still working on some pathfinding, it is seizing up when trying to find a new goal

EnemyController.cs

@@ -22,7 +22,7 @@ public partial class EnemyController : TurnController
             newEnemy._enemyController = this;
             List<Vector2I> unoccupied = [.. _playArea._map._bottomRow.Where(c => _enemies.All(e => e._address != c))];
             Vector2I randomCell = unoccupied[Globals._rng.Next(unoccupied.Count)];
-            WarpEnemy(newEnemy, randomCell);
+            SetEnemy(newEnemy, randomCell);
             _enemies.Add(newEnemy);
             AddChild(newEnemy);
         }
@@ -39,7 +39,7 @@ public partial class EnemyController : TurnController
             newEnemy.Modulate = new Color(newEnemy._speed == 2 ? "#FF0000" : newEnemy._speed == 3 ? "#00FF00" : "#0000FF");
             newEnemy._enemyController = this;
             
-            WarpEnemy(newEnemy, POSITIONS[i]);
+            SetEnemy(newEnemy, POSITIONS[i]);
             _enemies.Add(newEnemy);
             AddChild(newEnemy);
         }
@@ -51,6 +51,15 @@ public partial class EnemyController : TurnController
         List<Vector2I> positions = [.. _playArea.GetNode<TileMapLayer>("InitialPositions").GetUsedCells()];
 
         AddEnemies(positions);
+
+        
+        // for (int i = 0; i < _playArea._map._cells.Count; i++)
+        // {
+        //     if (_playArea._map._astar.IsPointSolid(_playArea._map._cells[i]))
+        //     {
+        //         GD.Print(_playArea._map._cells[i]);
+        //     }
+        // }
     }
 
     public void MoveEnemies()
@@ -61,27 +70,20 @@ public partial class EnemyController : TurnController
         for (int i = 0; i < _enemies.Count; i++)
         {
             Enemy enemy = _enemies[i];
-            Vector2I goal = new(enemy._address.X, _playArea._map._minY);
+            Vector2I goal = new(enemy._address.X, Math.Max(enemy._address.Y - enemy._visibilityRange, _playArea._map._minY));
-            if (Math.Abs(goal.Y - enemy._address.Y) <= enemy._visibilityRange)
+
-            {
-                // GD.Print(goal.Y, enemy._address.Y,enemy._visibilityRange);
             while(_playArea._map.IsRowFull(goal.Y))
             {
                 goal.Y++;
             }
-                // if (_playArea._map.GetOccupant(goal) != null)
-                // {
-                //     goal.X = Math.Clamp(goal.X+1, _playArea._map._minX+1, _playArea._map._maxX-1);
-                // }
             int loop = 0;
             while (_playArea._map.GetOccupant(goal) != null)
             {
                 goal.X = Math.Clamp(enemy._address.X + ((int)MathF.Floor(loop / 2) + 1) * (loop % 2 == 0 ? 1 : -1), _playArea._map._minX, _playArea._map._maxX);
                 loop++;
             }
-            }
+            
-            List<Vector2I> path = _playArea._map.GetPath(enemy._address, goal);
+            enemy._path = _playArea._map.GetPath(enemy._address, goal, false, i==0);
-            enemy._path = path;
             enemy._speedRemaining = enemy._address.Y <= _playArea._map._minY ? 0 : enemy._speed;
         }
         _enemies = [.. _enemies.OrderByDescending(e => e._path.Count).ThenBy(e => e._address.Y).ThenBy(e => Math.Abs(e._address.X))];
@@ -99,17 +101,29 @@ public partial class EnemyController : TurnController
                     remainingEnemies.Remove(enemy);
                     continue;
                 }
-                List<Vector2I> path = enemy._path;
+                
                 int pathIndex = enemy._speed - enemy._speedRemaining;
-                Vector2I cell = path[pathIndex];
+                Vector2I cell = enemy._path[pathIndex];
                 Enemy obstacle = _playArea._map.GetOccupant(cell);
                 if (obstacle != null)
                 {
                     int obstacleRemainingMoves = obstacle._speedRemaining;
                     if (obstacleRemainingMoves <= 0)
                     {
-                        _playArea._map.EvaluateSolidCells();
+                        Vector2I newGoal = new(enemy._address.X, Math.Max(enemy._address.Y - enemy._visibilityRange, _playArea._map._minY));
-                        List<Vector2I> newPath = _playArea._map.GetPath(enemy._address, new Vector2I(enemy._address.X, _playArea._map._minY));
+
+                        while(_playArea._map.IsRowFull(newGoal.Y))
+                        {
+                            newGoal.Y++;
+                        }
+                        int loop = 0;
+                        while (_playArea._map.GetOccupant(newGoal) != null)
+                        {
+                            newGoal.X = Math.Clamp(enemy._address.X + ((int)MathF.Floor(loop / 2) + 1) * (loop % 2 == 0 ? 1 : -1), _playArea._map._minX, _playArea._map._maxX);
+                            loop++;
+                        }
+                        List<Vector2I> newPath = _playArea._map.GetPath(enemy._address, newGoal);
+                        
                         enemy._path = newPath;
 
                         newPath.InsertRange(0, [.. Enumerable.Repeat(newPath[0], pathIndex)]);
@@ -121,9 +135,7 @@ public partial class EnemyController : TurnController
 
                 if (obstacle == null)
                 {
-                    _playArea._map.SetCellEnemy(enemy._address, null);
+                    _playArea._map.SetCellEnemy(cell, enemy);
-                    enemy._address = cell;
-                    _playArea._map.SetCellEnemy(enemy._address, enemy);
                     if (j == 0)
                     {
                         tween.Chain();
@@ -162,13 +174,9 @@ public partial class EnemyController : TurnController
         
     }
 
-    public void WarpEnemy(Enemy ENEMY, Vector2I CELL)
+    public void SetEnemy(Enemy ENEMY, Vector2I CELL)
     {
-
+        _playArea._map.SetCellEnemy(CELL, ENEMY);
-        _playArea._map.SetCellEnemy(ENEMY._address, null);
-        ENEMY._address = CELL;
-        
-        _playArea._map.SetCellEnemy(ENEMY._address, ENEMY);
         ENEMY.GlobalPosition = _playArea._map.GetCellPositionFromAddress(CELL);
     }
 }

Map.cs

@@ -9,7 +9,7 @@ public partial class Map : TileMapLayer
     public string _isSolidString = "is_solid";
     public Vector2 _cellSize, _sizeInPixels, _sizeInCells;
     public Vector2I _pathTakenAtlasCoordinates = new Vector2I(4, 0);
-    public List<Vector2I> _leftmostColumn, _rightmostColumn, _topRow, _bottomRow;
+    public List<Vector2I> _cells = new(), _leftmostColumn = new(), _rightmostColumn = new(), _topRow = new(), _bottomRow = new();
     public AStarGrid2D _astar = new();
     public Dictionary<Vector2I, Enemy> _addressOccupants = new();
 
@@ -17,17 +17,16 @@ public partial class Map : TileMapLayer
     {
         base._Ready();
         _cellSize = TileSet.TileSize;
-        List<Vector2I> cells = [.. GetUsedCells()];
+        _cells = [.. GetUsedCells()];
-        _minX = cells.Min(c => c.X);
+        _cells.ForEach(c => _addressOccupants[c] = null);
-        _maxX = cells.Max(c => c.X);
+        _minX = _cells.Min(c => c.X);
-        _minY = cells.Min(c => c.Y);
+        _maxX = _cells.Max(c => c.X);
-        _maxY = cells.Max(c => c.Y);
+        _minY = _cells.Min(c => c.Y);
-        // GD.Print(_minX, _maxX, _minY, _maxY);
+        _maxY = _cells.Max(c => c.Y);
-        _leftmostColumn = [.. cells.Where(c => c.X == _minX)];
+        _leftmostColumn = [.. _cells.Where(c => c.X == _minX)];
-        _rightmostColumn = [.. cells.Where(c => c.X == _maxX)];
+        _rightmostColumn = [.. _cells.Where(c => c.X == _maxX)];
-        _topRow = [.. cells.Where(c => c.Y == _minY)];
+        _topRow = [.. _cells.Where(c => c.Y == _minY)];
-        _bottomRow = [.. cells.Where(c => c.Y == _maxY)];
+        _bottomRow = [.. _cells.Where(c => c.Y == _maxY)];
-        cells.ForEach(c => SetCellEnemy(c, null));
         _sizeInCells = new Vector2(_topRow.Count, _leftmostColumn.Count);
         _sizeInPixels = _sizeInCells * _cellSize;
 
@@ -48,49 +47,69 @@ public partial class Map : TileMapLayer
     public bool IsCellSolid(Vector2I CELL_TO_CHECK)
     {
         bool hasOccupant = GetOccupant(CELL_TO_CHECK) != null;
+        if (hasOccupant)
+        {
+            // GD.Print(CELL_TO_CHECK, " has occupant");
+        }
         bool isSolid = (bool)GetCellTileData(CELL_TO_CHECK).GetCustomData(_isSolidString);
+        if (isSolid)
+        {
+            // GD.Print(CELL_TO_CHECK, " is solid");
+        }
         return hasOccupant || isSolid;
     }
 
     public bool IsRowFull(int ROW_TO_CHECK)
     {
-        List<Vector2I> cells = [.. GetUsedCells()];
+        List<Vector2I> rowCells = [.. _cells.Where(c => c.Y == ROW_TO_CHECK)];
-        List<Vector2I> rowCells = [.. cells.Where(c => c.Y == ROW_TO_CHECK)];
         
         return rowCells.All(c => GetOccupant(c) != null);
     }
 
     public void SetCellEnemy(Vector2I ADDRESS, Enemy ENEMY)
     {
+        if (ENEMY != null)
+        {
+            if (ENEMY._address != -(Vector2I)Vector2.Inf)
+            {
+                _addressOccupants[ENEMY._address] = null;
+            }
+            ENEMY._address = ADDRESS;
+        }
+
         _addressOccupants[ADDRESS] = ENEMY;
-        IsCellSolid(ADDRESS);
+
+        SetCellSolid(ADDRESS);
+        
+    }
+
+    public void SetCellSolid(Vector2I ADDRESS)
+    {
+        _astar.SetPointSolid(ADDRESS, IsCellSolid(ADDRESS));
     }
 
     public void SetupAstar()
     {
         _astar.Region = new Rect2I(_minX, _minY, _topRow.Count, _leftmostColumn.Count);
         _astar.CellSize = _cellSize;
-        _astar.DefaultComputeHeuristic = AStarGrid2D.Heuristic.Manhattan;
+        _astar.DefaultComputeHeuristic = AStarGrid2D.Heuristic.Euclidean;
         _astar.DiagonalMode = AStarGrid2D.DiagonalModeEnum.Never;
         _astar.Update();
-        List<Vector2I> cells = [.. GetUsedCells()];
+        EvaluateSolidCells();
-        for (int i = 0; i < cells.Count; i++)
-        {
-            _astar.SetPointSolid(cells[i], IsCellSolid(cells[i]));
-        }
     }
 
     public List<Vector2I> GetPath(Vector2I FROM, Vector2I TO, bool INCLUDE_FROM = false, bool SHOW_PATH = false)
     {
-        List<Vector2I> pathTaken = [.. _astar.GetIdPath(FROM, TO)];
+        _astar.SetPointSolid(FROM, false);
-        if (SHOW_PATH)
+        List<Vector2I> pathTaken = [.. _astar.GetIdPath(FROM, TO, true)];
-        {
+        // if (SHOW_PATH)
-            for (int i = 0; i < pathTaken.Count; i++)
+        // {
-            {
+        //     for (int i = 0; i < pathTaken.Count; i++)
-                Vector2I cell = pathTaken[i];
+        //     {
-                SetCell(cell, _mainSource, _pathTakenAtlasCoordinates);
+        //         Vector2I cell = pathTaken[i];
-            }
+        //         SetCell(cell, _mainSource, _pathTakenAtlasCoordinates);
-        }
+        //     }
+        // }
         if (!INCLUDE_FROM)
         {
             pathTaken.Remove(FROM);
@@ -100,7 +119,10 @@ public partial class Map : TileMapLayer
 
     public void EvaluateSolidCells()
     {   
-        GetUsedCells().ToList().ForEach(c => IsCellSolid(c));
+        for (int i = 0; i < _cells.Count; i++)
+        {
+            SetCellSolid(_cells[i]);
+        }
     }
 
 }

PlayArea.tscn

@@ -1,7 +1,7 @@
 [gd_scene format=4 uid="uid://dumcridek4xy3"]
 
 [ext_resource type="Script" uid="uid://bnaxgcafcvtfv" path="res://PlayArea.cs" id="1_lq4m8"]
-[ext_resource type="PackedScene" path="res://Map.tscn" id="2_wqv88"]
+[ext_resource type="PackedScene" uid="uid://mjinvqj25wha" path="res://Map.tscn" id="2_wqv88"]
 [ext_resource type="Texture2D" uid="uid://cf554xlykq1o4" path="res://Art/tile_set.png" id="3_md2b6"]
 [ext_resource type="PackedScene" uid="uid://b2mb7mimdu5ad" path="res://bucket.tscn" id="5_vqhsw"]
 
@@ -14,7 +14,7 @@ size = Vector2(400, 1000)
 [sub_resource type="RectangleShape2D" id="RectangleShape2D_7h2rc"]
 size = Vector2(400, 80)
 
-[sub_resource type="TileMapPattern" id="TileMapPattern_xy0lb"]
+[sub_resource type="TileMapPattern" id="TileMapPattern_vqhsw"]
 tile_data = PackedInt32Array(0, 0, 0, 65536, 0, 1, 1, 0, 1, 65537, 0, 0)
 
 [sub_resource type="TileSetAtlasSource" id="TileSetAtlasSource_vqhsw"]
@@ -38,7 +38,7 @@ tile_size = Vector2i(40, 40)
 custom_data_layer_0/name = "is_solid"
 custom_data_layer_0/type = 1
 sources/0 = SubResource("TileSetAtlasSource_vqhsw")
-pattern_0 = SubResource("TileMapPattern_xy0lb")
+pattern_0 = SubResource("TileMapPattern_vqhsw")
 
 [sub_resource type="TileSetAtlasSource" id="TileSetAtlasSource_xy0lb"]
 texture = ExtResource("3_md2b6")
@@ -233,6 +233,5 @@ tile_set = SubResource("TileSet_he03c")
 position = Vector2(0, 440)
 
 [node name="InitialPositions" type="TileMapLayer" parent="." unique_id=555896823]
-visible = false
 tile_map_data = PackedByteArray("AAD0//3/AAADAAEAAAD1//z/AAADAAEAAAD1//7/AAADAAEAAAD2//3/AAADAAEAAAD5/wMAAAADAAEAAAD4/wIAAAADAAEAAAD6/wQAAAADAAEAAAD7/wMAAAADAAEAAAD8/wQAAAADAAEAAAD9/wMAAAADAAEAAAD+/wQAAAADAAEAAAD//wMAAAADAAEAAAAAAAMAAAADAAEAAAABAAQAAAADAAEAAAACAAMAAAADAAEAAAADAAQAAAADAAEAAAAEAAMAAAADAAEAAAAFAAQAAAADAAEAAAAGAAMAAAADAAEAAAAHAAIAAAADAAEAAAD8////AAADAAEAAAD9//7/AAADAAEAAAD+//3/AAADAAEAAAD///7/AAADAAEAAAAAAP7/AAADAAEAAAABAP3/AAADAAEAAAACAP7/AAADAAEAAAADAP//AAADAAEAAAAJAP3/AAADAAEAAAAKAP7/AAADAAEAAAALAP3/AAADAAEAAAAKAPz/AAADAAEAAAA=")
 tile_set = SubResource("TileSet_vqhsw")