`simvx.core.navigation`¶

2D Navigation and Pathfinding for SimVX.

Provides graph-based and grid-based A* pathfinding, plus a NavigationAgent2D node that follows computed paths with steering and emits signals on arrival.

Usage: from simvx.core import AStar2D, AStarGrid2D, NavigationAgent2D

# Graph-based pathfinding
astar = AStar2D()
astar.add_point(0, (0, 0))
astar.add_point(1, (10, 0))
astar.connect_points(0, 1)
path = astar.get_point_path(0, 1)  # [(0,0), (10,0)]

# Grid-based pathfinding
grid = AStarGrid2D(20, 20, cell_size=32.0)
grid.set_solid(5, 5)
path = grid.find_path((0, 0), (10, 10))

# Navigation agent node
agent = NavigationAgent2D()
agent.set_navigation(astar)
agent.target_position = (10, 0)

Module Contents¶

Classes¶

`AStar2D`	Graph-based A* pathfinding. Supports both grid-based and arbitrary graphs.
`AStarGrid2D`	Grid-based A* with automatic cell management.
`NavigationAgent2D`	2D node that follows A* paths with steering.

Data¶

__all__

API¶

simvx.core.navigation.__all__¶: [‘AStar2D’, ‘AStarGrid2D’, ‘NavigationAgent2D’]

class simvx.core.navigation.AStar2D¶

Graph-based A* pathfinding. Supports both grid-based and arbitrary graphs.

Initialization

__slots__¶: (‘_points’, ‘_connections’, ‘_weights’, ‘_disabled’)

add_point(id: int, position: tuple[float, float], weight: float = 1.0)¶: Add a point to the graph. Weight scales traversal cost (default 1.0).

remove_point(id: int)¶: Remove a point and all its connections.

connect_points(id1: int, id2: int, bidirectional: bool = True)¶: Connect two points. Both must already exist.

disconnect_points(id1: int, id2: int, bidirectional: bool = True)¶: Remove connection between two points.

set_point_disabled(id: int, disabled: bool = True)¶: Disable/enable a point. Disabled points are excluded from pathfinding.

is_point_disabled(id: int) → bool¶

has_point(id: int) → bool¶

get_point_position(id: int) → tuple[float, float]¶

get_point_connections(id: int) → set[int]¶

get_point_count() → int¶

get_closest_point(position: tuple[float, float]) → int¶: Return id of the closest non-disabled point to the given position.

get_id_path(from_id: int, to_id: int) → list[int]¶: A* search returning list of point IDs from start to end. Empty list if no path.

get_point_path(from_id: int, to_id: int) → list[tuple[float, float]]¶: A* search returning list of world positions.

class simvx.core.navigation.AStarGrid2D(width: int, height: int, cell_size: float = 1.0, diagonal: bool = True, offset: tuple[float, float] = (0.0, 0.0))¶

Grid-based A* with automatic cell management.

Args: width: Grid width in cells. height: Grid height in cells. cell_size: Size of each cell in world units. diagonal: Allow diagonal movement (default True). offset: World-space offset of the grid origin.

Initialization

__slots__¶: (‘_width’, ‘_height’, ‘_cell_size’, ‘_diagonal’, ‘_offset’, ‘_solid’, ‘_weights’)

property width: int¶

property height: int¶

property cell_size: float¶

set_solid(x: int, y: int, solid: bool = True)¶: Mark a cell as solid (impassable) or clear it.

is_solid(x: int, y: int) → bool¶

set_weight(x: int, y: int, weight: float)¶: Set traversal weight for a cell. Default is 1.0; higher = costlier.

find_path(from_cell: tuple[int, int], to_cell: tuple[int, int]) → list[tuple[int, int]]¶: Find shortest path between two grid cells. Returns list of (x,y) cells.

find_path_world(from_pos: tuple[float, float], to_pos: tuple[float, float]) → list[tuple[float, float]]¶: Find path using world positions (auto-converts to/from grid coords).