Pathfinding

Many pathfinding algorithm

Contents

• 【Data Structure】

  • Grid
  • Navmesh
  • Visibility Graph
    • CircleVisibilityGraph

• 【Basic】

  • A*
  • BFS
  • Dijkstra

• 【Bidirectional Search】

  • Bidirection A*

• 【Any-Angle Search】

  • Theta*
    • Lazy Theta*

• 【Incremental Search】

  • D*
  • LPA*
  • D* Lite
  • Path Adaptive A*
  • Tree Adaptive A*
  • 【Moving Target】
    • Generalized Adaptive A* (GAA*)
    • Generalized Fringe-Retrieving A* (G-FRA*)
    • Moving Target D* Lite (MT-D* Lite)

• 【Hierarchical Search】

  • HPA*

• 【Other Search】

  • Flow Field
  • Jump Point Search
    • JPS Plus

How to play

Choose scene

• [HPA] scene for HPA* algorithm, press space key to run the algorithm.
• [Pathfinding] scene for other search algorithm, select GameObject [Search], choose algorithm in Inspector, press space key to run the algorithm.
• [FlowField] scene for flowfield algorithm, you can see the result immediately without any operation.

Handle grid

• You can drag the start and goal node
• Left click can add obstacle
• Right click can remove obstacle

Reference

Github PathFinding.js

Github HierarchicalPathfinder