Added walk up to tile feature and navigation visualization

project/assets/tilemap/tilemaps/sprite.json

@@ -1 +1 @@
-{"height":320,"filename":"tilemaps.aseprite","frames":[{"duration":0.1}],"width":320,"layers":[{"name":"ground","cels":[{"image":"tilemaps\\tilemap_ground.png","frame":0}]},{"name":"objects","cels":[{"image":"tilemaps\\tilemap_objects.png","frame":0}]},{"name":"temperature","cels":[{"image":"tilemaps\\tilemap_temperature.png","frame":0}]},{"name":"player","cels":[{"image":"tilemaps\\tilemap_player.png","frame":0}]}]}
+{"width":320,"height":320,"layers":[{"name":"ground","cels":[{"image":"tilemaps\\tilemap_ground.png","frame":0}]},{"name":"objects","cels":[{"image":"tilemaps\\tilemap_objects.png","frame":0}]},{"name":"temperature","cels":[{"image":"tilemaps\\tilemap_temperature.png","frame":0}]},{"name":"player","cels":[{"image":"tilemaps\\tilemap_player.png","frame":0}]}],"frames":[{"duration":0.1}],"filename":"tilemaps.aseprite"}

project/assets/tilemap/tileset.tres

@@ -30,11 +30,9 @@ texture = ExtResource("2_15xge")
 2:0/0 = 0
 0:1/0 = 0
 0:2/0 = 0
-0:3/0 = 0
+0:4/size_in_atlas = Vector2i(2, 1)
-1:3/0 = 0
 0:4/0 = 0
 0:5/0 = 0
-0:6/0 = 0
 0:7/0 = 0
 3:0/0 = 0
 1:1/0 = 0
@@ -44,6 +42,19 @@ texture = ExtResource("2_15xge")
 2:2/0 = 0
 3:2/0 = 0
 4:2/0 = 0
+2:4/size_in_atlas = Vector2i(2, 1)
+2:4/0 = 0
+4:4/size_in_atlas = Vector2i(2, 1)
+4:4/0 = 0
+6:4/size_in_atlas = Vector2i(2, 1)
+6:4/0 = 0
+6:2/0 = 0
+1:5/0 = 0
+0:6/size_in_atlas = Vector2i(2, 1)
+0:6/0 = 0
+5:1/0 = 0
+6:1/0 = 0
+7:1/0 = 0
 4:0/size_in_atlas = Vector2i(1, 2)
 4:0/0 = 0
 
@@ -53,6 +64,9 @@ texture = ExtResource("3_xap0v")
 0:0/0/custom_data_1 = 10
 1:0/0 = 0
 1:0/0/custom_data_1 = 20
+2:1/0 = 0
+1:1/0 = 0
+0:1/0 = 0
 
 [sub_resource type="TileSetAtlasSource" id="TileSetAtlasSource_i41cv"]
 texture = ExtResource("4_f38wc")

project/project.godot

@@ -104,5 +104,6 @@ key_6={
 
 [rendering]
 
+textures/canvas_textures/default_texture_filter=0
 renderer/rendering_method="gl_compatibility"
 renderer/rendering_method.mobile="gl_compatibility"

project/scripts/global/GameManager.gd

@@ -5,9 +5,11 @@ extends Node
 @onready var player: PlayerManager = $PlayerManager
 @onready var camera: Camera2D = $Camera2D
 @onready var game_ticker: Timer = $GameTick
-
+var tilemap_navigation: TilemapNavigation = TilemapNavigation.new()
 
 func _ready() -> void:
+    tilemap_navigation.world = world
+    tilemap_navigation.player = player
     player.game_manager = self
     game_ticker.start()
 
@@ -30,6 +32,8 @@ func player_health_depleted():
 
 func _on_game_tick_timeout() -> void:
     var timer_on_game_tick_timeout: PerformanceTimer = PerformanceTimer.new()
-    timer_on_game_tick_timeout.display_name = "_on_game_tick_timeout"
+    timer_on_game_tick_timeout.display_name = "game tick duration"
+    tilemap_navigation.game_tick_start()
     player.game_tick()
+    tilemap_navigation.game_tick_end()
     timer_on_game_tick_timeout.stop()

project/scripts/player/PlayerManager.gd

@@ -10,8 +10,13 @@ extends Node
 
 var tilemap_types: TileMapTileTypes = TileMapTileTypes.new()
 #
-var game_manager: GameManager = null
+var game_manager: GameManager     = null
-var board_position: Vector2i  = Vector2i(8, 10)
+var last_board_position: Vector2i = Vector2i(0, 0)
+var board_position: Vector2i      = Vector2i(8, 10):
+    set(value):
+        last_board_position = board_position
+        board_position = value
+        update_board()
 
 @onready var behavior_tree: BehaviorTree = $BehaviorTree
 
@@ -20,7 +25,10 @@ var food: int = 0
 var temperature_timer: int = 0
 var health: int            = 0
 #
-var inventory_slot: Vector2i = tilemap_types.EMPTY
+var inventory_slot: Vector2i = tilemap_types.EMPTY:
+    set(value):
+        inventory_slot = value
+        update_board()
 
 
 func _ready() -> void:
@@ -38,19 +46,19 @@ func _process(delta: float) -> void:
     if Input.is_action_just_pressed("key_5"):
         pick_up_item(Vector2i(5, 8))
         pick_up_item(Vector2i(9, 9))
-        update_board()
     if Input.is_action_just_pressed("key_4"):
         var nearest: Vector2i = find_nearest_object([game_manager.world.tilemap_types.OBJECT_I_TREE_1])
         # nearest.x = nearest.x - 1
         walk_towards(nearest)
-        update_board()
 
 
 # SECTION: board access/mangement
 
 func update_board() -> void:
     game_manager.world.tilemap_player.clear_cells()
-    game_manager.world.tilemap_player.set_cell(board_position, tilemap_types.PLAYER)
+    # decide what direction the player is facing tilemap_types.PLAYER_DOWN, ...
+    var direction: Vector2i = find_direction(last_board_position, board_position)
+    game_manager.world.tilemap_player.set_cell(board_position, tilemap_types.player_sprite_from_direction(direction))
     if inventory_slot and inventory_slot != tilemap_types.EMPTY:
         inventory_label.text = str(inventory_slot)
     else:
@@ -101,7 +109,7 @@ func pick_up_item(tilemap_pos: Vector2i) -> void:
 # SECTION: player movement
 
 func walk_towards(position: Vector2i) -> void:
-    var path: Array[Vector2i] = game_manager.world.find_path(board_position, position)
+    var path: Array[Vector2i] = game_manager.tilemap_navigation.find_path(board_position, position)
     walk_along(path)
 
 
@@ -110,6 +118,7 @@ func walk_along(path: Array[Vector2i]) -> void:
         var next_position: Vector2i = path[1]
         var direction: Vector2i     = find_direction(board_position, next_position)
         move_player(direction)
+        game_manager.tilemap_navigation.chosen_path = path
     else:
         push_warning("walk_along path is empty")
 
@@ -136,7 +145,7 @@ func find_nearest_object(object_collection: Array[Vector2i]) -> Vector2i:
     var shortest_distance: float = 99999999
 
     for position in object_positions:
-        var distance: float = game_manager.world.manhattan_distance(board_position, position)
+        var distance: float = game_manager.tilemap_navigation.manhattan_distance(board_position, position)
         if closest_object == tilemap_types.NO_TILE_FOUND or distance < shortest_distance:
             closest_object = position
             shortest_distance = distance
@@ -178,7 +187,7 @@ func tick_handle_food():
 func game_tick() -> void:
     behavior_tree.game_tick()
 
-    var player_positon_array: Array[Vector2i] = game_manager.world.tilemap_player.get_cells_by_type(tilemap_types.PLAYER)
+    var player_positon_array: Array[Vector2i] = game_manager.world.tilemap_player.get_cells_by_type(tilemap_types.PLAYER_DOWN)
     if len(player_positon_array) > 0:
         var player_positon: Vector2i = player_positon_array[0]
         var cell_temperature: int    = game_manager.world.tilemap_temperature.get_custom_data(player_positon, "temperature", 0) as int

project/scripts/player/tree/BehaviorTree.gd

@@ -22,6 +22,7 @@ func populate_blackboard():
 	blackboard["world"] = game_manager.world
 	blackboard["player"] = game_manager.player
 	blackboard["camera"] = game_manager.camera
+	blackboard["navigation"] = game_manager.tilemap_navigation
 
 
 func game_tick() -> void:

project/scripts/player/tree/impl/context/WalkToMouse.gd

@@ -1,16 +0,0 @@
-class_name WalkToMouse
-extends Task
-
-func run(p_blackboard: Dictionary) -> void:
-	var world: World = p_blackboard["world"]
-	var player: PlayerManager = p_blackboard["player"]
-
-	world.tilemap_temperature.clear_cells()
-	var path: Array[Vector2i] = world.find_path(player.board_position, world.tilemap_mouse_position(), 200)
-	if len(path) == 0:
-		status = FAILURE
-
-	for pos in path:
-		world.tilemap_temperature.set_cell(pos, tilemap_types.TEMPERATURE_COLD_1)
-	player.walk_along(path)
-	status = SUCCESS

project/scripts/player/tree/impl/testing/WalkToMouse.gd

@@ -0,0 +1,17 @@
+class_name WalkToMouse
+extends Task
+
+func run(p_blackboard: Dictionary) -> void:
+    var world: World                          = p_blackboard["world"]
+    var player: PlayerManager                 = p_blackboard["player"]
+    var tilemap_navigation: TilemapNavigation = p_blackboard["navigation"]
+
+    world.tilemap_temperature.clear_cells()
+    var path: Array[Vector2i] = tilemap_navigation.find_path(player.board_position, world.tilemap_mouse_position(), player.view_distance)
+    if len(path) == 0:
+        status = FAILURE
+
+    for pos in path:
+        world.tilemap_temperature.set_cell(pos, tilemap_types.TEMPERATURE_COLD_1)
+    player.walk_along(path)
+    status = SUCCESS

project/scripts/player/tree/impl/testing/WalkUpToMouse.gd

@@ -0,0 +1,17 @@
+class_name WalkUpToMouse
+extends Task
+
+func run(p_blackboard: Dictionary) -> void:
+    var world: World                          = p_blackboard["world"]
+    var player: PlayerManager                 = p_blackboard["player"]
+    var tilemap_navigation: TilemapNavigation = p_blackboard["navigation"]
+
+    world.tilemap_temperature.clear_cells()
+    var path: Array[Vector2i] = tilemap_navigation.find_path_allow_neighbors(player.board_position, world.tilemap_mouse_position(), player.view_distance)
+    if len(path) == 0:
+        status = FAILURE
+
+    for pos in path:
+        world.tilemap_temperature.set_cell(pos, tilemap_types.TEMPERATURE_COLD_1)
+    player.walk_along(path)
+    status = SUCCESS

project/scripts/tilemap/TileMapLayerAccess.gd

@@ -40,6 +40,10 @@ func get_cell(position: Vector2i) -> TileData:
 	return tilemap.get_cell_tile_data(position)
 
 
+func get_cell_atlas_coords(position: Vector2i) -> Vector2i:
+	return tilemap.get_cell_atlas_coords(position)
+
+
 func set_cell(position: Vector2i, atlas_coords: Vector2i) -> void:
 	tilemap.set_cell(position, sid, atlas_coords)
 

project/scripts/tilemap/TileMapTileTypes.gd

@@ -13,40 +13,58 @@ const GROUND_DOCK: Vector2i          = Vector2i(3, 0)
 #
 # objects, sid = 1
 # NI = not interactive
-const OBJECT_NI_RANDOM_1: Vector2i = Vector2i(0, 0) # testing only, to be removed
+const OBJECT_NI_RANDOM_1: Vector2i       = Vector2i(0, 0) # testing only, to be removed
-const OBJECT_NI_RANDOM_2: Vector2i = Vector2i(1, 0) # testing only, to be removed
+const OBJECT_NI_RANDOM_2: Vector2i       = Vector2i(1, 0) # testing only, to be removed
-const OBJECT_NI_ROCK_1: Vector2i   = Vector2i(2, 0)
+const OBJECT_NI_ROCK_1: Vector2i         = Vector2i(2, 0)
-const OBJECT_NI_FIREPIT_ON: Vector2i = Vector2i(7, 1)
+const OBJECT_NI_FIREPIT_ON: Vector2i     = Vector2i(7, 1)
-const OBJECT_NI_TREE_CUT: Vector2i   = Vector2i(2, 0)
+const OBJECT_NI_TREE_CUT: Vector2i       = Vector2i(2, 0)
-const OBJECT_NI_BOAT_NO_ENIGNE: Vector2i= Vector2i(4, 4)
+const OBJECT_NI_BOAT_NO_ENIGNE: Vector2i = Vector2i(4, 4)
-
+#
-
 # I = interactive
-const OBJECT_I_BOAT_ENGINE: Vector2i = Vector2i(0, 1)
+const OBJECT_I_BOAT_ENGINE: Vector2i      = Vector2i(0, 1)
-const OBJECT_I_FUEL: Vector2i        = Vector2i(1, 1)
+const OBJECT_I_FUEL: Vector2i             = Vector2i(1, 1)
-const OBJECT_I_ANCHOR: Vector2i      = Vector2i(2, 1)
+const OBJECT_I_ANCHOR: Vector2i           = Vector2i(2, 1)
-const OBJECT_I_EMPTY_BUSH: Vector2i  = Vector2i(3, 0)
+const OBJECT_I_EMPTY_BUSH: Vector2i       = Vector2i(3, 0)
-const OBJECT_I_FILLED_BUSH: Vector2i = Vector2i(3, 1)
+const OBJECT_I_FILLED_BUSH: Vector2i      = Vector2i(3, 1)
-const OBJECT_I_BERRY: Vector2i       = Vector2i(0, 5)
+const OBJECT_I_BERRY: Vector2i            = Vector2i(0, 5)
-const OBJECT_I_STICK: Vector2i       = Vector2i(1, 5)
+const OBJECT_I_STICK: Vector2i            = Vector2i(1, 5)
-const OBJECT_I_TREE_1: Vector2i      = Vector2i(4, 0)
+const OBJECT_I_TREE_1: Vector2i           = Vector2i(4, 0)
-const OBJECT_I_CHEST: Vector2i       = Vector2i(0, 2)
+const OBJECT_I_CHEST: Vector2i            = Vector2i(0, 2)
-const OBJECT_I_GEARS: Vector2i       = Vector2i(1, 2)
+const OBJECT_I_GEARS: Vector2i            = Vector2i(1, 2)
-const OBJECT_I_MEDIKIT: Vector2i     = Vector2i(2, 2)
+const OBJECT_I_MEDIKIT: Vector2i          = Vector2i(2, 2)
-const OBJECT_I_PADDLE: Vector2i      = Vector2i(3, 2)
+const OBJECT_I_PADDLE: Vector2i           = Vector2i(3, 2)
-const OBJECT_I_GAS_STOVE: Vector2i   = Vector2i(4, 2)
+const OBJECT_I_GAS_STOVE: Vector2i        = Vector2i(4, 2)
-const OBJECT_I_TENT: Vector2i        = Vector2i(6, 2)
+const OBJECT_I_TENT: Vector2i             = Vector2i(6, 2)
-
+const OBJECT_I_BOAT_WITH_ENGINE: Vector2i = Vector2i(6, 4)
-const OBJECT_I_BOAT_WITH_ENGINE: Vector2i = Vector2i(6,4)
+const OBJECT_I_FIREPIT_OFF: Vector2i      = Vector2i(6, 1)
-const OBJECT_I_FIREPIT_OFF: Vector2i = Vector2i(6, 1)
-
 # collections
 const OBJECT_COLLECTION_BERRY_SOURCE: Array[Vector2i] = [OBJECT_I_FILLED_BUSH, OBJECT_I_BERRY]
 #
 # temperature, sid = 2
-const TEMPERATURE_NORMAL: Vector2i = Vector2i(-1, -1)
+const TEMPERATURE_NORMAL: Vector2i = EMPTY
 const TEMPERATURE_COLD_1: Vector2i = Vector2i(0, 0)
 const TEMPERATURE_COLD_2: Vector2i = Vector2i(1, 0)
 #
+const NAVIGATION_CHECKED: Vector2i = Vector2i(0, 1)
+const NAVIGATION_CHOSEN: Vector2i  = Vector2i(1, 1)
+const NAVIGATION_FAILED: Vector2i  = Vector2i(2, 1)
+#
 # player, sid = 3
-const PLAYER: Vector2i = Vector2i(0, 0)
+const PLAYER_DOWN: Vector2i  = Vector2i(0, 0)
+const PLAYER_UP: Vector2i    = Vector2i(1, 0)
+const PLAYER_LEFT: Vector2i  = Vector2i(2, 0)
+const PLAYER_RIGHT: Vector2i = Vector2i(3, 0)
+#
+const PLAYER_COLLECTION: Array[Vector2i] = [PLAYER_DOWN, PLAYER_UP, PLAYER_LEFT, PLAYER_RIGHT]
+
+
+func player_sprite_from_direction(direction: Vector2i) -> Vector2i:
+    if direction == Vector2i(0, 1):
+        return PLAYER_DOWN
+    if direction == Vector2i(0, -1):
+        return PLAYER_UP
+    if direction == Vector2i(-1, 0):
+        return PLAYER_LEFT
+    if direction == Vector2i(1, 0):
+        return PLAYER_RIGHT
+    return PLAYER_DOWN

project/scripts/tilemap/TilemapNavigation.gd

@@ -0,0 +1,125 @@
+class_name TilemapNavigation
+extends Node
+
+var tilemap_types: TileMapTileTypes = TileMapTileTypes.new()
+#
+var world: World          = null
+var player: PlayerManager = null
+#
+# Dictionary[Vector2i, Array[Vector2i]] (target, path)
+var found_paths: Dictionary           = {}
+var failed_positions: Array[Vector2i] = []
+var chosen_path: Array[Vector2i]      = []
+
+
+func game_tick_start() -> void:
+    found_paths = {}
+    failed_positions = []
+    chosen_path    = []
+
+
+func game_tick_end() -> void:
+    world.tilemap_nav_vis.clear_cells()
+    # use tilemap_types.NAVIGATION_CHECKED, tilemap_types.NAVIGATION_FAILED and tilemap_types.NAVIGATION_CHOSEN
+    for path in found_paths.values():
+        for pos in path:
+            world.tilemap_nav_vis.set_cell(pos, tilemap_types.NAVIGATION_CHECKED)
+    for pos in failed_positions:
+        world.tilemap_nav_vis.set_cell(pos, tilemap_types.NAVIGATION_FAILED)
+    for pos in chosen_path:
+        world.tilemap_nav_vis.set_cell(pos, tilemap_types.NAVIGATION_CHOSEN)
+
+
+func is_within_radius(position: Vector2i, center: Vector2i, radius: int) -> bool:
+    return manhattan_distance(position, center) <= radius
+
+
+func manhattan_distance(a: Vector2i, b: Vector2i) -> int:
+    return abs(a.x - b.x) + abs(a.y - b.y)
+
+
+var walking_directions: Array[Vector2i] = [Vector2i(0, -1), Vector2i(0, 1), Vector2i(-1, 0), Vector2i(1, 0)]
+var f_score: Dictionary                 = {}
+
+
+func find_path_allow_neighbors(start_position: Vector2i, end_position: Vector2i, max_radius: int = -1) -> Array[Vector2i]:
+    if world.is_walkable(end_position):
+        # check the tile itself first, then check the four surrounding tiles
+        var path: Array[Vector2i] = find_path(start_position, end_position, max_radius)
+        if path.size() != 0:
+            return path
+
+    else:
+        for direction in walking_directions:
+            var neighbor: Vector2i    = end_position + direction
+            var path: Array[Vector2i] = find_path(start_position, neighbor, max_radius)
+            if path.size() != 0:
+                return path
+
+    return []
+
+
+func find_path(start_position: Vector2i, end_position: Vector2i, max_radius: int = -1) -> Array[Vector2i]:
+    var path: Array[Vector2i] = _find_path_internal(start_position, end_position, max_radius)
+    if path.size() > 0:
+        found_paths[end_position] = path
+    else:
+        failed_positions.append(end_position)
+    return path
+
+
+func _find_path_internal(start_position: Vector2i, end_position: Vector2i, max_radius: int = -1) -> Array[Vector2i]:
+    if max_radius > -1 and not is_within_radius(end_position, start_position, max_radius):
+        return []
+    if not world.is_walkable(end_position):
+        return []
+
+    var check_nodes                = PriorityQueue.new()  # lowest f_score
+    var came_from: Dictionary      = {}
+    var g_score: Dictionary        = {}
+    var walkable_cache: Dictionary = {}
+    f_score = {}
+
+    var visited_nodes: Dictionary = {}
+
+    check_nodes.insert(start_position, 0)
+    g_score[start_position] = 0
+    f_score[start_position] = manhattan_distance(start_position, end_position) * 1.1  # Heuristic weighting
+
+    while not check_nodes.empty():
+        var current: Vector2i = check_nodes.extract()
+
+        if current == end_position:
+            var path: Array[Vector2i] = []
+            while current in came_from:
+                path.insert(0, current)
+                current = came_from[current]
+            path.insert(0, start_position)
+            return path
+
+        visited_nodes[current] = true
+
+        for direction in walking_directions:
+            var neighbor: Vector2i = current + direction
+
+            # Combine checks for early skipping
+            if neighbor in visited_nodes or (max_radius > -1 and not is_within_radius(neighbor, start_position, max_radius)):
+                continue
+
+            if not walkable_cache.has(neighbor):
+                walkable_cache[neighbor] = world.is_walkable(neighbor)
+
+            if not walkable_cache[neighbor]:
+                continue
+
+            var cost: int              = world.tilemap_ground.get_custom_data(neighbor, "cost", 1)
+            var tentative_g_score: int = g_score.get(current, INF) + cost
+
+            if tentative_g_score < g_score.get(neighbor, INF):
+                came_from[neighbor] = current
+                g_score[neighbor] = tentative_g_score
+                f_score[neighbor] = tentative_g_score + manhattan_distance(neighbor, end_position) * 1.1  # Heuristic weighting
+                if not check_nodes.contains(neighbor):
+                    check_nodes.insert(neighbor, f_score[neighbor])
+
+    return []

project/scripts/tilemap/World.gd

@@ -6,6 +6,7 @@ var tilemap_non_interactive: TileMapLayerAccess = TileMapLayerAccess.new()
 var tilemap_interactive: TileMapLayerAccess     = TileMapLayerAccess.new()
 var tilemap_player: TileMapLayerAccess          = TileMapLayerAccess.new()
 var tilemap_temperature: TileMapLayerAccess     = TileMapLayerAccess.new()
+var tilemap_nav_vis: TileMapLayerAccess     = TileMapLayerAccess.new()
 #
 var tilemap_types: TileMapTileTypes = TileMapTileTypes.new()
 
@@ -21,6 +22,8 @@ func _ready() -> void:
     tilemap_player.tilemap = $PlayerLayer
     tilemap_temperature.sid = 2
     tilemap_temperature.tilemap = $TemperatureLayer
+    tilemap_nav_vis.sid = 2
+    tilemap_nav_vis.tilemap = $NavigationVisualization
 
     tilemap_ground.setup()
     tilemap_non_interactive.setup()
@@ -28,6 +31,8 @@ func _ready() -> void:
     tilemap_player.setup()
     tilemap_temperature.setup()
 
+    print(tilemap_interactive.get_cell_atlas_coords(Vector2i(17, 6)))
+
 
 # example usage
 # tilemap_temperature.fill_area(Vector2i(0, 0), Vector2i(10, 10), tilemap_types.TEMPERATURE_COLD_1)
@@ -56,73 +61,3 @@ func is_walkable(position: Vector2i) -> bool:
     var interactive_walkable: bool     = tilemap_interactive.get_custom_data(position, "walkable", true)
 
     return ground_tile_walkable and non_interactive_walkable and interactive_walkable
-
-
-func is_within_radius(position: Vector2i, center: Vector2i, radius: int) -> bool:
-    return manhattan_distance(position, center) <= radius
-
-
-func manhattan_distance(a: Vector2i, b: Vector2i) -> int:
-    return abs(a.x - b.x) + abs(a.y - b.y)
-
-
-var walking_directions: Array[Vector2i] = [Vector2i(0, -1), Vector2i(0, 1), Vector2i(-1, 0), Vector2i(1, 0)]
-var f_score: Dictionary                 = {}
-
-
-func find_path(start_position: Vector2i, end_position: Vector2i, max_radius: int = -1) -> Array[Vector2i]:
-    if max_radius > -1 and not is_within_radius(end_position, start_position, max_radius):
-        return []
-    if not is_walkable(end_position):
-        return []
-
-    var check_nodes                = PriorityQueue.new()  # lowest f_score
-    var came_from: Dictionary      = {}
-    var g_score: Dictionary        = {}
-    var walkable_cache: Dictionary = {}
-    f_score = {}
-
-    var visited_nodes: Dictionary = {}
-
-    check_nodes.insert(start_position, 0)
-    g_score[start_position] = 0
-    f_score[start_position] = manhattan_distance(start_position, end_position) * 1.1  # Heuristic weighting
-
-    while not check_nodes.empty():
-        var current: Vector2i = check_nodes.extract()
-
-        if current == end_position:
-            var path: Array[Vector2i] = []
-            while current in came_from:
-                path.insert(0, current)
-                current = came_from[current]
-            path.insert(0, start_position)
-            return path
-
-        visited_nodes[current] = true
-
-        for direction in walking_directions:
-            var neighbor: Vector2i = current + direction
-
-            # Combine checks for early skipping
-            if neighbor in visited_nodes or (max_radius > -1 and not is_within_radius(neighbor, start_position, max_radius)):
-                continue
-
-            if not walkable_cache.has(neighbor):
-                walkable_cache[neighbor] = is_walkable(neighbor)
-
-            if not walkable_cache[neighbor]:
-                continue
-
-            var cost: int              = tilemap_ground.get_custom_data(neighbor, "cost", 1)
-            var tentative_g_score: int = g_score.get(current, INF) + cost
-
-            if tentative_g_score < g_score.get(neighbor, INF):
-                came_from[neighbor] = current
-                g_score[neighbor] = tentative_g_score
-                f_score[neighbor] = tentative_g_score + manhattan_distance(neighbor, end_position) * 1.1  # Heuristic weighting
-                if not check_nodes.contains(neighbor):
-                    check_nodes.insert(neighbor, f_score[neighbor])
-
-    return []
-