Add existing project / NodalPathfinding2D in progress

Assets/NodalPathfinding2D.cs

+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+using UnityEditor;
+
+namespace BS
+{
+    public class NodalPathfinding2D : MonoBehaviour
+    {
+        public Bounds bounds;
+        [Range(0.1f, 1f)]
+        public float pointInterval = 0.5f;
+
+        
+        public LayerMask blockMask;
+        private Dictionary<Vector2Int, Node> nodes = new Dictionary<Vector2Int, Node>();
+        public bool isBaked { get { return nodes.Count > 0; } }
+
+        public bool enableGizmos = true;
+
+
+        private void OnDrawGizmos()
+        {
+            if (!enableGizmos)
+                return;
+            if (isBaked)
+            {
+                int xCount = Mathf.FloorToInt((bounds.max.x - bounds.min.x) / pointInterval) + 1;
+                int yCount = Mathf.FloorToInt((bounds.max.y - bounds.min.y) / pointInterval) + 1;
+                Gizmos.color = Color.green;
+                foreach (var node in nodes.Values)
+                {
+                    Gizmos.color = new Color(node.gridPosition.x / (float)xCount, node.gridPosition.y / (float)yCount, 0, 1);
+                    Gizmos.DrawSphere(node.worldPositon, pointInterval / 5);
+                    foreach (var adj in node.adjacencies)
+                    {
+                        Gizmos.DrawLine(node.worldPositon, adj.worldPositon);
+                    }
+                }
+            }
+            else
+            {
+                Gizmos.DrawWireCube(bounds.center, bounds.size);
+
+                for (float i = bounds.min.x; i <= bounds.max.x; i += pointInterval)
+                {
+                    for (float j = bounds.min.y; j <= bounds.max.y; j += pointInterval)
+                    {
+                        if (Physics2D.OverlapPoint(new Vector2(i, j), blockMask))
+                            Gizmos.color = Color.red;
+                        else
+                            Gizmos.color = Color.green;
+                        Gizmos.DrawSphere(new Vector3(i, j, 0), pointInterval / 5);
+                    }
+                }
+
+                for (float i = bounds.min.x + pointInterval / 2; i <= bounds.max.x; i += pointInterval)
+                {
+                    for (float j = bounds.min.y + pointInterval / 2; j <= bounds.max.y; j += pointInterval)
+                    {
+                        if (Physics2D.OverlapPoint(new Vector2(i, j), blockMask))
+                            Gizmos.color = Color.red;
+                        else
+                            Gizmos.color = Color.green;
+                        Gizmos.DrawSphere(new Vector3(i, j, 0), pointInterval / 5);
+                    }
+                }
+            }
+        }
+
+        public void BakeNodes()
+        {
+            Debug.Log("Baking Start");
+            ClearNodes();
+            int xCount = Mathf.FloorToInt((bounds.max.x - bounds.min.x) / pointInterval) + 1;
+            int yCount = 2 * Mathf.FloorToInt((bounds.max.y - bounds.min.y) / pointInterval) + 1;
+
+            for (int i = 0; i < xCount; i++)
+            {
+                for (int j = 0; j < yCount; j++)
+                {
+                    if (j % 2 == 1 && i + 1 == xCount)
+                        continue;
+                    Vector3 worldPosition = bounds.min + new Vector3(i * pointInterval + (j % 2 == 0 ? 0 : pointInterval / 2), j * pointInterval / 2);
+                    if (Physics2D.OverlapPoint(worldPosition, blockMask))
+                        continue;
+                    Node newNode = new Node(new Vector2Int(i, j), worldPosition);
+                    nodes.Add(newNode.gridPosition, newNode);
+                }
+                
+            }
+
+            for (int i = 0; i < xCount; i++)
+            {
+                for (int j = 0; j < yCount; j++)
+                {
+                    List<Node> adj = new List<Node>();
+                    Vector2Int pos = new Vector2Int(i, j);
+                    if (!nodes.ContainsKey(pos))
+                        continue;
+                    Node node = nodes[pos];
+                    if (nodes.ContainsKey(node.gridPosition + new Vector2Int(1, 0))) //Right
+                    {
+                        adj.Add(nodes[node.gridPosition + new Vector2Int(1, 0)]);
+                    }
+                    if (nodes.ContainsKey(node.gridPosition + new Vector2Int(-1, 0))) //Left
+                    {
+                        adj.Add(nodes[node.gridPosition + new Vector2Int(-1, 0)]);
+                    }
+                    if (nodes.ContainsKey(node.gridPosition + new Vector2Int(0, 2))) // Up
+                    {
+                        adj.Add(nodes[node.gridPosition + new Vector2Int(0, 2)]);
+                    }
+                    if (nodes.ContainsKey(node.gridPosition + new Vector2Int(0, -2))) // Down
+                    {
+                        adj.Add(nodes[node.gridPosition + new Vector2Int(0, -2)]);
+                    }
+
+                    if (nodes.ContainsKey(node.gridPosition + new Vector2Int(-1 + node.gridPosition.y % 2, 1))) //UpLeft
+                    {
+                        adj.Add(nodes[node.gridPosition + new Vector2Int(-1 + node.gridPosition.y % 2, 1)]);
+                    }
+                    if (nodes.ContainsKey(node.gridPosition + new Vector2Int(node.gridPosition.y % 2, 1))) //UpRight
+                    {
+                        adj.Add(nodes[node.gridPosition + new Vector2Int(node.gridPosition.y % 2, 1)]);
+                    }
+                    if (nodes.ContainsKey(node.gridPosition + new Vector2Int(-1 + node.gridPosition.y % 2, -1))) //DownLeft
+                    {
+                        adj.Add(nodes[node.gridPosition + new Vector2Int(-1 + node.gridPosition.y % 2, -1)]);
+                    }
+                    if (nodes.ContainsKey(node.gridPosition + new Vector2Int(node.gridPosition.y % 2, -1))) //DownRight
+                    {
+                        adj.Add(nodes[node.gridPosition + new Vector2Int(node.gridPosition.y % 2, -1)]);
+                    }
+                    node.adjacencies = adj;
+                    
+                    nodes[pos] = node;
+                }
+            }
+            Debug.Log("Baking End");
+        }
+
+        public void ClearNodes()
+        {
+            nodes.Clear();
+        }
+    }
+
+    struct Node
+    {
+        public Node(Vector2Int gridPosition, Vector3 worldPositon)
+        {
+            this.gridPosition = gridPosition;
+            this.worldPositon = worldPositon;
+            adjacencies = null;
+        }
+        public Vector2Int gridPosition;
+        public Vector3 worldPositon;
+        public List<Node> adjacencies;
+    }
+}
\ No newline at end of file

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Assets/NodalPathfinding2DEditor.cs

+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+using UnityEditor;
+using BS;
+
+[CustomEditor(typeof(NodalPathfinding2D))]
+public class NodalPathfinding2DEditor : Editor
+{
+    public override void OnInspectorGUI()
+    {
+        DrawDefaultInspector();
+        NodalPathfinding2D myTarget = (NodalPathfinding2D)target;
+        if (GUILayout.Button("Bake"))
+        {
+            myTarget.BakeNodes();
+        }
+        if (GUILayout.Button("Clear"))
+        {
+            myTarget.ClearNodes();
+        }
+    }
+}

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