delta: float) -> void:
var flow_dir := flow_field.get_flow_direction(global_position)
if flow_dir.length() > 0.01:
# 应用编队偏移
var target_pos := global_position + flow_dir * move_speed * delta + _formation_offset * 0.1
# 简单避让
var avoidance := _calculate_avoidance()
target_pos += avoidance * 50.0 * delta
global_position = target_pos
# 旋转朝向移动方向
rotation = flow_dir.angle()
else:
# 到达目标
_current_target = Vector2i(-1, -1)
func _calculate_avoidance() -> Vector2:
var avoidance := Vector2.ZERO
var nearby_units := get_tree().get_nodes_in_group("rts_units")
for unit in nearby_units:
if unit == self:
continue
var dist := global_position.distance_to(unit.global_position)
if dist < unit_radius * 3:
var push_dir := (global_position - unit.global_position).normalized()
avoidance += push_dir * (1.0 - dist / (unit_radius * 3))
return avoidance
func set_target(world_position: Vector2) -> void:
_current_target = flow_field.tile_map.local_to_map(world_position)
func set_selected(selected: bool) -> void:
_is_selected = selected
selection_indicator.visible = selected
func set_formation_offset(offset: Vector2) -> void:
_formation_offset = offset
obstacle: true 标记