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