Pathfinding Implementation

Assets/Prefabs/PathfindingGridDebugObject.prefab

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Assets/Prefabs/Unit.prefab

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Assets/Scenes/GameScene.unity

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Assets/Scenes/GameScene/Global Volume Profile.asset

@@ -1,5 +1,76 @@
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Assets/Scripts/PathNode.cs

@@ -1,11 +1,12 @@
 using Grid;
 
 public class PathNode {
-    private GridPosition GridPosition { get; }
-    public int GCost { get; private set; }
-    public int HCost { get; private set; }
-    public int FCost { get; private set; }
-    private PathNode cameFromPathNode;
+    public GridPosition GridPosition { get; }
+    public int GCost { get; set; }
+    public int HCost { get; set; }
+    public int FCost => GCost + HCost;
+
+    public PathNode CameFromPathNode { get; set; }
 
     public PathNode(GridPosition gridPosition) => GridPosition = gridPosition;
    

Assets/Scripts/Pathfinding.cs

@@ -1,15 +1,119 @@
+using System.Collections.Generic;
+using System.Linq;
 using Grid;
 using UnityEngine;
 
 public class Pathfinding : MonoBehaviour {
-    [SerializeField] private Transform gridDebugObjectPrefab;
-    private int width;
-    private int height;
-    private float cellSize;
-    private GridSystem<PathNode> gridSystem;
-
-    private void Awake() {
-        gridSystem = new(10, 10, 2f, (_, gridPosition) => new(gridPosition));
-        gridSystem.CreateDebugObjects(gridDebugObjectPrefab);
-    }
-}
+	public static Pathfinding Instance { get; private set; }
+	
+	private const int moveStraightCost = 10;
+	private const int moveDiagonalCost = 14;
+	[SerializeField] private Transform gridDebugObjectPrefab;
+	private float cellSize;
+	private GridSystem<PathNode> gridSystem;
+	private int height;
+	private int width;
+
+	private void Awake() {
+		if (Instance is not null) {
+			Debug.LogError($"There is more than one Pathfinding! {transform} - {Instance}");
+			Destroy(gameObject);
+			return;
+		}
+		Instance = this;
+
+		gridSystem = new(10, 10, 2f, (_, gridPosition) => new(gridPosition));
+		gridSystem.CreateDebugObjects(gridDebugObjectPrefab);
+	}
+
+	public List<GridPosition> FindPath(GridPosition startGridPosition, GridPosition endGridPosition) {
+		List<PathNode> openList = new();
+		List<PathNode> closedList = new();
+
+		PathNode startNode = gridSystem.GetGridObject(startGridPosition);
+		PathNode endNode = gridSystem.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));
+				pathNode.GCost = int.MaxValue;
+				pathNode.HCost = 0;
+				pathNode.CameFromPathNode = null;
+			}
+		}
+
+		startNode.GCost = 0;
+		startNode.HCost = CalculateDistance(startGridPosition, endGridPosition);
+
+		while (openList.Count > 0) {
+			PathNode currentNode = GetLowestFCostPathNode(openList);
+			
+			if (currentNode == endNode) return CalculatePath(endNode); // Reached final node
+			
+			openList.Remove(currentNode); 
+			closedList.Add(currentNode); //currentNode is tested
+
+			foreach (PathNode neighbourNode in GetNeighbourList(currentNode)) {
+				if (closedList.Contains(neighbourNode)) continue;
+				int tentativeGCost = currentNode.GCost + CalculateDistance(currentNode.GridPosition, neighbourNode.GridPosition);
+				if (tentativeGCost < neighbourNode.GCost) {
+					neighbourNode.CameFromPathNode = currentNode;
+					neighbourNode.GCost = tentativeGCost;
+					neighbourNode.HCost = CalculateDistance(neighbourNode.GridPosition, endGridPosition);
+					if (!openList.Contains(neighbourNode)) openList.Add(neighbourNode);
+				}
+			}
+		}
+		return null; //no path found
+	}
+
+	private 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 PathNode GetLowestFCostPathNode(IReadOnlyList<PathNode> pathNodeList) {
+		PathNode lowestFCostPathNode = pathNodeList[0];
+		foreach (PathNode currentPathNode in pathNodeList.Where(t => t.FCost < lowestFCostPathNode.FCost)) lowestFCostPathNode = currentPathNode;
+		return lowestFCostPathNode;
+	}
+
+	private List<PathNode> GetNeighbourList(PathNode currentNode) {
+		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 < gridSystem.Height) neighbourList.Add(GetNode(gridPosition.X - 1, gridPosition.Z + 1)); //LeftUp
+		}
+
+		if (gridPosition.X + 1 < gridSystem.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 < gridSystem.Height) neighbourList.Add(GetNode(gridPosition.X + 1, gridPosition.Z + 1)); //RightUp
+		}
+
+		if (gridPosition.Z - 1 >= 0) neighbourList.Add(GetNode(gridPosition.X - 0, gridPosition.Z - 1)); //Down
+		if (gridPosition.Z + 1 < gridSystem.Height) neighbourList.Add(GetNode(gridPosition.X - 0, gridPosition.Z + 1)); //Up
+
+		return neighbourList;
+	}
+
+	private PathNode GetNode(int x, int z) => gridSystem.GetGridObject(new(x, z));
+
+	private List<GridPosition> CalculatePath(PathNode endNode) {
+		List<PathNode> pathNodeList = new() { endNode };
+		PathNode currentNode = endNode;
+		while (currentNode.CameFromPathNode != null) {
+			pathNodeList.Add(currentNode.CameFromPathNode);
+			currentNode = currentNode.CameFromPathNode;
+		}
+		pathNodeList.Reverse();
+		return pathNodeList.Select(pathNode => pathNode.GridPosition).ToList();
+	}
+}

Assets/Scripts/PathfindingGridDebugObject.cs

@@ -15,8 +15,8 @@ public class PathfindingGridDebugObject : GridDebugObject {
 
     protected override void Update() {
         base.Update();
-        gCostText.text = pathNode.GCost.ToString();
-        hCostText.text = pathNode.HCost.ToString();
-        fCostText.text = pathNode.FCost.ToString();
+        gCostText.text = $"G:{pathNode.GCost.ToString()}";
+        hCostText.text = $"H:{pathNode.HCost.ToString()}";
+        fCostText.text = $"F:{pathNode.FCost.ToString()}";
     }
 }

Assets/Scripts/Testing.cs

@@ -1,3 +1,4 @@
+using System.Collections.Generic;
 using Grid;
 using UnityEngine;
 using UnityEngine.Serialization;
@@ -5,10 +6,19 @@ using UnityEngine.Serialization;
 public class Testing : MonoBehaviour {
     [FormerlySerializedAs("Unit")] [SerializeField] private Unit unit;
 
-    // private void Update() {
-    //     if (Input.GetKeyDown(KeyCode.T)) {
-    //         GridSystemVisual.Instance.HideAllGridPosition();
-    //         GridSystemVisual.Instance.ShowGridPositionList(unit.MoveAction.GetValidActionGridPositionList());
-    //     }
-    // }
+    private void Update() {
+        if (Input.GetKeyDown(KeyCode.T)) {
+            GridPosition mouseGridPosition = LevelGrid.Instance.GetGridPosition(MouseWorld.GetPosition());
+            GridPosition startGridPosition = new(0, 0);
+            List<GridPosition> gridPositionList = Pathfinding.Instance.FindPath(startGridPosition, mouseGridPosition);
+            for (int i = 0; i < gridPositionList.Count - 1; i++) {
+                Debug.DrawLine(
+                    LevelGrid.Instance.GetWorldPosition(gridPositionList[i]),
+                    LevelGrid.Instance.GetWorldPosition(gridPositionList[i + 1]),
+                    Color.white,
+                    10f
+                );
+            }
+        }
+    }
 }