Hex Grid Pathfinding

Assets/Scenes/GameSceneHex.meta

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Assets/Scripts/Pathfinding.cs

@@ -4,8 +4,7 @@ using Grid;
 using UnityEngine;
 
 public class Pathfinding : MonoBehaviour {
-    private const int moveStraightCost = 10;
-    private const int moveDiagonalCost = 14;
+    private const int MOVE_STRAIGHT_COST = 10;
 
     private const float raycastOffsetDistance = 5f;
 
@@ -68,7 +67,7 @@ public class Pathfinding : MonoBehaviour {
         }
 
         startNode.GCost = 0;
-        startNode.HCost = CalculateDistance(startGridPosition, endGridPosition);
+        startNode.HCost = CalculateHeuristicDistance(startGridPosition, endGridPosition);
 
         while (openList.Count > 0) {
             PathNode currentNode = GetLowestFCostPathNode(openList);
@@ -88,11 +87,11 @@ public class Pathfinding : MonoBehaviour {
                     continue;
                 }
 
-                int tentativeGCost = currentNode.GCost + CalculateDistance(currentNode.GridPosition, neighbourNode.GridPosition);
+                int tentativeGCost = currentNode.GCost + MOVE_STRAIGHT_COST;
                 if (tentativeGCost >= neighbourNode.GCost) continue;
                 neighbourNode.CameFromPathNode = currentNode;
                 neighbourNode.GCost = tentativeGCost;
-                neighbourNode.HCost = CalculateDistance(neighbourNode.GridPosition, endGridPosition);
+                neighbourNode.HCost = CalculateHeuristicDistance(neighbourNode.GridPosition, endGridPosition);
                 if (!openList.Contains(neighbourNode)) openList.Add(neighbourNode);
             }
         }
@@ -101,13 +100,8 @@ public class Pathfinding : MonoBehaviour {
         return null;
     }
 
-    private static int CalculateDistance(GridPosition gridPositionA, GridPosition gridPositionB) {
-        GridPosition gridPositionDistance = gridPositionA - gridPositionB;
-        int xDistance = Mathf.Abs(gridPositionDistance.X);
-        int zDistance = Mathf.Abs(gridPositionDistance.Z);
-        int remaining = Mathf.Abs(xDistance - zDistance);
-        return moveDiagonalCost * Mathf.Min(xDistance, zDistance) + moveStraightCost * remaining;
-    }
+    private int CalculateHeuristicDistance(GridPosition gridPositionA, GridPosition gridPositionB) 
+        => Mathf.RoundToInt(MOVE_STRAIGHT_COST * Vector3.Distance(GridSystemHex.GetWorldPosition(gridPositionA), GridSystemHex.GetWorldPosition(gridPositionB)));
 
     private static PathNode GetLowestFCostPathNode(IReadOnlyList<PathNode> pathNodeList) {
         PathNode lowestFCostPathNode = pathNodeList[0];
@@ -119,20 +113,24 @@ public class Pathfinding : MonoBehaviour {
         List<PathNode> neighbourList = new();
         GridPosition gridPosition = currentNode.GridPosition;
 
-        if (gridPosition.X - 1 >= 0) {
-            neighbourList.Add(GetNode(gridPosition.X - 1, gridPosition.Z + 0)); //Left
-            if (gridPosition.Z - 1 >= 0) neighbourList.Add(GetNode(gridPosition.X - 1, gridPosition.Z - 1)); //LeftDown
-            if (gridPosition.Z < GridSystemHex.Height) neighbourList.Add(GetNode(gridPosition.X - 1, gridPosition.Z + 1)); //LeftUp
-        }
+        if (gridPosition.X - 1 >= 0) neighbourList.Add(GetNode(gridPosition.X - 1, gridPosition.Z + 0)); //Left
+        if (gridPosition.X + 1 < GridSystemHex.Width) neighbourList.Add(GetNode(gridPosition.X + 1, gridPosition.Z + 0)); //Right
+        if (gridPosition.Z - 1 >= 0) neighbourList.Add(GetNode(gridPosition.X - 0, gridPosition.Z - 1)); //Down left
+        if (gridPosition.Z + 1 < GridSystemHex.Height) neighbourList.Add(GetNode(gridPosition.X - 0, gridPosition.Z + 1)); //Up left
 
-        if (gridPosition.X + 1 < GridSystemHex.Width) {
-            neighbourList.Add(GetNode(gridPosition.X + 1, gridPosition.Z + 0)); //Right
-            if (gridPosition.Z - 1 >= 0) neighbourList.Add(GetNode(gridPosition.X + 1, gridPosition.Z - 1)); //RightDown
-            if (gridPosition.Z + 1 < GridSystemHex.Height) neighbourList.Add(GetNode(gridPosition.X + 1, gridPosition.Z + 1)); //RightUp
+        bool oddRow = gridPosition.Z % 2 == 1;
+        if (oddRow) {
+            if (gridPosition.X + 1 < GridSystemHex.Width) {
+                if (gridPosition.Z - 1 >= 0) neighbourList.Add(GetNode(gridPosition.X + 1, gridPosition.Z - 1)); //Down right
+                if (gridPosition.Z + 1 < GridSystemHex.Height) neighbourList.Add(GetNode(gridPosition.X + 1, gridPosition.Z + 1)); //Up right
+            }
+        }
+        else {
+            if (gridPosition.X - 1 >= 0) {
+                if (gridPosition.Z - 1 >= 0) neighbourList.Add(GetNode(gridPosition.X - 1, gridPosition.Z - 1)); //Down right
+                if (gridPosition.Z + 1 < GridSystemHex.Height) neighbourList.Add(GetNode(gridPosition.X - 1, gridPosition.Z + 1)); //Up right
+            }
         }
-
-        if (gridPosition.Z - 1 >= 0) neighbourList.Add(GetNode(gridPosition.X - 0, gridPosition.Z - 1)); //Down
-        if (gridPosition.Z + 1 < GridSystemHex.Height) neighbourList.Add(GetNode(gridPosition.X - 0, gridPosition.Z + 1)); //Up
 
         return neighbourList;
     }

ProjectSettings/Packages/com.unity.probuilder/Settings.json

@@ -25,6 +25,11 @@
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+            },
+            {
+                "type": "System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089",
+                "key": "lightmapping.autoUnwrapLightmapUV",
+                "value": "{\"m_Value\":true}"
             }
         ]
     }