jwalkable example

path.tmx

<?xml version="1.0" encoding="UTF-8"?>
<map version="1.0" tiledversion="1.0.1" orientation="orthogonal" renderorder="right-down" width="64" height="48" tilewidth="10" tileheight="10" nextobjectid="6">
 <objectgroup name="Obstacles">
  <object id="1" x="60" y="100.163">
   <polygon points="0,0 1.97011,187.16 210.802,202.921 200.951,153.668 31.5217,149.728 43.3424,0"/>
  </object>
  <object id="2" x="136.834" y="45">
   <polygon points="0,0 338.859,21.6712 395.992,336.889 336.889,332.948 275.815,78.8043 39.4022,57.1332"/>
  </object>
  <object id="3" x="184.117" y="157.296">
   <polygon points="0,0 185.19,9.85054 232.473,226.562 179.28,238.383 139.878,45.3125 -3.94022,43.3424"/>
  </object>
  <object id="4" x="71.8207" y="307.024">
   <polygon points="0,0 250.204,13.7908 250.204,100.476 177.31,94.5652 187.16,37.4321 0,33.4918"/>
  </object>
  <object id="5" x="25" y="417.5">
   <polyline points="0,0 182.5,37.5 107.5,-32.5 160,-45 247.5,42.5 557.5,40 562.5,-372.5"/>
  </object>
 </objectgroup>
</map>

TestPathfindingScreen.java

package com.dongbat.example;

import com.badlogic.gdx.Gdx;
import com.badlogic.gdx.Input;
import com.badlogic.gdx.ScreenAdapter;
import com.badlogic.gdx.graphics.Color;
import com.badlogic.gdx.graphics.GL20;
import com.badlogic.gdx.graphics.OrthographicCamera;
import com.badlogic.gdx.graphics.glutils.ShapeRenderer;
import com.badlogic.gdx.maps.MapLayer;
import com.badlogic.gdx.maps.MapObject;
import com.badlogic.gdx.maps.objects.PolygonMapObject;
import com.badlogic.gdx.maps.objects.PolylineMapObject;
import com.badlogic.gdx.maps.tiled.TiledMap;
import com.badlogic.gdx.maps.tiled.TmxMapLoader;
import com.badlogic.gdx.math.Polygon;
import com.badlogic.gdx.math.Polyline;
import com.badlogic.gdx.math.Vector2;
import com.badlogic.gdx.math.Vector3;
import com.dongbat.walkable.FloatArray;
import com.dongbat.walkable.PathHelper;

/**
 *
 * @author tao
 */
public class TestPathfindingScreen extends ScreenAdapter {

  private final ShapeRenderer shapeRenderer;
  private final TiledMap map;
  private final OrthographicCamera camera;

  private final Vector2 start = new Vector2();
  private final Vector2 end = new Vector2();
  private final Vector3 tmp = new Vector3();
  private final PathHelper pathHelper;
  private final FloatArray path = new FloatArray();
  private float radius = 0;

  public TestPathfindingScreen() {
    camera = new OrthographicCamera();
    camera.setToOrtho(false, Gdx.graphics.getWidth(), Gdx.graphics.getHeight());
    map = new TmxMapLoader().load("path.tmx");
    shapeRenderer = new ShapeRenderer();
    
    pathHelper = new PathHelper(Gdx.graphics.getWidth(), Gdx.graphics.getHeight());

    MapLayer obstacles = map.getLayers().get("Obstacles");
    for (MapObject object : obstacles.getObjects()) {
      if (object instanceof PolygonMapObject) {
        PolygonMapObject polygonMapObject = (PolygonMapObject) object;
        Polygon polygon = polygonMapObject.getPolygon();
        pathHelper.addPolygon(polygon.getTransformedVertices());
      }
      if (object instanceof PolylineMapObject) {
        PolylineMapObject polylineMapObject = (PolylineMapObject) object;
        Polyline polyline = polylineMapObject.getPolyline();
        pathHelper.addPolyline(polyline.getTransformedVertices());
      }
    }
  }

  @Override
  public void render(float delta) {
    Gdx.gl.glClearColor(0, 0, 0, 1);
    Gdx.gl.glClear(GL20.GL_COLOR_BUFFER_BIT);

    camera.update();
    shapeRenderer.setProjectionMatrix(camera.combined);

    tmp.set(Gdx.input.getX(), Gdx.input.getY(), 0);
    camera.unproject(tmp);

    if (Gdx.input.isKeyPressed(Input.Keys.EQUALS)) {
      radius += 10f * delta;
    }
    if (Gdx.input.isKeyPressed(Input.Keys.MINUS)) {
      if (radius > 1) {
        radius -= 10f * delta;
      }
    }

    if (Gdx.input.isTouched()) {
      start.set(tmp.x, tmp.y);
    }
    end.set(tmp.x, tmp.y);

    shapeRenderer.setColor(Color.WHITE);
    MapLayer obstacles = map.getLayers().get("Obstacles");
    for (MapObject object : obstacles.getObjects()) {
      if (object instanceof PolygonMapObject) {
        PolygonMapObject polygonMapObject = (PolygonMapObject) object;
        Polygon polygon = polygonMapObject.getPolygon();
        shapeRenderer.begin(ShapeRenderer.ShapeType.Line);
        shapeRenderer.polygon(polygon.getTransformedVertices());
        shapeRenderer.end();
      }
      if (object instanceof PolylineMapObject) {
        PolylineMapObject polylineMapObject = (PolylineMapObject) object;
        Polyline polyline = polylineMapObject.getPolyline();
        shapeRenderer.begin(ShapeRenderer.ShapeType.Line);
        shapeRenderer.polyline(polyline.getTransformedVertices());
        shapeRenderer.end();
      }
    }

    pathHelper.findPath(start.x, start.y, end.x, end.y, radius, path);

    shapeRenderer.setColor(Color.GREEN);
    shapeRenderer.begin(ShapeRenderer.ShapeType.Filled);
    shapeRenderer.circle(start.x, start.y, radius);
    shapeRenderer.end();

    shapeRenderer.setColor(Color.RED);
    shapeRenderer.begin(ShapeRenderer.ShapeType.Filled);
    shapeRenderer.circle(end.x, end.y, radius);
    shapeRenderer.end();

    float prevX = 0, prevY = 0;
    shapeRenderer.setColor(Color.YELLOW);
    for (int i = 0; i < path.size; i += 2) {
      float x = path.get(i);
      float y = path.get(i + 1);
      if (i > 0) {
        shapeRenderer.begin(ShapeRenderer.ShapeType.Line);
        shapeRenderer.line(prevX, prevY, x, y);
        shapeRenderer.end();
      }
      prevX = x;
      prevY = y;
    }

  }

}