fix many errors, warnings and more, refactoring of naming, remove NODE_SIZE constant from original AStar algorithm

Paths/Assets/Scenes/Default.unity

@@ -50,12 +50,11 @@ LightmapSettings:
     m_BounceScale: 1
     m_IndirectOutputScale: 1
     m_AlbedoBoost: 1
-    m_TemporalCoherenceThreshold: 1
     m_EnvironmentLightingMode: 0
     m_EnableBakedLightmaps: 0
     m_EnableRealtimeLightmaps: 0
   m_LightmapEditorSettings:
-    serializedVersion: 10
+    serializedVersion: 12
     m_Resolution: 2
     m_BakeResolution: 40
     m_AtlasSize: 1024
@@ -63,6 +62,7 @@ LightmapSettings:
     m_AOMaxDistance: 1
     m_CompAOExponent: 1
     m_CompAOExponentDirect: 0
+    m_ExtractAmbientOcclusion: 0
     m_Padding: 2
     m_LightmapParameters: {fileID: 0}
     m_LightmapsBakeMode: 1
@@ -77,10 +77,16 @@ LightmapSettings:
     m_PVRDirectSampleCount: 32
     m_PVRSampleCount: 500
     m_PVRBounces: 2
+    m_PVREnvironmentSampleCount: 500
+    m_PVREnvironmentReferencePointCount: 2048
+    m_PVRFilteringMode: 2
+    m_PVRDenoiserTypeDirect: 0
+    m_PVRDenoiserTypeIndirect: 0
+    m_PVRDenoiserTypeAO: 0
     m_PVRFilterTypeDirect: 0
     m_PVRFilterTypeIndirect: 0
     m_PVRFilterTypeAO: 0
-    m_PVRFilteringMode: 1
+    m_PVREnvironmentMIS: 0
     m_PVRCulling: 1
     m_PVRFilteringGaussRadiusDirect: 1
     m_PVRFilteringGaussRadiusIndirect: 5
@@ -89,6 +95,7 @@ LightmapSettings:
     m_PVRFilteringAtrousPositionSigmaIndirect: 2
     m_PVRFilteringAtrousPositionSigmaAO: 1
     m_ShowResolutionOverlay: 1
+    m_ExportTrainingData: 0
   m_LightingDataAsset: {fileID: 0}
   m_UseShadowmask: 1
 --- !u!196 &4
@@ -116,9 +123,10 @@ NavMeshSettings:
 --- !u!1 &519420028
 GameObject:
   m_ObjectHideFlags: 0
-  m_PrefabParentObject: {fileID: 0}
+  m_CorrespondingSourceObject: {fileID: 0}
-  m_PrefabInternal: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
-  serializedVersion: 5
+  m_PrefabAsset: {fileID: 0}
+  serializedVersion: 6
   m_Component:
   - component: {fileID: 519420032}
   - component: {fileID: 519420031}
@@ -133,20 +141,28 @@ GameObject:
 --- !u!81 &519420029
 AudioListener:
   m_ObjectHideFlags: 0
-  m_PrefabParentObject: {fileID: 0}
+  m_CorrespondingSourceObject: {fileID: 0}
-  m_PrefabInternal: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
   m_GameObject: {fileID: 519420028}
   m_Enabled: 1
 --- !u!20 &519420031
 Camera:
   m_ObjectHideFlags: 0
-  m_PrefabParentObject: {fileID: 0}
+  m_CorrespondingSourceObject: {fileID: 0}
-  m_PrefabInternal: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
   m_GameObject: {fileID: 519420028}
   m_Enabled: 1
   serializedVersion: 2
   m_ClearFlags: 2
-  m_BackGroundColor: {r: 0.19215687, g: 0.3019608, b: 0.4745098, a: 0}
+  m_BackGroundColor: {r: 0.13207549, g: 0.13207549, b: 0.13207549, a: 0}
+  m_projectionMatrixMode: 1
+  m_GateFitMode: 2
+  m_FOVAxisMode: 0
+  m_SensorSize: {x: 36, y: 24}
+  m_LensShift: {x: 0, y: 0}
+  m_FocalLength: 50
   m_NormalizedViewPortRect:
     serializedVersion: 2
     x: 0
@@ -176,8 +192,9 @@ Camera:
 --- !u!4 &519420032
 Transform:
   m_ObjectHideFlags: 0
-  m_PrefabParentObject: {fileID: 0}
+  m_CorrespondingSourceObject: {fileID: 0}
-  m_PrefabInternal: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
   m_GameObject: {fileID: 519420028}
   m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
   m_LocalPosition: {x: 0, y: 0, z: -10}

Paths/Assets/Scripts/Algorithms/AStar.cs

@@ -2,66 +2,67 @@
 using System.Collections.Generic;
 using System.Linq;
 using System.Numerics;
+using Algorithms;
 
-public class AStar : Pathfinding {
+public class AStar : IPathfinding {
-    private Grid grid;
+    private NodeGrid _nodeGrid;
 
-    private Stack<Node> path;
+    private Stack<Node> _path;
-    private List<Node> openList;
+    private List<Node> _openList;
-    private List<Node> closedList;
+    private List<Node> _closedList;
     
-    public AStar(Grid grid) {
+    public AStar(NodeGrid nodeGrid) {
-        this.grid = grid;
+        this._nodeGrid = nodeGrid;
     }
 
-    public Tuple<List<Grid>, Stack<Node>> FindPath(Vector2 Start, Vector2 End) {
+    public Tuple<List<NodeGrid>, Stack<Node>> FindPath(Vector2 Start, Vector2 End) {
-        Node start = new Node(new Vector2((int) (Start.X / Node.NODE_SIZE), (int) (Start.Y / Node.NODE_SIZE)), true);
+        var start = new Node(Start, true);
-        Node end = new Node(new Vector2((int) (End.X / Node.NODE_SIZE), (int) (End.Y / Node.NODE_SIZE)), true);
+        var end = new Node(End, true);
 
-        path = new Stack<Node>();
+        _path = new Stack<Node>();
-        openList = new List<Node>();
+        _openList = new List<Node>();
-        closedList = new List<Node>();
+        _closedList = new List<Node>();
         Node current = start;
 
         // add start node to Open List
-        openList.Add(start);
+        _openList.Add(start);
 
-        while (openList.Count != 0 && !closedList.Exists(x => x.Position == end.Position)) {
+        while (_openList.Count != 0 && !_closedList.Exists(x => x.Position == end.Position)) {
-            current = openList[0];
+            current = _openList[0];
-            openList.Remove(current);
+            _openList.Remove(current);
-            closedList.Add(current);
+            _closedList.Add(current);
-            List<Node> adjacencies = this.grid.GetAdjacentNodes(current);
+            List<Node> adjacentNodes = this._nodeGrid.GetAdjacentNodes(current);
 
 
-            foreach (Node n in adjacencies) {
+            foreach (Node n in adjacentNodes) {
-                if (!closedList.Contains(n) && n.Walkable) {
+                if (!_closedList.Contains(n) && n.Walkable) {
-                    if (!openList.Contains(n)) {
+                    if (!_openList.Contains(n)) {
                         n.Parent = current;
-                        n.DistanceToTarget = Math.Abs(n.Position.X - end.Position.X) +
+                        n.DistanceToTarget = NodeGrid.Manhattan(n, end);
-                                             Math.Abs(n.Position.Y - end.Position.Y);
                         n.Cost = n.Weight + n.Parent.Cost;
-                        openList.Add(n);
+                        _openList.Add(n);
-                        openList = openList.OrderBy(node => node.F).ToList<Node>();
+                        _openList = _openList.OrderBy(node => node.F).ToList<Node>();
                     }
                 }
             }
         }
 
         // construct path, if end was not closed return null
-        if (!closedList.Exists(x => x.Position == end.Position)) {
+        if (!_closedList.Exists(x => x.Position == end.Position)) {
             return null;
         }
 
         // if all good, return path
-        Node temp = closedList[closedList.IndexOf(current)];
+        Node temp = _closedList[_closedList.IndexOf(current)];
         if (temp == null) return null;
         do {
-            path.Push(temp);
+            _path.Push(temp);
             temp = temp.Parent;
         } while (temp != start && temp != null);
 
-        return path;
+        return _path;
     }
 
-    private StateGrid compileState() {}
+    private StateGrid compileState() {
+    }
 }

Paths/Assets/Scripts/Algorithms/Grid.cs

@@ -1,28 +0,0 @@
-using System.Collections.Generic;
-using NUnit.Framework.Constraints;
-
-public class Grid {
-    private List<List<Node>> grid;
-
-    public Grid(int width, int height) {
-        this.grid = new List<List<Node>>();
-    }
-
-    public int GridRows => this.grid[0].Count;
-
-    public int GridCols => this.grid.Count;
-
-    public List<Node> GetAdjacentNodes(Node node) {
-        List<Node> temp = new List<Node>();
-
-        int row = (int) node.Position.Y;
-        int col = (int) node.Position.X;
-        
-        if (row + 1 < GridRows) temp.Add(this.grid[col][row + 1]);
-        if (row - 1 >= 0) temp.Add(this.grid[col][row - 1]);
-        if (col - 1 >= 0) temp.Add(this.grid[col - 1][row]);
-        if (col + 1 < GridCols) temp.Add(this.grid[col + 1][row]);
-
-        return temp;
-    }
-}

Paths/Assets/Scripts/Algorithms/Node.cs

@@ -1,13 +1,12 @@
 using System.Numerics;
 
+namespace Algorithms {
     public class Node {
         // Change this depending on what the desired size is for each element in the grid
-    public static int NODE_SIZE = 32;
         public Node Parent;
         public Vector2 Position;
 
-    public Vector2 Center => new Vector2(Position.X + NODE_SIZE / 2, Position.Y + NODE_SIZE / 2);
+        // A* Algorithm variables
-
         public float DistanceToTarget;
         public float Cost;
         public float Weight;
@@ -16,7 +15,6 @@ public class Node {
             get {
                 if (DistanceToTarget != -1 && Cost != -1)
                     return DistanceToTarget + Cost;
-            else
                 return -1;
             }
         }
@@ -32,3 +30,4 @@ public class Node {
             Walkable = walkable;
         }
     }
+}

Paths/Assets/Scripts/Algorithms/NodeGrid.cs

@@ -0,0 +1,50 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using Algorithms;
+using NUnit.Framework.Constraints;
+using UnityEngine.SocialPlatforms;
+
+public class NodeGrid {
+    private List<List<Node>> grid;
+    private readonly int _width;
+    private readonly int _height;
+
+    public NodeGrid(int width, int height) {
+        if(width <= 0)
+            throw new ArgumentOutOfRangeException(nameof(width), $"The width of the grid must be a positive non-zero integer.");
+        if (height <= 0)
+            throw new ArgumentOutOfRangeException(nameof(height), $"The height of the grid must be a positive non-zero integer.");
+
+        this.grid = new List<List<Node>>(width);
+        for(int _ in Enumerable.Range(0, height - 1)) {}
+        
+        this._width = width;
+        this._height = height;
+    }
+
+    public NodeGrid(List<List<Node>> grid) {
+        this.grid = grid;
+
+        this._height = this.grid[0].Count;
+        this._width = this.grid.Count;
+    }
+
+    public List<Node> GetAdjacentNodes(Node node) {
+        List<Node> temp = new List<Node>();
+
+        int row = (int) node.Position.Y;
+        int col = (int) node.Position.X;
+
+        if (row + 1 < _height) temp.Add(this.grid[col][row + 1]);
+        if (row - 1 >= 0) temp.Add(this.grid[col][row - 1]);
+        if (col - 1 >= 0) temp.Add(this.grid[col - 1][row]);
+        if (col + 1 < _width) temp.Add(this.grid[col + 1][row]);
+
+        return temp;
+    }
+
+    public static float Manhattan(Node first, Node second) {
+        return Math.Abs(first.Position.X - second.Position.X) + Math.Abs(first.Position.Y - second.Position.Y);
+    }
+}

Paths/Assets/Scripts/Pathfinding.cs

@@ -1,16 +1,17 @@
 using System;
 using System.Collections.Generic;
 using System.Numerics;
+using Algorithms;
 
 /// <summary>
 /// A general interface for implementing pathfinding algorithms.
 /// </summary>
-public interface Pathfinding {
+public interface IPathfinding {
     /// <summary>
     /// Finds a valid path between two Node objects.
     /// </summary>
-    /// <param name="Start"></param>
+    /// <param name="start">The position from which pathfinding begins</param>
-    /// <param name="End"></param>
+    /// <param name="end">The position trying to be found via pathfinding</param>
-    /// <returns>A List of Grid objects representing the timeline of Pathfinding</returns>
+    /// <returns>A List of NodeGridGrid objects representing the timeline of Pathfinding</returns>
-    Tuple<List<Grid>, Stack<Node>> FindPath(Vector2 Start, Vector2 End);
+    Tuple<List<NodeGrid>, Stack<Node>> FindPath(Vector2 start, Vector2 end);
 }

Paths/ProjectSettings/EditorBuildSettings.asset

@@ -6,6 +6,6 @@ EditorBuildSettings:
   serializedVersion: 2
   m_Scenes:
   - enabled: 1
-    path: Assets/Scenes/SampleScene.unity
+    path: Assets/Scenes/Default.unity
     guid: 2cda990e2423bbf4892e6590ba056729
   m_configObjects: {}

Paths/ProjectSettings/EditorSettings.asset

@@ -8,14 +8,18 @@ EditorSettings:
   m_SerializationMode: 2
   m_LineEndingsForNewScripts: 2
   m_DefaultBehaviorMode: 1
+  m_PrefabRegularEnvironment: {fileID: 0}
+  m_PrefabUIEnvironment: {fileID: 0}
   m_SpritePackerMode: 4
   m_SpritePackerPaddingPower: 1
   m_EtcTextureCompressorBehavior: 1
   m_EtcTextureFastCompressor: 1
   m_EtcTextureNormalCompressor: 2
   m_EtcTextureBestCompressor: 4
-  m_ProjectGenerationIncludedExtensions: txt;xml;fnt;cd
+  m_ProjectGenerationIncludedExtensions: txt;xml;fnt;cd;asmdef
   m_ProjectGenerationRootNamespace: 
-  m_UserGeneratedProjectSuffix: 
   m_CollabEditorSettings:
     inProgressEnabled: 1
+  m_EnableTextureStreamingInEditMode: 1
+  m_EnableTextureStreamingInPlayMode: 1
+  m_AsyncShaderCompilation: 1