HPA* Pathfinding

This project is about pathfinding algorithms over large terrains for use with AI/AL in realtime. I analysed a number of different algorithms for my intended use case, including A*, LPA*, HPA* and D* Lite. 

The final project is HPA*, written in C# with Unity as a base. The final version is object-oriented, however I am writing a data-oriented version which will leverage the DOTS (data-oriented technology stack) available in Unity, as well as the Burst compiler. 

The final version of my implementation of the algorithm allows for hundreds of agents to find near-optimal paths over exceptionally large distances with sub-1ms calculation per agent.