AStar2D in Godot – Complete Guide

Navigating through digital space efficiently is a cornerstone in many applications, especially when it comes to game development. Pathfinding, a fundamental concept within AI programming, enables characters and entities to find the best route from one point to another, simulating intelligence and intention in virtual worlds. Today’s focus is on the AStar2D class in Godot 4, a powerful tool that offers a straightforward way to implement the A* pathfinding algorithm in 2D games. Whether you’re just starting out in coding or are an experienced coder broadening your toolkit, understanding AStar2D can unlock a whole new level of interactivity and complexity in your projects. So, let’s embark on this pathfinding journey and learn how to bring your virtual environments to life!

What is AStar2D in Godot 4?

AStar2D is a class in the Godot Engine, designed to facilitate the implementation of the A* (A-Star) pathfinding algorithm in a 2D environment. But what exactly is the A* algorithm? A* is an informed search algorithm, ideal for finding the shortest path from a start node to a target node while avoiding obstacles. It is both comprehensive and optimally efficient, which means it computes paths as fast as possible without missing the shortest route.

What is AStar2D Used For?

The primary use of AStar2D is in the realm of game development, especially when you need characters or objects to navigate dynamic or complex environments. From NPCs chasing a player to strategy game units finding their way around the battlefield, AStar2D makes these behaviors possible. Additionally, non-gaming applications such as robotics, simulations, and even logistics software can benefit from AStar2D’s pathfinding capabilities.

Why Should I Learn AStar2D?

There are several compelling reasons to get to grips with AStar2D:
– **Understanding Core AI Principles**: Learning AStar2D gives you a hands-on introduction to fundamental AI techniques.
– **Versatility**: Once you get the hang of it, you’ll be able to apply AStar2D to a wide range of projects and problems.
– **Efficiency**: AStar2D is a highly efficient algorithm, ensuring your projects are not only functional but also performant.
– **Community Support**: With the popularity of Godot Engine, you’d be joining a vast and helpful community, brimming with insights and plugins to take your projects further.

By learning AStar2D, you’re not just learning a specific class or method; you’re unlocking the potential to create more dynamic, intelligent, and engaging experiences within your 2D games. So, let’s delve into the world of pathfinding with AStar2D and see how you can elevate your development skills!

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Setting Up the AStar2D Node in Godot 4

Before diving into the code, the first step is to understand how to set up the AStar2D node in your Godot 4 project. Here’s a simple guide to get started:

var astar =
  • First, you create an instance of AStar2D and assign it to a variable.
  • Once created, you’ll use this instance to manage your points (or nodes) and the connections between them.

After creating the AStar2D instance, the next step is to define the points in the space that your characters or objects will navigate through.

astar.add_point(1, Vector2(100, 100))
astar.add_point(2, Vector2(200, 100), false)
astar.add_point(3, Vector2(200, 200))
astar.connect_points(1, 2)
astar.connect_points(2, 3)
  • We use add_point to add nodes to the AStar2D network, giving each a unique id and position with an optional disabled parameter.
  • connect_points is then used to link nodes, allowing for pathfinding between them.

Configuring Your Points and Connections

A key aspect of using AStar2D is understanding how to configure your points to reflect the traversable space and obstacles.

astar.set_point_weight_scale(1, 2.0)
astar.set_point_disabled(2, true)
  • The set_point_weight_scale method allows you to alter the ‘cost’ of moving through a particular point, which can simulate difficult terrain or preferences in path direction.
  • Points can also be enabled or disabled dynamically using set_point_disabled, which is especially useful for creating movement around dynamic obstacles or changing environments.

Finding a Path

The most exciting part of using AStar2D is when you request a path from one point to another:

var path = astar.get_point_path(1, 3)
  • Here, get_point_path calculates the shortest path between two points. In this case, from point 1 to point 3.
  • The returned path is an array of Vector2 coordinates which you can then use to move your character or object in the game world.

Implementing AStar2D in a Character’s Movement

Once you have a path, you can create a simple algorithm to move a character along it:

var speed = 100
func _process(delta):
    if path.size() > 0:
        var to_walk = speed * delta
        while to_walk > 0 and path.size() > 0:
            var distance_to_next = position.distance_to(path[0])
            if distance_to_next > to_walk:
                move_and_slide((path[0] - position).normalized() * speed)
                to_walk = 0
                position = path[0]
                to_walk -= distance_to_next
  • This code snippet illustrates a basic movement system where a character will follow the calculated path.
  • We iterate through the path array, moving our character towards each subsequent point until we reach the end.

Each of these code examples offers a fundamental building block in creating an A* pathfinding system within Godot using the AStar2D class. By carefully adjusting these basics, you can develop a robust AI system that can handle the complexities of your game’s environments and scenarios. Continue honing these skills and integrating them within your projects to achieve more dynamic and intelligent game behaviors.Continuing our deep dive into AStar2D, we’ll look at more advanced implementations and how you can use them to enhance your game’s AI navigation.

To give your non-player characters (NPCs) the ability to navigate around obstacles, you might want to create a more complex node network that reflects the walkable and blocked areas of your game environment.

// Imagine a scenario with obstacles, we avoid adding points on obstacles
for x in range(0, map_width, 10):
    for y in range(0, map_height, 10):
        if not is_obstacle_at_position(Vector2(x, y)):
            var point_id = y * map_width + x
            astar.add_point(point_id, Vector2(x, y))

// Connect these points with their neighbors if there's no obstacle between them
for point_id in astar.get_points():
    var point_position = astar.get_point_position(point_id)
    for neighbor in [Vector2(10, 0), Vector2(-10, 0), Vector2(0, 10), Vector2(0, -10)]:
        var neighbor_position = point_position + neighbor
        var neighbor_id = (neighbor_position.y) * map_width + neighbor_position.x
        if astar.has_point(neighbor_id) and not is_obstacle_between(point_position, neighbor_position):
            astar.connect_points(point_id, neighbor_id)

This example demonstrates how to populate the AStar2D grid with points while avoiding obstacles. The connection phase ensures that each node is only connected to its immediate navigable neighbors.

In certain scenarios, you may need to re-evaluate the navigable space during runtime, especially in games featuring a dynamic and changing environment. This calls for the ability to add and remove points from the AStar2D network on the fly:

// Adding a new point during runtime
var new_point_id = astar.get_available_point_id() // Get a unique ID for the new point
astar.add_point(new_point_id, new_point_position)

// Connecting the new point to its navigable neighbors
for neighbor_id in some_neighbor_ids_list:
    if astar.has_point(neighbor_id):
        astar.connect_points(new_point_id, neighbor_id)

// Removing a point during runtime

The ability to adjust your AStar2D network in real-time allows for responsive AI that can adapt to changes within the world, such as destructible environments or player-crafted structures.

For optimal pathfinding, AStar2D allows you to provide a custom computation for the cost between points and the estimated cost from any given point to the goal. This is done using the `compute_cost` and `estimate_cost` methods:

// Define custom cost methods
func _compute_cost(u_id: int, v_id: int) -> float:
    return astar.get_point_position(u_id).distance_to(astar.get_point_position(v_id))

func _estimate_cost(u_id: int, goal_id: int) -> float:
    return astar.get_point_position(u_id).distance_to(astar.get_point_position(goal_id))

// Assigning the custom cost methods
astar.connect_points(1, 2, false) // Using 'false' we can specify that the connection is unidirectional
astar.connect_points(2, 3)

astar.compute_cost = funcref(self, "_compute_cost")
astar.estimate_cost = funcref(self, "_estimate_cost")

By customizing the cost methods, you can control how the A* algorithm prioritizes certain paths over others—for example, avoiding enemy territory or choosing cover in a tactical shooter.

Lastly, it’s critical for a game to visualize the path that an NPC or object will take, which can be done by drawing the actual path onto the screen:

func _draw():
    var path = astar.get_point_path(start_id, end_id)
    for i in range(path.size() - 1):
        draw_line(path[i], path[i+1],, 2)

func _process(delta):
    update() // Ensures the draw() method is called

func _ready():

Here, `_draw()` is a Godot method that allows you to render custom drawings. We’re using it to iterate over the path array, drawing lines between each point to represent the path visually, helping with debugging or gameplay elements.

Through these more advanced examples, you should have a broader view of the power and versatility of the AStar2D class in Godot 4. As with all scripts and logic, ensure that you’re making efficient use of resources, especially when dealing with complex pathfinding operations that need to run frequently or in large game worlds. Keep refining these tools, and you’ll make your game’s AI feel much more alive and intelligent.Certainly! As we delve deeper into the AStar2D class’s functionality, it’s essential to remember that each game’s requirements can differ significantly. The examples given are meant to spark inspiration and, ideally, should be tailored to fit your project’s unique needs.

One common requirement in pathfinding is handling movement in eight directions, not just four. To achieve this, we need to make sure the AStar2D points are connected diagonally:

// Connecting diagonal neighbors
for point_id in astar.get_points():
    var point_position = astar.get_point_position(point_id)
    for neighbor in [Vector2(10, 10), Vector2(-10, 10), Vector2(10, -10), Vector2(-10, -10)]:
        var neighbor_position = point_position + neighbor
        var neighbor_id = (neighbor_position.y) * map_width + neighbor_position.x
        if astar.has_point(neighbor_id):
            astar.connect_points(point_id, neighbor_id, false) // Note the 'false' for unidirectional connections

Sometimes, you may want to update the weights of paths dynamically based on game events:

// Increasing the 'cost' of a path due to a temporary obstacle like slippery ice
astar.set_point_weight_scale(ice_point_id, 3.0)

// Resetting it back to normal after the obstacle is gone
astar.set_point_weight_scale(ice_point_id, 1.0)

Detecting if two points can “see” each other, without obstacles obstructing the line of sight, is another valuable capability. You can use this for making decisions in AI or for checking visibility for stealth elements:

// Checking line of sight between two points
func can_see_each_other(point_id_1: int, point_id_2: int) -> bool:
    var from_position = astar.get_point_position(point_id_1)
    var to_position = astar.get_point_position(point_id_2)
    return not is_obstacle_between(from_position, to_position)

// Usage
if can_see_each_other(player_point_id, enemy_point_id):
    print("Enemy can see the player!")

When it comes to mobile units in strategy games or characters who move in groups, pathfinding becomes a bit more complex. Units must avoid collisions and manage their distances appropriately. AStar2D can be expanded with custom logic to handle these cases:

// Assuming unit_1 and unit_2 are moving towards the same destination
func avoid_collision_while_moving(unit_1, unit_2):
    var separation_threshold = 10.0
    var unit_1_path = astar.get_point_path(unit_1.current_position, unit_1.destination)
    var unit_2_path = astar.get_point_path(unit_2.current_position, unit_2.destination)

    if unit_1_path.size() > 1 && unit_1_path[1].distance_to(unit_2_path[0]) < separation_threshold:
        unit_1.wait() // Custom function to make the unit wait

Moreover, pathfinding with AStar2D isn’t limited to just finding the shortest route, it can also find a path that maximizes or minimizes exposure to certain areas, has the most cover, or follows the terrain’s curvature for a stealth game. This requires a more sophisticated cost function that takes into account the different game-specific factors:

// Customizing cost for a stealth game where characters should prefer shadows
func _compute_cost_stealth(u_id: int, v_id: int) -> float:
    var cost = astar.get_point_position(u_id).distance_to(astar.get_point_position(v_id))
    if is_in_shadow(astar.get_point_position(v_id)):
        cost *= 0.75 // Reduce cost for shadowed areas
    return cost

astar.compute_cost = funcref(self, "_compute_cost_stealth")

Lastly, we shouldn’t ignore the optimization opportunities that come with large maps or complex navigation meshes. One way to enhance performance is by implementing a hierarchical A* algorithm, where pathfinding is done on two levels: a higher level for general areas and a lower level for more detailed pathfinding within those areas.

// Simplified high-level example
var global_astar =
// ...set up the high-level points and connections...

func get_path_across_large_map(start_global_point_id, end_global_point_id):
    var high_level_path = global_astar.get_point_path(start_global_point_id, end_global_point_id)
    var complete_path = []

    for i in high_level_path.size() - 1:
        // Assuming each global point has a corresponding AStar2D instance
        var local_astar = high_level_path[i].get_local_astar()
        var local_path = local_astar.get_point_path(start_local_point_id, end_local_point_id)
        complete_path += local_path

    return complete_path

In this example, `global_astar` handles pathfinding over large distances using less detailed points, and then `local_astar` takes over to calculate paths in finer detail within the specified areas.

Each code snippet shows a potential application or optimization for the AStar2D class. Exploring these examples should provide a strong footing in making your game’s pathfinding not only work smoothly but also adapt intelligently to the nuances of your unique gameplay mechanics. Remember that the AStar2D node is a starting point; the real magic happens when you tailor it to create an immersive gaming experience.

Continuing Your Game Development Journey with Godot

Embarking on the path of game development is an exciting adventure, and there’s always more to learn and create. If you’ve enjoyed diving into pathfinding with AStar2D in Godot 4 and are eager to master even more aspects of this versatile game engine, Zenva’s Godot Game Development Mini-Degree is the perfect next step. This comprehensive collection of courses covers a wide array of topics, from the basics of GDScript and 2D and 3D gameplay to more complex mechanics found in RPGs, RTSs, and survival games. Whether you are a beginner or looking to polish your skills further, our curriculum is designed to take you from foundation-level knowledge to creating fully-fledged games that you can be proud of.

But why stop there? For an even broader spectrum of resources, we invite you to check out our complete selection of Godot courses. With these resources, you’ll have the opportunity to strengthen your portfolio and expand your coding repertoire to include a range of in-demand skills for the game development industry. Zenva provides over 250 supported courses, so no matter where you’re starting from, you can reach a professional level at your own pace. Let us be a part of your game development journey, and keep leveling up those skills to turn your game ideas into reality!


As we’ve explored throughout this tutorial, understanding the AStar2D class in Godot 4 can be a game-changer for bringing sophisticated navigation to the characters and objects in your 2D worlds. Whether you’re a seasoned developer or just starting out, the power to create dynamic and responsive pathfinding AI is an essential skill in your game development arsenal.

Remember, this journey doesn’t end here. The world of game development is vast, and there’s always more to discover. Continue your adventure in mastering Godot with Zenva’s Godot Game Development Mini-Degree, where every tutorial brings you one step closer to transforming your creative vision into tangible, interactive experiences. Happy coding, and we can’t wait to see the incredible games you’ll create!

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