init

.gitignore

@@ -0,0 +1,72 @@
+# This .gitignore file should be placed at the root of your Unity project directory
+#
+# Get latest from https://github.com/github/gitignore/blob/main/Unity.gitignore
+#
+/[Ll]ibrary/
+/[Tt]emp/
+/[Oo]bj/
+/[Bb]uild/
+/[Bb]uilds/
+/[Ll]ogs/
+/[Uu]ser[Ss]ettings/
+
+# MemoryCaptures can get excessive in size.
+# They also could contain extremely sensitive data
+/[Mm]emoryCaptures/
+
+# Recordings can get excessive in size
+/[Rr]ecordings/
+
+# Uncomment this line if you wish to ignore the asset store tools plugin
+# /[Aa]ssets/AssetStoreTools*
+
+# Autogenerated Jetbrains Rider plugin
+/[Aa]ssets/Plugins/Editor/JetBrains*
+
+# Visual Studio cache directory
+.vs/
+
+# Gradle cache directory
+.gradle/
+
+# Autogenerated VS/MD/Consulo solution and project files
+ExportedObj/
+.consulo/
+*.csproj
+*.unityproj
+*.sln
+*.suo
+*.tmp
+*.user
+*.userprefs
+*.pidb
+*.booproj
+*.svd
+*.pdb
+*.mdb
+*.opendb
+*.VC.db
+
+# Unity3D generated meta files
+*.pidb.meta
+*.pdb.meta
+*.mdb.meta
+
+# Unity3D generated file on crash reports
+sysinfo.txt
+
+# Builds
+*.apk
+*.aab
+*.unitypackage
+*.app
+
+# Crashlytics generated file
+crashlytics-build.properties
+
+# Packed Addressables
+/[Aa]ssets/[Aa]ddressable[Aa]ssets[Dd]ata/*/*.bin*
+
+# Temporary auto-generated Android Assets
+/[Aa]ssets/[Ss]treamingAssets/aa.meta
+/[Aa]ssets/[Ss]treamingAssets/aa/*

.vscode/settings.json

@@ -0,0 +1,56 @@
+{
+    "files.exclude":
+    {
+        "**/.DS_Store":true,
+        "**/.git":true,
+        "**/.gitignore":true,
+        "**/.gitmodules":true,
+        "**/*.booproj":true,
+        "**/*.pidb":true,
+        "**/*.suo":true,
+        "**/*.user":true,
+        "**/*.userprefs":true,
+        "**/*.unityproj":true,
+        "**/*.dll":true,
+        "**/*.exe":true,
+        "**/*.pdf":true,
+        "**/*.mid":true,
+        "**/*.midi":true,
+        "**/*.wav":true,
+        "**/*.gif":true,
+        "**/*.ico":true,
+        "**/*.jpg":true,
+        "**/*.jpeg":true,
+        "**/*.png":true,
+        "**/*.psd":true,
+        "**/*.tga":true,
+        "**/*.tif":true,
+        "**/*.tiff":true,
+        "**/*.3ds":true,
+        "**/*.3DS":true,
+        "**/*.fbx":true,
+        "**/*.FBX":true,
+        "**/*.lxo":true,
+        "**/*.LXO":true,
+        "**/*.ma":true,
+        "**/*.MA":true,
+        "**/*.obj":true,
+        "**/*.OBJ":true,
+        "**/*.asset":true,
+        "**/*.cubemap":true,
+        "**/*.flare":true,
+        "**/*.mat":true,
+        "**/*.meta":true,
+        "**/*.prefab":true,
+        "**/*.unity":true,
+        "build/":true,
+        "Build/":true,
+        "Library/":true,
+        "library/":true,
+        "obj/":true,
+        "Obj/":true,
+        "ProjectSettings/":true,
+        "temp/":true,
+        "Temp/":true
+    }
+}

Assets/NodeData.cs

@@ -0,0 +1,19 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+public class NodeData : MonoBehaviour
+{
+    public float fCost =0;
+    public float gCost = 0;
+    public float hCost =0;
+
+    public Vertex parent;
+
+    public void Reset(){
+        fCost = 0;
+        gCost =0;
+        hCost = 0;
+        parent=null;
+    }
+}

Assets/NodeData.cs.meta

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+fileFormatVersion: 2
+guid: 9bd5302deafb6016b9e02c6922125435
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 

Assets/PathWalker.cs

@@ -0,0 +1,21 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+public class PathWalker : MonoBehaviour
+{
+    public List<Transform> pathNodes = new List<Transform>();
+    public int curIndex = 0;
+    void Update(){
+        if(pathNodes.Count < 2){return;}
+        if(curIndex < pathNodes.Count){
+
+        if(Vector2.Distance(pathNodes[curIndex].position, transform.position) > 0.1f){
+            //Move Towards node
+            transform.position += (pathNodes[curIndex].position - transform.position).normalized * Time.deltaTime * 2f;
+        }else{
+            curIndex++;
+        }
+        }
+    }
+}

Assets/PathWalker.cs.meta

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+folderAsset: yes
+DefaultImporter:
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+  userData: 
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Assets/Scenes/SampleScene.unity.meta

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Assets/Vertex.cs

@@ -0,0 +1,180 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEditor;
+using UnityEngine;
+
+public class Vertex : MonoBehaviour
+{
+    public bool isSelected;
+    public List<Vertex> neighbours;
+    public Vertex assignNeighbour;
+    [EasyButtons.Button]
+    void bindSelected(){
+        bindSelected();
+    }
+
+    [EasyButtons.Button]
+    void addNeighbour(){
+        AddNeighbour();
+    }
+
+    [MenuItem("Vertex/bind_selected #b")]
+    static void bind_selected()
+    {
+        List<Vertex> selectedVerticies = new List<Vertex>();
+        foreach (Object obj in Selection.objects)
+        {
+            try
+            {
+                selectedVerticies.Add(((GameObject)obj).GetComponent<Vertex>());
+            }
+            catch
+            {
+
+            }
+        }
+
+        foreach (Vertex vertex in selectedVerticies)
+        {
+            foreach (Vertex newNeighbour in selectedVerticies)
+            {
+                if (newNeighbour == vertex) { continue; }
+
+                if (!vertex.neighbours.Contains(newNeighbour)) { vertex.neighbours.Add(newNeighbour); }
+                if (!newNeighbour.neighbours.Contains(vertex)) { newNeighbour.neighbours.Add(vertex); }
+            }
+        }
+    }
+
+    [MenuItem("Vertex/unbind_selected #u")]
+    static void unbind_selected()
+    {
+        List<Vertex> selectedVerticies = new List<Vertex>();
+        foreach (Object obj in Selection.objects)
+        {
+            try
+            {
+                selectedVerticies.Add(((GameObject)obj).GetComponent<Vertex>());
+            }
+            catch
+            {
+
+            }
+        }
+
+        foreach (Vertex vertex in selectedVerticies)
+        {
+            foreach (Vertex newNeighbour in selectedVerticies)
+            {
+                if (newNeighbour == vertex) { continue; }
+
+                if (vertex.neighbours.Contains(newNeighbour)) { vertex.neighbours.Remove(newNeighbour); }
+                if (newNeighbour.neighbours.Contains(vertex)) { newNeighbour.neighbours.Remove(vertex); }
+            }
+        }
+    }
+
+    [MenuItem("Vertex/add_neighbour #e")]
+    static void AddNeighbour()
+    {
+        List<Vertex> selectedVerticies = new List<Vertex>();
+        foreach (Object obj in Selection.objects)
+        {
+            Debug.Log(obj.name);
+            try
+            {
+                selectedVerticies.Add(((GameObject)obj).GetComponent<Vertex>());
+            }
+            catch
+            {
+
+            }
+        }
+
+        if (selectedVerticies.Count == 1)
+        {
+            GameObject go = Instantiate(selectedVerticies[0].gameObject, selectedVerticies[0].transform.position, Quaternion.identity);
+            if (selectedVerticies[0].neighbours == null) { selectedVerticies[0].neighbours = new List<Vertex>(); }
+            selectedVerticies[0].neighbours.Add(go.GetComponent<Vertex>());
+
+            go.GetComponent<Vertex>().neighbours = new List<Vertex>();
+            go.GetComponent<Vertex>().neighbours.Add(selectedVerticies[0]);
+            go.transform.parent = selectedVerticies[0].transform.parent;
+            go.transform.name = selectedVerticies[0].transform.name;
+            UnityEditor.Selection.activeGameObject = go;
+        }
+        else if (selectedVerticies.Count > 1)
+        {
+            Object[] selections = new Object[selectedVerticies.Count];
+            for (int i = 0; i < selectedVerticies.Count; i++)
+            {
+                GameObject go = Instantiate(selectedVerticies[i].gameObject, selectedVerticies[i].transform.position, Quaternion.identity);
+                if (selectedVerticies[i].neighbours == null) { selectedVerticies[i].neighbours = new List<Vertex>(); }
+                selectedVerticies[i].neighbours.Add(go.GetComponent<Vertex>());
+
+                go.GetComponent<Vertex>().neighbours = new List<Vertex>();
+                go.GetComponent<Vertex>().neighbours.Add(selectedVerticies[i]);
+                go.transform.parent = selectedVerticies[i].transform.parent;
+                go.transform.name = selectedVerticies[i].transform.name;
+                selections[i] = go;
+            }
+
+            Selection.objects = selections;
+        }
+        else
+        {
+            Debug.LogError("Please select single vertex to add new neighbour!");
+        }
+
+
+    }
+    void Start()
+    {
+
+    }
+
+    // Update is called once per frame
+    void Update()
+    {
+
+    }
+
+
+    void OnDrawGizmos()
+    {
+        isSelected = false;
+        foreach (Object obj in UnityEditor.Selection.objects)
+        {
+            if ((GameObject)obj == gameObject)
+            {
+                isSelected = true;
+                break;
+            }
+        }
+        Gizmos.color = (isSelected) ? Color.green : Color.red;
+        Gizmos.DrawSphere(transform.position, 0.1f);
+
+        foreach (Vertex neighbour in neighbours)
+        {
+            if (neighbour == null)
+            {
+                neighbours.Remove(neighbour);
+            }
+            if (!neighbour.neighbours.Contains(this))
+            {
+                neighbour.neighbours.Add(this);
+            }
+            Gizmos.color = (isSelected || neighbour.isSelected) ? Color.green : Color.red; Gizmos.DrawLine(transform.position, neighbour.transform.position);
+        }
+    }
+
+    void OnValidate()
+    {
+        if (assignNeighbour != null)
+        {
+            if (!neighbours.Contains(assignNeighbour)) { neighbours.Add(assignNeighbour); }
+            if (!assignNeighbour.neighbours.Contains(this)) { assignNeighbour.neighbours.Add(this); }
+            assignNeighbour = null;
+        }
+    }
+}

Assets/Vertex.cs.meta

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Assets/astar.cs

@@ -0,0 +1,217 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+public class astar : MonoBehaviour
+{
+    [Header("Grid Information")]
+    public int cellDensity = 1;
+    public float width;
+    public float height;
+    public Color gridBoundsVisualizeColor = Color.red;
+    public GameObject cellGameObject;
+    public Transform cellsParent;
+    public cellData[,] cells;
+    public cellData targetCell;
+    public cellData startCell;
+    void Start()
+    {
+        StartCoroutine(generateCells());
+    }
+
+    IEnumerator generateCells(){
+        //Generate cells in grid
+        float cellSize = cellGameObject.transform.localScale.x / (float)cellDensity;
+        Vector2 cellStartPosition = new Vector2( transform.position.x - width /2f, transform.position.y - height /2f) 
+                                    + new Vector2(cellSize/2f, cellSize/2f);
+
+        
+
+        int horizontalCellCount = (int)(width / cellSize);
+        int verticalCellCount = (int)(height / cellSize);
+        cells = new cellData[horizontalCellCount,verticalCellCount];
+       // cellData[,] cellMatrix = new cellData[horizontalCellCount, verticalCellCount];
+        
+        for(int x= 0; x < horizontalCellCount; x++){
+            for(int y = 0; y < verticalCellCount; y++){
+                Vector2 cellSpawnPos = cellStartPosition + new Vector2(cellSize * x, cellSize *y );
+                GameObject cell = Instantiate(cellGameObject, cellSpawnPos , Quaternion.identity);
+                cell.transform.localScale = cell.transform.localScale / (float)cellDensity;
+                cell.GetComponent<cellData>().x = x;
+                cell.GetComponent<cellData>().y = y;
+                cell.transform.parent = cellsParent;
+                cell.transform.name = "cell["+x+","+y+"]";
+                //isObstacle?
+                cell.GetComponent<cellData>().setObstacle(Physics2D.BoxCast(cell.transform.position, cell.transform.localScale/2f, 0 ,Vector2.zero));
+                //cell.GetComponent<cellData>().setObstacle(Physics2D.CircleCast(cellSpawnPos,cellSize /2f,Vector2.zero));
+            
+                //cells.Add(cell.GetComponent<cellData>());
+                cells[x,y] = cell.GetComponent<cellData>();
+                yield return new WaitForEndOfFrame();
+            }
+        }
+        //Add neighbours
+        
+        for(int x= 0; x < horizontalCellCount; x++){
+            for(int y = 0; y < verticalCellCount; y++){
+                for(int h = -1; h <= 1; h++){
+                    for(int v = -1; v <= 1; v++){
+                        if(h == 0 && v ==0){continue;}//I'm not a neighbour of me right?
+                        int targetX = x + h;
+                        int targetY = y + v;
+
+                        if(targetY <0 || targetY > verticalCellCount-1 || targetX < 0 || targetX > horizontalCellCount-1){continue;}
+                        if(cells[targetX,targetY].isObstacle){continue;}
+                        cells[x,y].neighbours.Add(cells[targetX,targetY]);
+                    }
+                }
+            }
+        }
+    }
+
+    // Update is called once per frame
+    Coroutine calculator = null;
+    void Update()
+    {
+        if(Input.GetKeyDown(KeyCode.E)){
+            Vector2 worldPos = Camera.main.ScreenToWorldPoint(Input.mousePosition);
+
+            cellData closestCell = getClosestCell(worldPos);
+            if(startCell!=null){startCell.setObstacle(startCell.isObstacle);}
+            startCell = closestCell;
+            startCell.GetComponent<SpriteRenderer>().color = Color.green;
+        }else if(Input.GetKeyDown(KeyCode.F)){
+            Vector2 worldPos = Camera.main.ScreenToWorldPoint(Input.mousePosition);
+            if(targetCell!=null){targetCell.setObstacle(targetCell.isObstacle);}
+            cellData closestCell = getClosestCell(worldPos);
+            targetCell = closestCell;
+            targetCell.GetComponent<SpriteRenderer>().color = Color.blue;
+        }else if(Input.GetKeyDown(KeyCode.Return)){
+            if(calculator != null){StopCoroutine(calculator); resetCellsCost();}
+            Debug.Log("Starting calculation");
+            calculator = StartCoroutine(Calculate());
+        }
+    }
+
+    public cellData getClosestCell(Vector2 worldPos){
+        float minDist = Mathf.Infinity;
+        cellData closestCell = null;
+        foreach(cellData cell in cells){
+            if(cell.isObstacle){continue;}
+            float DistToCell = Vector3.Distance(worldPos, cell.transform.position);
+            if(DistToCell < minDist){
+                minDist = DistToCell;
+                closestCell = cell;
+            }
+        }
+
+        return closestCell;
+    }
+
+
+    void OnDrawGizmos(){
+        //Gizmos.Color = gridBoundsVisualizeColor;
+        Gizmos.color = gridBoundsVisualizeColor;
+        Gizmos.DrawWireCube(transform.position, new Vector3(width, height, 0));
+    }
+    List<cellData> calculatedCells = new List<cellData>();
+    List<cellData> openCells = new List<cellData>();
+    IEnumerator Calculate(){
+        // calculatedCells = new List<cellData>();
+        // bool foundPath = false;
+        // openCells=new List<cellData>();
+        // openCells.Add(startCell);
+        // while(!foundPath){
+        //     cellData closeCell = null;
+        //     float lowestFcost = Mathf.Infinity;
+        //     foreach(cellData cell in openCells){
+        //         if(cell.fCost < lowestFcost){
+        //             closeCell=cell;
+        //             lowestFcost=cell.fCost;
+        //         }
+        //     }
+
+        //     if(closeCell == targetCell){Debug.Log("GOT THE TARGET!"); foundPath=true;}
+        //     openCells.Remove(closeCell);
+        //     calculateCellCost(closeCell);
+        //    // if(! calculateCellCost(closeCell)){Debug.Log("YOU DUMB!");yield return new WaitForSeconds(0.01f);continue;}
+        //     calculatedCells.Add(closeCell);
+        //     closeCell.setClose(true);
+
+        //     float minDist = Mathf.Infinity;
+        //     cellData nextCloseCell = null;
+        //     foreach(cellData cell in closeCell.neighbours){
+        //         if(cell == null){continue;}
+        //         if(cell.isClose){continue;}
+        //         calculateCellCost(cell);
+        //         if(cell.fCost < lowestFcost){  
+        //             openCells.Add(cell);           
+        //         }
+        //     }
+        //     if(nextCloseCell!=null){
+
+        //     }else{
+        //         Debug.Log("Hit a deadend, backtracking?");
+        //     }
+        //    // cellsToCalculate.Remove(cell);
+        //     yield return new WaitForSeconds(0.1f);
+        // }
+
+        List<cellData> open = new List<cellData>();
+        List<cellData> close = new List<cellData>();
+        open.Add(startCell);
+        bool foundPath = false;
+        while(!foundPath){
+            cellData current = null;
+            float lowestF = Mathf.Infinity;
+            foreach(cellData cell in open){
+                if(cell.fCost < lowestF){
+                    lowestF = cell.fCost;
+                    current = cell;
+                }
+            }
+            open.Remove(current);
+            close.Add(current);
+            current.setClose(true);
+
+            if(current == targetCell){foundPath=true; continue;}
+            foreach(cellData neighbour in current.neighbours){
+                if(close.Contains(neighbour)){continue;}
+                bool hasThisNeighbour = open.Contains(neighbour);
+                if(neighbour.fCost < lowestF || !hasThisNeighbour){
+                    calculateCellCost(neighbour);
+                    if(neighbour.fCost < lowestF || neighbour.parent==null){ neighbour.parent = current;}
+                    if(!hasThisNeighbour){open.Add(neighbour);}
+                }
+            }
+            yield return new WaitForSeconds(0.05f);
+        }
+
+        //sort
+        bool pathCleared = false;
+        cellData parentCell = targetCell;
+        while(!pathCleared){
+
+            if(parentCell == startCell){pathCleared=true; break;}
+            parentCell.GetComponent<SpriteRenderer>().color  =Color.blue;
+            parentCell = parentCell.parent;
+            yield return new WaitForSeconds(0.1f);
+        }
+    }
+
+    bool calculateCellCost(cellData cell){
+        if((int)cell.fCost!=0){Debug.Log("already calculated, skipping");return false;}
+        float hCost = Vector2.Distance(cell.transform.position, targetCell.transform.position);
+        float gCost = Vector2.Distance(cell.transform.position, startCell.transform.position);
+        float fCost = hCost + gCost;
+
+        cell.setCellCost(gCost, hCost, fCost);
+        return true;
+    }
+
+    public void resetCellsCost(){
+        foreach(cellData cell in cells){
+            cell.resetCost();
+        }
+    }
+}

Assets/astar.cs.bkp

@@ -0,0 +1,130 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+public class astar : MonoBehaviour
+{
+    [Header("Grid Information")]
+    public float width;
+    public float height;
+    public Color gridBoundsVisualizeColor = Color.red;
+    public GameObject cellGameObject;
+    public Transform cellsParent;
+    public cellData[,] cells;
+    public Vector2Int targetCellId;
+    public Vector2Int startCellId;
+    void Start()
+    {
+        StartCoroutine(generateCells());
+    }
+
+    IEnumerator generateCells(){
+        //Generate cells in grid
+        float cellSize = cellGameObject.transform.localScale.x;
+        Vector2 cellStartPosition = new Vector2( transform.position.x - width /2f, transform.position.y - height /2f) 
+                                    + new Vector2(cellSize/2f, cellSize/2f);
+
+        
+
+        int horizontalCellCount = (int)(width / cellSize);
+        int verticalCellCount = (int)(height / cellSize);
+        cells = new cellData[horizontalCellCount,verticalCellCount];
+        for(int x= 0; x < horizontalCellCount; x++){
+            for(int y = 0; y < verticalCellCount; y++){
+                Vector2 cellSpawnPos = cellStartPosition + new Vector2(cellSize * x, cellSize *y );
+                GameObject cell = Instantiate(cellGameObject, cellSpawnPos , Quaternion.identity);
+                cell.GetComponent<cellData>().x = x;
+                cell.GetComponent<cellData>().y = y;
+                cell.transform.parent = cellsParent;
+                
+                //isObstacle?
+                cell.GetComponent<cellData>().setObstacle(Physics2D.BoxCast(cell.transform.position, cell.transform.localScale/2f, 0 ,Vector2.zero));
+                //cell.GetComponent<cellData>().setObstacle(Physics2D.CircleCast(cellSpawnPos,cellSize /2f,Vector2.zero));
+
+                //cells.Add(cell.GetComponent<cellData>());
+                cells[x,y] = cell.GetComponent<cellData>();
+                yield return new WaitForSeconds(0.001f);
+            }
+        }
+    }
+
+    // Update is called once per frame
+    Coroutine calculator = null;
+    void Update()
+    {
+        if(Input.GetKeyDown(KeyCode.E)){
+            Vector2 worldPos = Camera.main.ScreenToWorldPoint(Input.mousePosition);
+
+            Vector2Int closestCellId = getClosestCell(worldPos);
+            if(startCellId.magnitude >=0){cells[startCellId.x,startCellId.y].setObstacle();}
+            startCellId = closestCellId;
+            cells[startCellId.x, startCellId.y].GetComponent<SpriteRenderer>().color = Color.red;
+        }else if(Input.GetKeyDown(KeyCode.F)){
+            Vector2 worldPos = Camera.main.ScreenToWorldPoint(Input.mousePosition);
+            if(targetCellId.magnitude >=0){cells[targetCellId.x,targetCellId.y].setObstacle();}
+            Vector2Int closestCell = getClosestCell(worldPos);
+            targetCellId = closestCell;
+            cells[targetCellId.x, targetCellId.y].GetComponent<SpriteRenderer>().color = Color.blue;
+        }else if(Input.GetKeyDown(KeyCode.Return)){
+            if(calculator != null){StopCoroutine(calculator); resetCellsCost();}
+            Debug.Log("Starting calculation");
+            calculator = StartCoroutine(Calculate());
+        }
+    }
+
+    public Vector2Int getClosestCell(Vector2 worldPos){
+        float minDist = Mathf.Infinity;
+        cellData closestCell = null;
+        foreach(cellData cell in cells){
+            if(cell.isObstacle){continue;}
+            float DistToCell = Vector3.Distance(worldPos, cell.transform.position);
+            if(DistToCell < minDist){
+                minDist = DistToCell;
+                closestCell = cell;
+            }
+        }
+
+        return closestCell;
+    }
+
+
+    void OnDrawGizmos(){
+        //Gizmos.Color = gridBoundsVisualizeColor;
+        Gizmos.color = gridBoundsVisualizeColor;
+        Gizmos.DrawWireCube(transform.position, new Vector3(width, height, 0));
+    }
+
+    IEnumerator Calculate(){
+        bool foundPath = false;
+        Vector2Int closeCellId = startCellId;
+        while(!foundPath){
+            calculateCellCost(cells[closeCellId.x,closeCellId.y]);
+            for(int x = -1; x <= 1; x++){
+                for(int y=-1; y <= 1; y++){
+                    int targetX = closeCellId.x +x;
+                    int targetY = closeCellId.y +y;
+                    if(cells.GetLength(0) < targetX || targetX < 0 || targetY < 0 || cells.GetLength(1) < targetY){continue;}
+                    calculateCellCost(cells[targetX,targetY]);
+                }
+            }
+            
+           // cellsToCalculate.Remove(cell);
+            yield return new WaitForSeconds(0.01f);
+        }
+    }
+
+    void calculateCellCost(cellData cell){
+        if(cell.fCost==0){return;}
+        float hCost = Vector2.Distance(cell.transform.position, cells[targetCellId.x, targetCellId.y].transform.position);
+        float gCost = Vector2.Distance(cell.transform.position, cells[startCellId.x, startCellId.y].transform.position);
+        float fCost = hCost + gCost;
+
+        cell.setCellCost(gCost, hCost, fCost);
+    }
+
+    public void resetCellsCost(){
+        foreach(cellData cell in cells){
+            cell.resetCost();
+        }
+    }
+}

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Assets/astar_vertex.cs

@@ -0,0 +1,204 @@
+using System;
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+public class astar_vertex : MonoBehaviour
+{
+    public Transform VertexGroup;
+    [SerializeField]
+    public List<Vertex> nodes;
+
+    Vertex startNode;
+    Vertex endNode;
+
+    public Transform startVisualizer;
+    public Transform endVisualizer;
+    public PathWalker walker;
+
+    public List<Vertex> finalPath;
+    void Start()
+    {
+        finalPath = new List<Vertex>();
+        nodes = new List<Vertex>();
+        foreach(Vertex vertex in VertexGroup.GetComponentsInChildren<Vertex>()){
+            NodeData nodeData =  vertex.gameObject.AddComponent(typeof(NodeData)) as NodeData;
+            nodes.Add(vertex);
+        }
+    }
+
+    // Update is called once per frame
+    void Update()
+    {
+        if(startNode != null){Debug.DrawLine(startVisualizer.position, startNode.transform.position);}
+        if(endNode != null){Debug.DrawLine(endVisualizer.position, endNode.transform.position);}
+        if(Input.GetKeyDown(KeyCode.E)){
+            Vector2 startPos = Camera.main.ScreenToWorldPoint(Input.mousePosition);
+            startVisualizer.position = startPos;
+
+            //get closest and reachable node to this location
+            float minDist = Mathf.Infinity;
+
+            foreach(Vertex node in nodes){
+                if(Physics2D.Linecast(startPos, node.transform.position)){}else{
+                    float distToNode = Vector2.Distance(node.transform.position, startPos);
+                    if(distToNode < minDist){
+                        minDist = distToNode;
+                        startNode = node;
+                    }
+                }
+            }
+        }else if(Input.GetKeyDown(KeyCode.F)){
+            Vector2 endPos = Camera.main.ScreenToWorldPoint(Input.mousePosition);
+            endVisualizer.position = endPos;
+
+            //get closest and reachable node to this location
+            float minDist = Mathf.Infinity;
+
+            foreach(Vertex node in nodes){
+                if(Physics2D.Linecast(endPos, node.transform.position)){}else{
+                    float distToNode = Vector2.Distance(node.transform.position, endPos);
+                    if(distToNode < minDist){
+                        minDist = distToNode;
+                        endNode = node;
+                    }
+                }
+            }
+        }else if(Input.GetKeyDown(KeyCode.Return)){
+            //Start Calculation
+            StartCoroutine(Calculate());
+        }else if(Input.GetKeyDown(KeyCode.I)){
+            Recalculate();
+        }else if(Input.GetKeyDown(KeyCode.S)){
+            Recalculate();
+            walker.pathNodes = new List<Transform>();
+            walker.curIndex = 0;
+            walker.pathNodes.Add(startNode.transform);
+            for(int i = finalPath.Count-1; i >=0; i--){
+                walker.pathNodes.Add(finalPath[i].transform);
+            }
+            walker.pathNodes.Add(endVisualizer);
+        }
+
+        if(finalPath.Count  > 1){
+            for(int i = 1; i < finalPath.Count; i++){
+                Debug.DrawLine(finalPath[i].transform.position, finalPath[i-1].transform.position, Color.green);
+            }
+        }
+    }
+
+    public void Recalculate(){
+        DateTime startTime = DateTime.Now;
+        foreach(Vertex node in nodes){
+            node.GetComponent<NodeData>().Reset();
+        }
+
+        List<Vertex> open = new List<Vertex>();
+        List<Vertex> close = new List<Vertex>();
+        open.Add(startNode);
+        bool foundPath = false;
+        while(!foundPath){
+            Vertex current = null;
+            float lowestF = Mathf.Infinity;
+            foreach(Vertex cell in open){
+                if(cell.GetComponent<NodeData>().fCost < lowestF){
+                    lowestF = cell.GetComponent<NodeData>().fCost;
+                    current = cell;
+                }
+            }
+            open.Remove(current);
+            close.Add(current);
+
+            if(current == endNode){foundPath=true; continue;}
+            foreach(Vertex neighbour in current.neighbours){
+                if(close.Contains(neighbour)){continue;}
+                bool hasThisNeighbour = open.Contains(neighbour);
+                if(neighbour.GetComponent<NodeData>().fCost < lowestF || !hasThisNeighbour){
+                    calculateCellCost(neighbour.GetComponent<NodeData>());
+                    if(neighbour.GetComponent<NodeData>().fCost < lowestF || neighbour.GetComponent<NodeData>().parent==null){ neighbour.GetComponent<NodeData>().parent = current;}
+                    if(!hasThisNeighbour){open.Add(neighbour);}
+                }
+            }
+           // yield return new WaitForSeconds(0.05f);
+        }
+
+        //sort
+        bool pathCleared = false;
+        Vertex parentCell = endNode;
+        finalPath= new List<Vertex>();
+        while(!pathCleared){
+
+            if(parentCell == startNode){pathCleared=true; break;}
+            finalPath.Add(parentCell);
+            parentCell = parentCell.GetComponent<NodeData>().parent;
+           // yield return new WaitForSeconds(0.1f);
+        }
+
+        Debug.Log("Calculation finished in " + (DateTime.Now - startTime).TotalMilliseconds + "ms");
+    }
+
+    IEnumerator Calculate(){
+        DateTime startTime = DateTime.Now;
+        foreach(Vertex node in nodes){
+            node.GetComponent<NodeData>().Reset();
+        }
+        List<Vertex> open = new List<Vertex>();
+        List<Vertex> close = new List<Vertex>();
+        open.Add(startNode);
+        bool foundPath = false;
+        while(!foundPath){
+            Vertex current = null;
+            float lowestF = Mathf.Infinity;
+            foreach(Vertex cell in open){
+                if(cell.GetComponent<NodeData>().fCost < lowestF){
+                    lowestF = cell.GetComponent<NodeData>().fCost;
+                    current = cell;
+                }
+            }
+            open.Remove(current);
+            close.Add(current);
+
+            if(current == endNode){foundPath=true; continue;}
+            foreach(Vertex neighbour in current.neighbours){
+                if(close.Contains(neighbour)){continue;}
+                bool hasThisNeighbour = open.Contains(neighbour);
+                if(neighbour.GetComponent<NodeData>().fCost < lowestF || !hasThisNeighbour){
+                    calculateCellCost(neighbour.GetComponent<NodeData>());
+                    if(neighbour.GetComponent<NodeData>().fCost < lowestF || neighbour.GetComponent<NodeData>().parent==null){ neighbour.GetComponent<NodeData>().parent = current;}
+                    if(!hasThisNeighbour){open.Add(neighbour);}
+                }
+            }
+           // yield return new WaitForSeconds(0.05f);
+        }
+
+        //sort
+        bool pathCleared = false;
+        Vertex parentCell = endNode;
+        finalPath= new List<Vertex>();
+        while(!pathCleared){
+
+            if(parentCell == startNode){pathCleared=true; break;}
+            finalPath.Add(parentCell);
+            parentCell = parentCell.GetComponent<NodeData>().parent;
+            yield return new WaitForSeconds(0.1f);
+        }
+        Debug.Log("Calculation finished in " + (DateTime.Now - startTime).Milliseconds + "ms");
+    }
+
+    
+
+    bool calculateCellCost(NodeData cell){
+        if((int)cell.fCost!=0){return false;}
+        cell.hCost = Vector2.Distance(cell.transform.position, endNode.transform.position);
+        cell.gCost = Vector2.Distance(cell.transform.position, startNode.transform.position);
+        cell.fCost = cell.hCost + cell.gCost;
+
+        return true;
+    }
+
+
+    void OnValidate(){
+        if(VertexGroup !=null && VertexGroup.GetComponentInChildren<Vertex>()==null){VertexGroup = null; Debug.LogError("Please assigna a vertex group with vertecies as children");}
+    }
+}
+

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Assets/cellData.cs

@@ -0,0 +1,63 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+using UnityEngine.UI;
+
+public class cellData : MonoBehaviour
+{
+    public TextMesh gCostTxt;
+    public TextMesh hCostTxt;
+    public TextMesh fCostTxt;
+
+    public float fCost,gCost,hCost;
+
+    public List<cellData> neighbours = new List<cellData>();
+
+    public int y;
+    public int x;
+
+    private bool _isObstacle = false;
+
+    public bool isObstacle => _isObstacle;
+    private bool _isClose = false;
+    public bool isClose => _isClose;
+    public bool isInPath;
+    public cellData parent;
+    public void setCellCost(float g, float h, float f){
+        gCostTxt.text =g.ToString("n2");
+        hCostTxt.text = h.ToString("n2");
+        fCostTxt.text = f.ToString("n2");
+        fCost= f;
+        gCost = g;
+        hCost = h;        
+    }
+    public void setClose(bool value){
+        _isClose = value;
+        if(value){
+            GetComponent<SpriteRenderer>().color = Color.red;
+        }else{
+            setObstacle();
+        }
+    }
+    public void resetCost(){
+        setCellCost(0,0,0);
+        setClose(false);
+    }
+
+    public void setObstacle(bool value){
+        _isObstacle = value;
+        if(value){
+            GetComponent<SpriteRenderer>().color = Color.black;
+        }else{            
+            GetComponent<SpriteRenderer>().color = Color.white;
+        }
+    }
+
+    public void setObstacle(){
+        if(_isObstacle){
+            GetComponent<SpriteRenderer>().color = Color.black;
+        }else{            
+            GetComponent<SpriteRenderer>().color = Color.white;
+        }
+    }
+}

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