Multi-Floors Pathfinding

Assets/Scenes/GameScene_MultiFloors.unity

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+  - {fileID: 753507437}
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+  - {fileID: 386759697}
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@@ -15674,6 +15941,7 @@ Transform:
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Assets/Scripts/Actions/MoveAction.cs

@@ -49,9 +49,10 @@ namespace Actions {
             List<GridPosition> validGridPositionList = new();
             GridPosition unitGridPosition = Unit.GridPosition;
 
-            for (int x = -maxMoveDistance; x <= maxMoveDistance; x++) {
-                for (int z = -maxMoveDistance; z <= maxMoveDistance; z++) {
-                    GridPosition offsetGridPosition = new(x, z, 0);
+            for (int xPosition = -maxMoveDistance; xPosition <= maxMoveDistance; xPosition++) {
+                for (int zPosition = -maxMoveDistance; zPosition <= maxMoveDistance; zPosition++) {
+                    for (int floor = 0; floor < maxMoveDistance; floor++) {
+                        GridPosition offsetGridPosition = new(xPosition, zPosition, floor);
                         GridPosition testGridPosition = unitGridPosition + offsetGridPosition;
 
                         if (!LevelGrid.Instance.IsValidGridPosition(testGridPosition)) continue; //Only return valid grid positions
@@ -65,6 +66,7 @@ namespace Actions {
                         validGridPositionList.Add(testGridPosition);
                     }
                 }
+            }
 
             return validGridPositionList;
         }

Assets/Scripts/Grid/GridSystem.cs

@@ -14,9 +14,9 @@ namespace Grid {
             FloorHeight = floarHeight;
 
             gridObjectArray = new TGridObject[width, height];
-            for (int x = 0; x < width; x++) {
-                for (int z = 0; z < height; z++) {
-                    gridObjectArray[x, z] = createGridObject(this, new(x, z, floor));
+            for (int xPosition = 0; xPosition < width; xPosition++) {
+                for (int zPosition = 0; zPosition < height; zPosition++) {
+                    gridObjectArray[xPosition, zPosition] = createGridObject(this, new(xPosition, zPosition, floor));
                 }
             }
         }

Assets/Scripts/Grid/LevelGrid.cs

@@ -37,9 +37,14 @@ namespace Grid {
             }
         }
 
-        private void Start() => Pathfinding.Instance.Setup(width, height, cellSize);
+        private void Start() => Pathfinding.Instance.Setup(width, height, cellSize, floorAmount);
+
+        private GridSystem<GridObject> GetGridSystem(int floor) {
+            if (floor >= 0 && floor < floorAmount) return gridSystemList[floor];
+            Debug.LogError($"Try to access floor {floor} and has only {gridSystemList.Count} GridSystems in list!");
+            return null;
+        }
 
-        private GridSystem<GridObject> GetGridSystem(int floor) => gridSystemList[floor];
         public event EventHandler OnAnyUnitMovedGridPosition;
 
         public void AddUnitAtGridPosition(GridPosition gridPosition, Unit unit) => GetGridSystem(gridPosition.Floor).GetGridObject(gridPosition).UnitList.Add(unit);
@@ -51,7 +56,12 @@ namespace Grid {
 
         public GridPosition GetGridPosition(Vector3 worldPosition) => GetGridSystem(GetFloor(worldPosition)).GetGridPosition(worldPosition);
         public Vector3 GetWorldPosition(GridPosition gridPosition) => GetGridSystem(gridPosition.Floor).GetWorldPosition(gridPosition);
-        public bool IsValidGridPosition(GridPosition gridPosition) => GetGridSystem(gridPosition.Floor).IsValidGridPosition(gridPosition);
+
+        public bool IsValidGridPosition(GridPosition gridPosition) {
+            if (gridPosition.Floor < 0 || gridPosition.Floor >= floorAmount) return false;
+            return GetGridSystem(gridPosition.Floor).IsValidGridPosition(gridPosition);
+        }
+
         public int GetWidth() => GetGridSystem(0).Width;
         public int GetHeight() => GetGridSystem(0).Height;
 

Assets/Scripts/PathNode.cs

@@ -1,15 +1,14 @@
 using Grid;
 
 public class PathNode {
+    public PathNode(GridPosition gridPosition) => GridPosition = gridPosition;
     public GridPosition GridPosition { get; }
     public int GCost { get; set; }
     public int HCost { get; set; }
     public int FCost => GCost + HCost;
-    public bool IsWalkable { get; set; } = true;
+    public bool IsWalkable { get; set; }
 
     public PathNode CameFromPathNode { get; set; }
 
-    public PathNode(GridPosition gridPosition) => GridPosition = gridPosition;
-   
     public override string ToString() => $"{GridPosition.ToString()}";
 }

Assets/Scripts/Pathfinding.cs

@@ -4,19 +4,20 @@ using Grid;
 using UnityEngine;
 
 public class Pathfinding : MonoBehaviour {
-    private const int moveStraightCost = 10;
-    private const int moveDiagonalCost = 14;
-
-    private const float raycastOffsetDistance = 5f;
+    private const int MOVE_STRAIGHT_COST = 10;
+    private const int MOVE_DIAGONAL_COST = 14;
+    private const float RAYCAST_OFFSET_DISTANCE = 1f;
 
     [SerializeField] private Transform gridDebugObjectPrefab;
     [SerializeField] private LayerMask obstaclesLayerMask;
+    [SerializeField] private LayerMask floorLayerMask;
     public static Pathfinding Instance { get; private set; }
-    private GridSystem<PathNode> GridSystem { get; set; }
+    private List<GridSystem<PathNode>> GridSystemList { get; set; }
 
     private int Width { get; set; }
     private int Height { get; set; }
     public float CellSize { get; private set; }
+    private int FloorAmount { get; set; }
 
     private void Awake() {
         if (Instance is not null) {
@@ -28,44 +29,60 @@ public class Pathfinding : MonoBehaviour {
         Instance = this;
     }
 
-    public void Setup(int width, int height, float cellSize) {
+    public void Setup(int width, int height, float cellSize, int floorAmount) {
         Width = width;
         Height = height;
         CellSize = cellSize;
-        GridSystem = new(width, height, cellSize, 0, LevelGrid.FLOOR_HEIGHT, (_, gridPosition) => new(gridPosition));
+        FloorAmount = floorAmount;
+
+        GridSystemList = new();
+
+        for (int floor = 0; floor < FloorAmount; floor++) {
+            GridSystem<PathNode> gridSystem = new(width, height, cellSize, floor, LevelGrid.FLOOR_HEIGHT, (_, gridPosition) => new(gridPosition));
             // GridSystem.CreateDebugObjects(gridDebugObjectPrefab);
+            GridSystemList.Add(gridSystem);
+        }
 
-        for (int x = 0; x < Width; x++) {
-            for (int z = 0; z < Height; z++) {
-                GridPosition gridPosition = new(x, z, 0);
+        for (int xPosition = 0; xPosition < Width; xPosition++) {
+            for (int zPosition = 0; zPosition < Height; zPosition++) {
+                for (int floor = 0; floor < FloorAmount; floor++) {
+                    GridPosition gridPosition = new(xPosition, zPosition, floor);
                     Vector3 worldPosition = LevelGrid.Instance.GetWorldPosition(gridPosition);
-                if (Physics.Raycast(worldPosition + Vector3.down * raycastOffsetDistance, Vector3.up, raycastOffsetDistance * 2, obstaclesLayerMask)) {
-                    GetNode(x, z).IsWalkable = false;
+
+                    // GetNode(xPosition, zPosition, floor).IsWalkable = false;
+
+                    if (Physics.Raycast(worldPosition + Vector3.up * RAYCAST_OFFSET_DISTANCE, Vector3.down, RAYCAST_OFFSET_DISTANCE * 2, floorLayerMask))
+                        GetNode(xPosition, zPosition, floor).IsWalkable = true; //has Floor
+
+                    if (Physics.Raycast(worldPosition + Vector3.down * RAYCAST_OFFSET_DISTANCE, Vector3.up, RAYCAST_OFFSET_DISTANCE * 2, obstaclesLayerMask))
+                        GetNode(xPosition, zPosition, floor).IsWalkable = false; //has Obstacle
                 }
             }
         }
     }
 
-    public bool IsWalkableGridPosition(GridPosition gridPosition) => GridSystem.GetGridObject(gridPosition).IsWalkable;
+    public bool IsWalkableGridPosition(GridPosition gridPosition) => GetGridSystem(gridPosition.Floor).GetGridObject(gridPosition).IsWalkable;
 
-    public void SetWalkableGridPosition(GridPosition gridPosition, bool isWalkable) => GridSystem.GetGridObject(gridPosition).IsWalkable = isWalkable;
+    public void SetWalkableGridPosition(GridPosition gridPosition, bool isWalkable) => GetGridSystem(gridPosition.Floor).GetGridObject(gridPosition).IsWalkable = isWalkable;
 
     public List<GridPosition> FindPath(GridPosition startGridPosition, GridPosition endGridPosition, out int pathLength) {
         List<PathNode> openList = new();
         List<PathNode> closedList = new();
 
-        PathNode startNode = GridSystem.GetGridObject(startGridPosition);
-        PathNode endNode = GridSystem.GetGridObject(endGridPosition);
+        PathNode startNode = GetGridSystem(startGridPosition.Floor).GetGridObject(startGridPosition);
+        PathNode endNode = GetGridSystem(endGridPosition.Floor).GetGridObject(endGridPosition);
         openList.Add(startNode);
 
-        for (int x = 0; x < GridSystem.Width; x++) {
-            for (int z = 0; z < GridSystem.Height; z++) {
-                PathNode pathNode = GridSystem.GetGridObject(new(x, z, 0));
+        for (int xPosition = 0; xPosition < Width; xPosition++) {
+            for (int zPosition = 0; zPosition < Height; zPosition++) {
+                for (int floor = 0; floor < FloorAmount; floor++) {
+                    PathNode pathNode = GetGridSystem(floor).GetGridObject(new(xPosition, zPosition, floor));
                     pathNode.GCost = int.MaxValue;
                     pathNode.HCost = 0;
                     pathNode.CameFromPathNode = null;
                 }
             }
+        }
 
         startNode.GCost = 0;
         startNode.HCost = CalculateDistance(startGridPosition, endGridPosition);
@@ -106,7 +123,7 @@ public class Pathfinding : MonoBehaviour {
         int xDistance = Mathf.Abs(gridPositionDistance.XPosition);
         int zDistance = Mathf.Abs(gridPositionDistance.ZPosition);
         int remaining = Mathf.Abs(xDistance - zDistance);
-        return moveDiagonalCost * Mathf.Min(xDistance, zDistance) + moveStraightCost * remaining;
+        return MOVE_DIAGONAL_COST * Mathf.Min(xDistance, zDistance) + MOVE_STRAIGHT_COST * remaining;
     }
 
     private static PathNode GetLowestFCostPathNode(IReadOnlyList<PathNode> pathNodeList) {
@@ -120,24 +137,38 @@ public class Pathfinding : MonoBehaviour {
         GridPosition gridPosition = currentNode.GridPosition;
 
         if (gridPosition.XPosition - 1 >= 0) {
-            neighbourList.Add(GetNode(gridPosition.XPosition - 1, gridPosition.ZPosition + 0)); //Left
-            if (gridPosition.ZPosition - 1 >= 0) neighbourList.Add(GetNode(gridPosition.XPosition - 1, gridPosition.ZPosition - 1)); //LeftDown
-            if (gridPosition.ZPosition < GridSystem.Height) neighbourList.Add(GetNode(gridPosition.XPosition - 1, gridPosition.ZPosition + 1)); //LeftUp
+            neighbourList.Add(GetNode(gridPosition.XPosition - 1, gridPosition.ZPosition + 0, gridPosition.Floor)); //Left
+            if (gridPosition.ZPosition - 1 >= 0) neighbourList.Add(GetNode(gridPosition.XPosition - 1, gridPosition.ZPosition - 1, gridPosition.Floor)); //LeftDown
+            if (gridPosition.ZPosition < Height) neighbourList.Add(GetNode(gridPosition.XPosition - 1, gridPosition.ZPosition + 1, gridPosition.Floor)); //LeftUp
         }
 
-        if (gridPosition.XPosition + 1 < GridSystem.Width) {
-            neighbourList.Add(GetNode(gridPosition.XPosition + 1, gridPosition.ZPosition + 0)); //Right
-            if (gridPosition.ZPosition - 1 >= 0) neighbourList.Add(GetNode(gridPosition.XPosition + 1, gridPosition.ZPosition - 1)); //RightDown
-            if (gridPosition.ZPosition + 1 < GridSystem.Height) neighbourList.Add(GetNode(gridPosition.XPosition + 1, gridPosition.ZPosition + 1)); //RightUp
+        if (gridPosition.XPosition + 1 < Width) {
+            neighbourList.Add(GetNode(gridPosition.XPosition + 1, gridPosition.ZPosition + 0, gridPosition.Floor)); //Right
+            if (gridPosition.ZPosition - 1 >= 0) neighbourList.Add(GetNode(gridPosition.XPosition + 1, gridPosition.ZPosition - 1, gridPosition.Floor)); //RightDown
+            if (gridPosition.ZPosition + 1 < Height) neighbourList.Add(GetNode(gridPosition.XPosition + 1, gridPosition.ZPosition + 1, gridPosition.Floor)); //RightUp
         }
 
-        if (gridPosition.ZPosition - 1 >= 0) neighbourList.Add(GetNode(gridPosition.XPosition - 0, gridPosition.ZPosition - 1)); //Down
-        if (gridPosition.ZPosition + 1 < GridSystem.Height) neighbourList.Add(GetNode(gridPosition.XPosition - 0, gridPosition.ZPosition + 1)); //Up
+        if (gridPosition.ZPosition - 1 >= 0) neighbourList.Add(GetNode(gridPosition.XPosition - 0, gridPosition.ZPosition - 1, gridPosition.Floor)); //Down
+        if (gridPosition.ZPosition + 1 < Height) neighbourList.Add(GetNode(gridPosition.XPosition - 0, gridPosition.ZPosition + 1, gridPosition.Floor)); //Up
+
+        List<PathNode> totalNeighbourList = new();
+        totalNeighbourList.AddRange(neighbourList);
+
+        foreach (GridPosition neighbourGridPosition in neighbourList.Select(pathNode => pathNode.GridPosition)) {
+            if (neighbourGridPosition.Floor - 1 >= 0) totalNeighbourList.Add(GetNode(neighbourGridPosition.XPosition, neighbourGridPosition.ZPosition, neighbourGridPosition.Floor - 1));
+            if (neighbourGridPosition.Floor + 1 < FloorAmount) totalNeighbourList.Add(GetNode(neighbourGridPosition.XPosition, neighbourGridPosition.ZPosition, neighbourGridPosition.Floor + 1));
+        }
 
-        return neighbourList;
+        return totalNeighbourList;
+    }
+
+    private GridSystem<PathNode> GetGridSystem(int floor) {
+        if (floor >= 0 && floor < FloorAmount) return GridSystemList[floor];
+        Debug.LogError($"Try to access floor {floor} and has only {GridSystemList.Count} GridSystems in list!");
+        return null;
     }
 
-    private PathNode GetNode(int x, int z) => GridSystem.GetGridObject(new(x, z, 0));
+    private PathNode GetNode(int x, int z, int floor) => GetGridSystem(floor).GetGridObject(new(x, z, floor));
 
     private static List<GridPosition> CalculatePath(PathNode endNode) {
         List<PathNode> pathNodeList = new() { endNode };