Sena

The two major systems that were worked on for Sena was the  custom FMOD integration for Godot Engine, as well as a custom Annotated A* path finding algorithm. The Annotated A* path finding used Godot's inbuilt tilemap systems to place areas that are walkable for certain or multiple agent types. It would then use a flood fill algorithm for determining the space around the walkable tile to determine how much clearance (the maximum size AI agent that can walk said tile.) each tile has. Obstacles can also e place via colliders, which my system then uses their axis aligning bounding boxes to project an area that is not walkable. However, updating an entire grid of tiles can be costly on the CPU, so I implemented a smart recalculation algorithm (only working in the 2D project iteration) that flood fills from the point of recalculation (a door, a moving wall, etc) and stops when the clearance values are identical to the previous clearance map.