successful implementation of algorithm usage in Manager, random wall/start/end position placement, needs major feature and code cleanup

Paths/Assets/Scripts/Algorithms/AStar.cs

@@ -1,6 +1,7 @@
 using System.Collections.Generic;
 using System.Linq;
-using System.Numerics;
+using UnityEngine;
+using Vector2 = System.Numerics.Vector2;
 
 namespace Algorithms {
     public class AStar : IPathfinding {
@@ -22,7 +23,6 @@ namespace Algorithms {
         public Stack<Node> FindPath(Vector2 Start, Vector2 End) {
             this._start = Start;
             this._end = End;
-            RecordState();
 
             var start = new Node(Start, true);
             var end = new Node(End, true);
@@ -31,6 +31,8 @@ namespace Algorithms {
             _path = new Stack<Node>();
             _openList = new List<Node>();
             _closedList = new List<Node>();
+            
+            RecordState();
             Node current = start;
 
             // add start node to Open List

Paths/Assets/Scripts/Algorithms/Node.cs

@@ -29,5 +29,9 @@ namespace Algorithms {
             Weight = weight;
             Walkable = walkable;
         }
+
+        public override string ToString() {
+            return $"Node({Position.X}, {Position.Y}, {Walkable})";
+        }
     }
 }

Paths/Assets/Scripts/Algorithms/NodeGrid.cs

@@ -2,6 +2,7 @@
 using System.Collections.Generic;
 using System.Linq;
 using System.Numerics;
+using Random = UnityEngine.Random;
 
 namespace Algorithms {
     public class NodeGrid {
@@ -64,14 +65,26 @@ namespace Algorithms {
         /// <returns>A Node object</returns>
         /// <exception cref="ArgumentOutOfRangeException">when the coordinate given does not exist on the grid</exception>
         public Node GetNode(int x, int y) {
-            if(!IsValid(x, y))
-                throw new ArgumentOutOfRangeException();
+            // if(!IsValid(x, y))
+                // throw new ArgumentOutOfRangeException();
             
             return this.grid[x][y];
         }
 
+        public void FlipRandomWall() {
+            this.grid[Random.Range(0, this.Width - 1)][Random.Range(0, this.Height - 1)].Walkable = false;
+        }
+
         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);
         }
+
+        /// <summary>
+        /// Returns a random Vector2 position within the grid.
+        /// </summary>
+        /// <returns>a valid Vector2 position within the grid</returns>
+        public Vector2 RandomPosition() {
+            return new Vector2(Random.Range(0, Width - 1), Random.Range(0, Height - 1));
+        }
     }
 }

Paths/Assets/Scripts/GridController.cs

@@ -9,12 +9,13 @@ public enum PropertyName {
 }
 
 /// <summary>
-/// A simple Grid Rendering Controller using MeshRenderer.
+/// A simple Grid Rendering system controlling a Shader through a ComputeBuffer
 /// </summary>
 public class GridController : MonoBehaviour {
-    public Material gridMaterial;
-    public int size = 32;
-
+    public Material gridMaterial; // Maintain reference to the Grid Material the Shader is implanted upon
+    public int size = 32; // Size of the grid, width and height
+    
+    // Value management
     private int[] _values;
     private ComputeBuffer _buffer;
 
@@ -60,7 +61,7 @@ public class GridController : MonoBehaviour {
     }
 
     /// <summary>
-    /// Loads a GridState 
+    /// Loads a GridState into the Grid Shader's StructuredBuffer
     /// </summary>
     /// <param name="gridState"></param>
     public void LoadGridState(GridState gridState) {
@@ -68,6 +69,7 @@ public class GridController : MonoBehaviour {
         foreach(int x in Enumerable.Range(0, gridState.Grid.Count - 1))
             foreach(int y in Enumerable.Range(0, gridState.Grid[0].Count - 1))
                 this.SetValue(x, y, (int) gridState.Grid[x][y]);
+        UpdateShader(PropertyName.Values);
     }
     
     /// <summary>

Paths/Assets/Scripts/GridController.cs.meta

@@ -1,3 +1,11 @@
-fileFormatVersion: 2
+fileFormatVersion: 2
 guid: ae862ef271614573a2ecacb6d9fa2078
-timeCreated: 1604939699
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 200
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 

Paths/Assets/Scripts/GridState.cs

@@ -1,4 +1,5 @@
-using System.Collections.Generic;
+using System;
+using System.Collections.Generic;
 using System.Linq;
 using System.Numerics;
 using Algorithms;
@@ -19,26 +20,33 @@ public class GridState {
         }
 
         // Add 'seen' tiles
-        foreach (Node seenNode in seen) {
+        foreach (Node seenNode in seen)
             this.Grid[(int) seenNode.Position.X][(int) seenNode.Position.Y] = GridNodeType.Seen;
-        }
 
         // Add 'expanded' tiles
-        foreach (Node expandedNode in expanded) {
+        foreach (Node expandedNode in expanded)
             this.Grid[(int) expandedNode.Position.X][(int) expandedNode.Position.Y] = GridNodeType.Expanded;
-        }
 
-        // Set start and end tiles
-        this.Grid[(int) start.X][(int) start.Y] = GridNodeType.Start;
-        this.Grid[(int) end.X][(int) end.Y] = GridNodeType.End;
 
         // Add 'path' tiles
         if (path != null)
             foreach (Node pathNode in path)
                 this.Grid[(int) pathNode.Position.X][(int) pathNode.Position.Y] = GridNodeType.Path;
+        
+        // Set start and end tiles
+        this.Grid[(int) start.X][(int) start.Y] = GridNodeType.Start;
+        this.Grid[(int) end.X][(int) end.Y] = GridNodeType.End;
     }
 
     public IEnumerable<GridNodeType> GetNodes() {
         return this.Grid.SelectMany(nodeList => nodeList).ToList();
     }
+
+    public string RenderGrid() {
+        string result = "";
+        foreach (List<GridNodeType> nodeTypes in this.Grid) {
+            result = nodeTypes.Aggregate(result, (current, nodeType) => current + $"{(int) nodeType}") + "\n";
+        }
+        return result;
+    }
 }

Paths/Assets/Scripts/Manager.cs

@@ -0,0 +1,39 @@
+using System.Collections;
+using System.Collections.Generic;
+using System.Linq;
+using System.Numerics;
+using Algorithms;
+using Vector2 = System.Numerics.Vector2;
+using UnityEngine;
+
+/// <summary>
+/// The primary controller of the entire application, managing state, events and sending commands
+/// </summary>
+public class Manager : MonoBehaviour {
+    public GridController gridController;
+    private IPathfinding _algorithm;
+    
+    public void Start() {
+        var nodeGrid = new NodeGrid(gridController.size, gridController.size);
+        _algorithm = new AStar(nodeGrid);
+        
+        Vector2 start = new Vector2(0, 0);
+        Vector2 end = new Vector2(16, 16);
+        
+        foreach(int index in Enumerable.Range(0, 150))
+            nodeGrid.FlipRandomWall();
+        
+        Stack<Node> path = _algorithm.FindPath(start, end);
+        
+        List<GridState> states = _algorithm.GetStates();
+        gridController.LoadGridState(states[states.Count - 1]);
+        Debug.Log(states[states.Count - 1].RenderGrid());
+        Debug.Log(start);
+        Debug.Log(end);
+        
+        // StartCoroutine(LateStart());
+    }
+
+    // IEnumerator LateStart() {
+    // }
+}

Paths/Assets/Scripts/Manager.cs.meta

@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: ca142250b9964eb1adf66ac7c5cc3e3e
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 300
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 

Paths/Assets/Shaders/GridShader.shader

@@ -33,8 +33,8 @@ Shader "PDT Shaders/TestGrid" {
 		float4 _ActiveColor;
         
         static const float4 _gridColors[7] = {
-        	float4(255 / 255.0, 255 / 255.0, 255 / 255.0, 1.0), // Empty
-        	float4(0   / 255.0, 0   / 255.0, 0   / 255.0, 1.0), // Wall
+        	float4(255 / 255.0, 255 / 255.0, 255 / 255.0, 0.0), // Empty
+        	float4(50  / 255.0, 50  / 255.0, 50  / 255.0, 1.0), // Wall
         	float4(0   / 255.0, 255 / 255.0, 0   / 255.0, 1.0), // Start
         	float4(255 / 255.0, 0   / 255.0, 0   / 255.0, 1.0), // End
         	float4(252 / 255.0, 236 / 255.0, 3   / 255.0, 1.0), // Seen
@@ -47,7 +47,7 @@ Shader "PDT Shaders/TestGrid" {
 
         // DX11 needed to run shader at high grid sizes
 		#ifdef SHADER_API_D3D11
-		StructuredBuffer<float> _values;
+		StructuredBuffer<int> _values;
 		#else
 		float _values[1024];
 		#endif