Debug on WorldToIndex (Div by zero). SetPath implemented.

Assets/Scenes/Pathfinding.unity

@@ -261,7 +261,7 @@ MonoBehaviour:
   bounds:
     m_Center: {x: 0, y: 0, z: 0}
     m_Extent: {x: 10, y: 10, z: 0}
-  pointInterval: 1
+  pointInterval: 0.314
   agentRadius: 0.1
   blockMask:
     serializedVersion: 2
@@ -871,6 +871,11 @@ MonoBehaviour:
   _health: 0
   eyesightRange: 5
   eyesightDegree: 89
+  roamingPath:
+  - {x: 8.72, y: 5.15, z: 0}
+  - {x: 7.2, y: 8.25, z: 0}
+  - {x: 1.8, y: 7.3, z: 0}
+  - {x: 4.8, y: 6.78, z: 0}
   blockEyesightMask:
     serializedVersion: 2
     m_Bits: 256

Assets/Scripts/Enemy.cs

@@ -11,9 +11,28 @@ public class Enemy : Actor
 	[Range(0, 360)]
 	public int eyesightDegree = 60;
 
+	[SerializeField]
+	private List<Vector3> roamingPath;
+
 	[SerializeField]
 	private LayerMask blockEyesightMask;
 
+#if UNITY_EDITOR
+	private void OnDrawGizmos()
+	{
+		if (roamingPath.Count < 1)
+			return;
+		/*
+		Gizmos.color = Color.white;
+		Gizmos.DrawLine(transform.position, roamingPath[0]);
+		for (int i = 0; i < roamingPath.Count; i++)
+		{
+			Gizmos.DrawLine(roamingPath[i], roamingPath[(i + 1) % roamingPath.Count]);
+		}
+		*/
+	}
+#endif
+
 	protected override void Start()
 	{
 		base.Start();
@@ -21,11 +40,14 @@ public class Enemy : Actor
 		mf = GetComponentInChildren<MeshFilter>();
 		eyesightMesh = new Mesh();
 		mf.mesh = eyesightMesh;
+		agent.SetPath(roamingPath);
 	}
 
 	private void Update()
 	{
 		UpdateEyesightMesh();
+		if (agent.path.Count < 1)
+			agent.SetPath(roamingPath);
 	}
 
 	private void UpdateEyesightMesh()
@@ -34,6 +56,7 @@ public class Enemy : Actor
 		List<int> indices = new List<int>();
 
 		vertices.Add(Vector3.zero);
+		/*
 		for (int i = -eyesightDegree / 2; i <= eyesightDegree / 2; i++)
 		{
 			RaycastHit2D hit = Physics2D.Raycast(transform.position, Quaternion.Euler(0, 0, i) * transform.up, eyesightRange, blockEyesightMask);
@@ -46,6 +69,20 @@ public class Enemy : Actor
 				vertices.Add(quat * (hit.point - new Vector2(transform.position.x, transform.position.y)));
 			}
 		}
+		*/
+
+		for (int i = -eyesightDegree / 2; i <= eyesightDegree / 2; i++)
+		{
+			RaycastHit2D hit = Physics2D.Raycast(transform.position, Quaternion.Euler(0, 0, i) * transform.up, eyesightRange, blockEyesightMask);
+
+			if (hit.collider == null)
+				vertices.Add((Quaternion.Euler(0, 0, i) * Vector3.up) * eyesightRange);
+			else
+			{
+				Quaternion quat = Quaternion.Euler(transform.rotation.eulerAngles.x, transform.rotation.eulerAngles.y, -transform.rotation.eulerAngles.z);
+				vertices.Add(quat * (hit.point - new Vector2(transform.position.x, transform.position.y)));
+			}
+		}
 
 		for (int i = 0; i < vertices.Count - 2; i++)
 		{

Assets/Scripts/NodalPathfinding/NodalPathfinding2D.cs

@@ -107,7 +107,7 @@ namespace BS
 		}
 
 #endif
-		private void Start()
+		private void Awake()
 		{
 			if (!isBaked)
 				BakeNodes();
@@ -547,7 +547,7 @@ namespace BS
 
             foreach (var adj in adjs)
             {
-                float score = Vector2.Dot((IndexToWorld(adj) - position).normalized, direction.normalized) / (IndexToWorld(adj) - position).magnitude;
+                float score = Vector2.Dot((IndexToWorld(adj) - position).normalized, direction.normalized) / ((IndexToWorld(adj) - position).magnitude + 1);
                 if (max < score)
                 {
                     index = adj;

Assets/Scripts/NodalPathfinding/NodalPathfinding2DAgent.cs

@@ -83,6 +83,18 @@ namespace BS {
 			}
 		}
 
+		public void SetPath(List<Vector3> path)
+		{
+			this.destination = path[path.Count - 1];
+			List<Vector3> newPath = new List<Vector3>();
+			newPath.Add(transform.position);
+			foreach (var next in path)
+			{
+				newPath.AddRange(pathFinder.GetPathAstar(newPath[newPath.Count - 1], next));
+			}
+			this.path = newPath;
+		}
+
 		public void Move(Vector2 direction)
 		{
 
@@ -101,7 +113,7 @@ namespace BS {
 				{
 					path.RemoveAt(0);
 				}
-				else if (path.Count > 1 && Vector2.Distance(transform.position, path[0]) < pathFinder.pointInterval / 2)
+				else if (path.Count > 1 && Vector2.Distance(transform.position, path[0]) < pathFinder.pointInterval / 10)
 				{
 					path.RemoveAt(0);
 				}