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Code:
;Written by Heathen
Structure pathfinding_structure ;Main Options
  Width.l          ; Width of the grid (cells, not pixels)
  Height.l         ; Height of the grid (cells, not pixels)
  tilesize.w       ;Size of the cells (tiles) in pixels. For now, this applies to everything.
  allowdiag.c      ;Can move diagonally?
  blockdiag.c      ;Can move diagonally between blocked squares?
  blocked.l        ;pointer to a 2d array (width-1,height-1). 1 = blocked, 0 = free
  Priority.l       ;pointer to a 2d array (width-1,height-1). 0-100. 0 = normal/low priority, 100 = high priority
  cast_ray.c       ;try to cast a ray before pathfinding? Please use with caution as this needs more work
  dynamic.l        ;pointer to a 1d array of structure pointers (which contain x and y coordinates). This is for dynamic pathfinding and is optional.
  dynamic_size.w   ;size of the array structure. (Can use sizeof(structure))
  xoff.w           ;offset in the structure of the x coordinate (in pixels). (Can use offsetof(structure/x))
  yoff.w           ;offset in the structure of the y coordinate (in pixels). (Can use offsetof(structure/y)))
  xto_off.w        ;offset to the next x coordinate (in cells). -The square the object will move to next-. (not necessary but can lead to less problems and will usuall be faster/more precise.)
  yto_off.w        ;offset to the next y coordinate (in cells). -The square the object will move to next-. (not necessary but can lead to less problems and will usually be faster/more precise.)
  dynamic_count.w  ;number of items in the array. (Doesn't have to be the size of the whole array, just the size you are using)
  ignore.l         ;Dynamic array index to ignore.  Can use 'ignore_ovverride' arguments in the procedures to override this with a new index.
  cost.w           ;cost to move horizontally and vertically (optional default 10)
  diagcost.w       ;cost to move diagonally (option default 14)
  alt_copymemory.c
EndStructure


;{ Internal
Structure openlist
  x.l
  y.l
  f.l
EndStructure

strucsize_.c  = SizeOf(openlist)

Procedure CopyMemoryAMD(*src, *dst, Size)
  CopyMemory(*src,*dst, Size)
EndProcedure

Macro check(xx,yy,gg=cost)
  If xx > -1 And yy > -1 And xx < Width And yy < Height And open(xx,yy) > -1
    g = gg+g(x,y)
    p = array_2d(Priority,Width,xx,yy)
    If p > 0
      g/(100/p)
    EndIf
    If (open(xx,yy) = 0 Or g < g(xx,yy))
      xd = xend-xx
      yd = yend-yy
      If xd < 0 : xd = -xd : EndIf
      If yd < 0 : yd = -yd : EndIf
      g(xx,yy) = g
      parentx(xx,yy) = x
      parenty(xx,yy) = y
      If open(xx,yy) > 0
        openlist(open(xx,yy))\f = xd+yd + g(xx,yy)
        pos = open(xx,yy)
      Else
        oc + 1
        If oc/50 >= oa
          oa+1
          ReDim openlist.openlist(oa*50)
        EndIf
        openlist(oc)\x = xx
        openlist(oc)\y = yy
        openlist(oc)\f = xd+yd + g(xx,yy)
        open(xx,yy) = oc
        pos = oc
      EndIf
      a = pos >> 1
      While pos > 1 And openlist(pos)\f < openlist(a)\f
        open(openlist(pos)\x,openlist(pos)\y) = a
        open(openlist(a)\x,openlist(a)\y) = pos
        If Not alt_copymemory
          CopyMemory(@openlist(pos),*temp,strucsize_)
          CopyMemory(@openlist(a),@openlist(pos),strucsize_)
          CopyMemory(*temp,@openlist(a),strucsize_)
        Else
          CopyMemoryAMD(@openlist(pos),*temp,strucsize_)
          CopyMemoryAMD(@openlist(a),@openlist(pos),strucsize_)
          CopyMemoryAMD(*temp,@openlist(a),strucsize_)
        EndIf
        pos = a
        a = pos >> 1
      Wend
    EndIf
  EndIf
EndMacro

Procedure.c array_2d(pointer,Width,field1,field2,pointer2=0)
  If pointer > 0
    Protected c = PeekC(pointer+field1*Width+field2)
    If c = 0 And pointer2 > 0
      c = PeekC(pointer2+field1*Width+field2)
    EndIf
    ProcedureReturn c
  EndIf
  ProcedureReturn 0
EndProcedure

Procedure ray(x,y,xto,yto,blocked,Width,diag,dyn=0)
  Protected xd,yd,a.w,b.w,d
  *mem = AllocateMemory(8)
  b = 0
  Repeat
    If array_2d(blocked,Width,x,y,dyn) = 1
      FreeMemory(*mem)
      ProcedureReturn 0
    Else
      PokeL(*mem+b*8,x)
      PokeL(*mem+b*8+4,y)
      b + 1
      xd = xto-x
      yd = yto-y
      If xd < 0 : xd = -xd : EndIf
      If yd < 0 : yd = -yd : EndIf
      d = xd+yd
      *mem = ReAllocateMemory(*mem,(b+1)*8)
    EndIf
    a = 0
    If xto > x : x + 1 : a = 1
    ElseIf xto < x : x - 1 : a = 1
    EndIf
    If a = 0 Or diag = 1
      If yto > y : y + 1
      ElseIf yto < y : y - 1
      EndIf
    EndIf
    If x = xto And y = yto
      ReAllocateMemory(*mem,b*8)
      ProcedureReturn *mem
    EndIf
  ForEver
EndProcedure

Macro get_ops()
  Width.l = *pathfinding_structure\Width
  Height.l = *pathfinding_structure\Height
  allowdiag.c = *pathfinding_structure\allowdiag
  blockdiag.c = *pathfinding_structure\blockdiag
  blocked.l = *pathfinding_structure\blocked
  Priority.l = *pathfinding_structure\Priority
  cast_ray.l = *pathfinding_structure\cast_ray
  dynamic.l  = *pathfinding_structure\dynamic
  dynamic_size.w = *pathfinding_structure\dynamic_size
  xoff.w = *pathfinding_structure\xoff
  yoff.w = *pathfinding_structure\yoff
  xto_off.w = *pathfinding_structure\xto_off
  yto_off.w = *pathfinding_structure\yto_off
  dynamic_count.w = *pathfinding_structure\dynamic_count
  ignore.l = *pathfinding_structure\ignore
  tilesize.w = *pathfinding_structure\tilesize
  cost.w = *pathfinding_structure\cost
  diagcost.w = *pathfinding_structure\diagcost
  alt_copymemory.c = *pathfinding_structure\alt_copymemory
  If cost = 0
    cost = 10
  EndIf
  If diagcost = 0
    diagcost = 14
  EndIf
  If ignore_override > 0
    ignore = ignore_override
  EndIf
EndMacro
;}

Procedure.l get_path(xstart,ystart,xend,yend,*pathfinding_structure.pathfinding_structure,ignore_override.l=0)
  get_ops()
  If (xstart = xend And yend = ystart) Or Width < 1 Or Height < 1
    ProcedureReturn 0
  EndIf
  Protected x,y,g,xx,yy,xd,yd,oc,pos,a,oa.w=1,b1.c,b2.c,b3.c,b4.c,d.c=0
  If dynamic > 0 And dynamic_size > 0 And dynamic_count > 0
    Dim dynamic.c(Width-1,Height-1)
    Protected dyn = @dynamic()
    For x = 0 To dynamic_count-1
      If x <> ignore
        xx = PeekL(dynamic+x*dynamic_size+xoff)/tilesize
        yy = PeekL(dynamic+x*dynamic_size+yoff)/tilesize
        dynamic(xx,yy) = 1
        If xto_off > 0 And yto_off > 0 And dynamic(xx,yy) = 0
          xx = PeekL(dynamic+x*dynamic_size+xto_off)
          yy = PeekL(dynamic+x*dynamic_size+yto_off)
          dynamic(xx,yy) = 1
        EndIf
      EndIf
    Next x
  EndIf
  If cast_ray = 1
    Protected r
    r = ray(xend,yend,xstart,ystart,blocked,Width,allowdiag,dyn)
    If r > 0
      Debug "ray"
      ProcedureReturn r
    EndIf
  EndIf
  Shared strucsize_
  Protected Dim openlist.openlist(50)
  Protected Dim g.l(Width-1,Height-1)
  Protected Dim open.l(Width-1,Height-1)
  Protected Dim parentx.l(Width-1,Height-1)
  Protected Dim parenty.l(Width-1,Height-1)
  Protected *temp = AllocateMemory(strucsize_)
  x = xstart : y = ystart : open(x,y) = -1
  Repeat
    If x-1 >=0 : b1 = array_2d(blocked,Width,x-1,y,dyn) : Else :  b1=0 : EndIf
    If x+1 < Width : b2 = array_2d(blocked,Width,x+1,y,dyn) : Else : b2=0 : EndIf
    If y-1 >= 0 : b3 = array_2d(blocked,Width,x,y-1,dyn) : Else :  b3=0 : EndIf
    If y+1 < Height : b4 = array_2d(blocked,Width,x,y+1,dyn) : Else :  b4=0 : EndIf
    If allowdiag
      If array_2d(blocked,Width,x+1,y-1,dyn)=0 And (blockdiag = 0 Or (blockdiag=1 And (b2 = 0 Or b3=0)))
        check(x+1,y-1,diagcost)
      EndIf
      If array_2d(blocked,Width,x-1,y+1,dyn)=0 And (blockdiag = 0 Or (blockdiag=1 And (b1= 0 Or b4=0)))
        check(x-1,y+1,diagcost)
      EndIf
      If array_2d(blocked,Width,x-1,y-1,dyn)=0 And (blockdiag = 0 Or (blockdiag=1 And (b1 = 0 Or  b3=0)))
        check(x-1,y-1,diagcost)
      EndIf
      If array_2d(blocked,Width,x+1,y+1,dyn)=0 And (blockdiag = 0 Or (blockdiag=1 And (b2 = 0 Or b4=0)))
        check(x+1,y+1,diagcost)
      EndIf
    EndIf
    If b1 = 0 : check(x-1,y) : EndIf
    If b2 = 0 : check(x+1,y) : EndIf
    If b3 = 0 : check(x,y-1) : EndIf
    If b4 = 0 : check(x,y+1) : EndIf
    If oc = 0
      FreeMemory(*temp)
      ProcedureReturn 0
    EndIf
    x = openlist(1)\x
    y = openlist(1)\y
    open(x,y) = -1
    open(openlist(oc)\x,openlist(oc)\y) = 1
    If Not alt_copymemory
      CopyMemory(@openlist(oc),@openlist(1),strucsize_)
    Else
      CopyMemoryAMD(@openlist(oc),@openlist(1),strucsize_)
    EndIf
    oc-1
    If oc > 1
      pos = 1
      Repeat
        a = pos << 1
        c = 0
        If a <= oc And openlist(pos)\f >= openlist(a)\f
          c = 1
        EndIf
        If a+1 <= oc And openlist(pos)\f >= openlist(a+1)\f And (c = 0 Or (c = 1 And openlist(a+1)\f < openlist(a)\f))
          a + 1
          c = 1
        EndIf
        If c = 1
          open(openlist(pos)\x,openlist(pos)\y) = a
          open(openlist(a)\x,openlist(a)\y) = pos
          If Not alt_copymemory
            CopyMemory(@openlist(pos),*temp,strucsize_)
            CopyMemory(@openlist(a),@openlist(pos),strucsize_)
            CopyMemory(*temp,@openlist(a),strucsize_)
          Else
            CopyMemoryAMD(@openlist(pos),*temp,strucsize_)
            CopyMemoryAMD(@openlist(a),@openlist(pos),strucsize_)
            CopyMemoryAMD(*temp,@openlist(a),strucsize_)
          EndIf
          pos=a
        Else
          Break 1
        EndIf
      ForEver
    EndIf
  Until x = xend And y = yend
  pos = 0
  *mem = AllocateMemory(320)
  oa = 0
  Repeat
    PokeL(*mem+pos,x)
    PokeL(*mem+pos+4,y)
    xx = parentx(x,y)
    yy = parenty(x,y)
    x = xx
    y = yy
    pos + 8
    If (x <> xstart Or y <> ystart) And pos/320 > oa
      oa + 1
      *mem = ReAllocateMemory(*mem,(oa+1)*320)
    EndIf
  Until x = xstart And y = ystart
  ReAllocateMemory(*mem,pos)
  FreeMemory(*temp)
  ProcedureReturn *mem
EndProcedure

Procedure path_get_size(*path)
  If *path > 0
    ProcedureReturn MemorySize(*path)/8
  Else
    ProcedureReturn -1
  EndIf
EndProcedure

Procedure path_get_x(*path,ind)
  If *path > 0
    Protected s = MemorySize(*path)
    ind + 1
    If ((s-(ind*8))+4<=s Or ind = 0) And s > 0
      ProcedureReturn PeekW(*path+(s-(ind*8)))
    EndIf
  EndIf
  ProcedureReturn -1
EndProcedure
Procedure path_get_y(*path,ind)
  If *path > 0
    Protected s = MemorySize(*path)
    ind + 1
    If ((s-(ind*8))+8<=s Or ind = 0) And s > 0
      ProcedureReturn PeekW((*path+(s-(ind*8)))+4)
    EndIf
  EndIf
  ProcedureReturn -1
EndProcedure

;{ The following procedures are optional 'utility' procedures.

Procedure is_node_at(*path,x,y)
  If *path > 0
    s = path_get_size(*path)
    If s > 0
      For I = 0 To s-1
        If path_get_x(*path,I) = x And path_get_y(*path,I) = y
          ProcedureReturn 1
        EndIf
      Next I
    EndIf
  EndIf
  ProcedureReturn 0
EndProcedure

Procedure validate_path(*path,*pathfinding_structure.pathfinding_structure,ignore_override=0)
  If *path > 0
    get_ops()
    s = path_get_size(*path)
    If s > 0
      Protected dyn
      If dynamic > 0 And dynamic_size > 0 And dynamic_count > 0
        Dim dynamic.c(Width-1,Height-1)
        dyn = @dynamic()
        For x = 0 To dynamic_count-1
          If x <> ignore
            xx = PeekL(dynamic+x*dynamic_size+xoff)/tilesize
            yy = PeekL(dynamic+x*dynamic_size+yoff)/tilesize
            dynamic(xx,yy) = 1
            If xto_off > 0 And yto_off > 0 And dynamic(xx,yy) = 0
              xx = PeekL(dynamic+x*dynamic_size+xto_off)
              yy = PeekL(dynamic+x*dynamic_size+yto_off)
              dynamic(xx,yy) = 1
            EndIf
          EndIf
        Next x
      EndIf
      For I = 0 To s-1
        If array_2d(blocked,Width,path_get_x(*path,I),path_get_y(*path,I),dyn)
          ProcedureReturn 0
        EndIf
      Next I
      ProcedureReturn 1
    EndIf
  EndIf
  ProcedureReturn 0
EndProcedure

Procedure.w nearest_node(*path,x,y,distalgo=1)
  min = 2147483647
  sz = path_get_size(*path)
  If sz > 0
    For I = 0 To sz-1
      If distalgo = 1
        s = Sqr(Pow(path_get_x(*path,I)-x,2)+Pow(path_get_y(*path,I)-y,2))
      Else
        xd = path_get_x(*path,I)-x
        yd = path_get_y(*path,I)-y
        If xd < 0
          xd * -1
        EndIf
        If yd < 0
          yd * -1
        EndIf
        s = xd+yd
      EndIf
      If s < min
        min = s
        n = I
      EndIf
    Next I
    ProcedureReturn n
  Else
    ProcedureReturn -1
  EndIf
EndProcedure

Procedure.c save_path(*path,filename.s)
  If *path > 0
    s = MemorySize(*path)
    If s >= 8
      f=CreateFile(#PB_Any,filename)
      WriteData(f,*path,s)
      CloseFile(f)
      ProcedureReturn 1
    EndIf
  EndIf
  ProcedureReturn 0
EndProcedure

Procedure load_path(filename.s)
  sz = FileSize(filename)
  If sz >= 8
    *mem = AllocateMemory(sz)
    f=ReadFile(#PB_Any,filename)
    ReadData(f,*mem,sz)
    CloseFile(f)
    ProcedureReturn *mem
  EndIf
  ProcedureReturn 0
EndProcedure

Code: Select all

#tileSize = 40

XIncludeFile "pathfind.pb"
InitSprite()
InitMouse()
InitKeyboard()
#width = 120
#height = 120

#view_width = 120
#view_height = 120


Global Dim blocked.c(#width-1,#height-1)
Global Dim priority.c(#width-1,#height-1)

Structure monster
  x.l
  y.l
  X2.l
  Y2.l
  xto.l
  yto.l
  speed.c
  Path.l
  num.l
  pathsize.l
EndStructure

Structure player
  x.l
  y.l
  xto.l
  yto.l
  Path.l
EndStructure

Global Dim monster.monster(10)
monster(0)\x = 0
monster(0)\y = 1*#tileSize
monster(0)\speed = Random(5)+1
monster(1)\x = 0
monster(1)\y = 2*#tileSize
monster(1)\speed = Random(5)+1
monster(2)\x = 0
monster(2)\y = 3*#tileSize
monster(2)\speed = Random(5)+1
monster(3)\x = 0
monster(3)\y = 4*#tileSize
monster(3)\speed = Random(5)+1

blocked(1,1) = 1
blocked(1,2) = 1
blocked(1,3) = 1
blocked(1,4) = 1
blocked(1,5) = 1
blocked(1,6) = 1
blocked(8,10) = 1
blocked(12,10) = 1
blocked(12,9) = 1
blocked(11,9) = 1
blocked(10,8) = 1
blocked(10,12) = 1

monsters = 4

Global player.player
player\x = 10*#tileSize
player\y = 10*#tileSize
goto_counter = -1

pathfinding_structure.pathfinding_structure
pathfinding_structure\Width = #width
pathfinding_structure\Height = #height
pathfinding_structure\dynamic = @monster()
pathfinding_structure\dynamic_size = SizeOf(monster)
pathfinding_structure\dynamic_count = monsters
pathfinding_structure\xoff = OffsetOf(monster\x)
pathfinding_structure\yoff = OffsetOf(monster\y)
pathfinding_structure\xto_off = OffsetOf(monster\xto)
pathfinding_structure\yto_off = OffsetOf(monster\yto)
pathfinding_structure\tilesize = #tileSize
pathfinding_structure\blocked = @blocked()
pathfinding_structure\cast_ray = 1
pathfinding_structure\alt_copymemory = 0

Procedure elapsed()
  Static maxfreq.q
  Protected T.q
  If maxfreq=0
    QueryPerformanceFrequency_(@maxfreq)
    maxfreq=maxfreq/1000000
  EndIf
  QueryPerformanceCounter_(@T.q)
  ProcedureReturn T/maxfreq
EndProcedure

Procedure monster_at(x,y,num_monsters,ignore)
  For I = 0 To num_monsters-1
    If I <> ignore
      If monster(I)\x /#tileSize = x And monster(I)\y/#tileSize  = y
        ProcedureReturn I
      EndIf
    EndIf
  Next I
  ProcedureReturn -1
EndProcedure

Procedure goto_player(num_monsters,*pathfinding_structure.pathfinding_structure)
  Shared goto_counter
  Shared average_time_path
  goto_counter + 1
  If goto_counter > num_monsters - 1
    goto_counter = 0
  EndIf
  I = goto_counter
  If monster(I)\Path = 0
    xd = monster(I)\xto-player\x/#tileSize
    yd = monster(I)\yto-player\y/#tileSize
    If xd < 0 : xd * -1 : EndIf
    If yd < 0 : yd * -1 : EndIf
    If xd + yd > 1
      monster(I)\xto = monster(I)\x/#tileSize
      monster(I)\yto = monster(I)\y/#tileSize
      T = elapsed()
      monster(I)\Path = get_path(monster(I)\x/#tileSize,monster(I)\y/#tileSize,player\x/#tileSize,player\y/#tileSize,*pathfinding_structure,I)
      T = elapsed()-T
      If average_time_path > 0
        average_time_path = (T+average_time_path)/2
      Else
        average_time_path = T
      EndIf
      If monster(I)\Path > 0
        monster(I)\pathsize = path_get_size(monster(I)\Path)
        monster(I)\num = 0
        Debug "Got path"
      EndIf
    EndIf
  EndIf
EndProcedure

Procedure walk(num_monsters,*pathfinding_structure.pathfinding_structure)
  Shared average_time_validation
  Shared failed_validations
  For I = 0 To num_monsters-1
    If monster(I)\Path > 0
      m = monster_at(monster(I)\xto,monster(I)\yto,num_monsters,I)
      If m = -1
        m = monster_at(monster(I)\x / *pathfinding_structure\tilesize,monster(I)\y  /*pathfinding_structure\tilesize,num_monsters,I)
      EndIf
      If (monster(I)\x = monster(I)\xto*#tileSize And monster(I)\y = monster(I)\yto *#tileSize) Or m > -1
        If monster(I)\num < monster(I)\pathsize-1 Or m > -1
          If m = -1
            monster(I)\xto = path_get_x(monster(I)\Path,monster(I)\num)
            monster(I)\yto = path_get_y(monster(I)\Path,monster(I)\num)
            monster(I)\num + 1
            T = elapsed()
            v = validate_path(monster(I)\Path,*pathfinding_structure,I)
            T = elapsed()-T
            If average_time_validation > 0
              average_time_validation = (T+average_time_validation)/2
            Else
              average_time_validation = T
            EndIf
          EndIf
          If v = 0 Or m > 0
            failed_validations + 1
            xd = monster(I)\x/#tileSize-player\x/#tileSize
            yd = monster(I)\y/#tileSize-player\y/#tileSize
            If xd < 0 : xd * -1 : EndIf
            If yd < 0 : yd * -1 : EndIf
            If xd + yd > 1
              FreeMemory(monster(I)\Path)
              T = elapsed()
              monster(I)\Path = get_path(monster(I)\x/#tileSize,monster(I)\y/#tileSize,player\x/#tileSize,player\y/#tileSize,*pathfinding_structure,I)
              T = elapsed()-T
              If average_time_path > 0
                average_time_path = (T+average_time_path)/2
              Else
                average_time_path = T
              EndIf
              If monster(I)\Path > 0
                monster(I)\pathsize = path_get_size(monster(I)\Path)
                monster(I)\num = 0
                monster(I)\xto = path_get_x(monster(I)\Path,0)
                monster(I)\yto = path_get_y(monster(I)\Path,0)
              EndIf
            EndIf
          EndIf
        EndIf
      Else
        If monster(I)\x < monster(I)\xto*#tileSize And blocked((monster(I)\x+monster(I)\speed)/#tileSize,monster(I)\y/#tileSize) = 0
          monster(I)\x + monster(I)\speed
          If monster(I)\x > monster(I)\xto*#tileSize
            monster(I)\x = monster(I)\xto*#tileSize
          EndIf
          Continue
        ElseIf monster(I)\x > monster(I)\xto*#tileSize And blocked((monster(I)\x-monster(I)\speed)/#tileSize,monster(I)\y/#tileSize)=0
          monster(I)\x - monster(I)\speed
          If monster(I)\x < monster(I)\xto*#tileSize
            monster(I)\x = monster(I)\xto*#tileSize
          EndIf
          Continue
        EndIf
       
       
       
        If monster(I)\y < monster(I)\yto*#tileSize And blocked(monster(I)\x/#tileSize,(monster(I)\y+monster(I)\speed)/#tileSize)=0
          monster(I)\y + monster(I)\speed
          If monster(I)\y > monster(I)\yto*#tileSize
            monster(I)\y = monster(I)\yto*#tileSize
          EndIf
          Continue
        ElseIf monster(I)\y > monster(I)\yto*#tileSize And blocked(monster(I)\x/#tileSize,(monster(I)\y-monster(I)\speed)/#tileSize)=0
          monster(I)\y - monster(I)\speed
          If monster(I)\y < monster(I)\yto*#tileSize
            monster(I)\y = monster(I)\yto*#tileSize
          EndIf
          Continue
        EndIf
       
      EndIf
    EndIf
  Next I
EndProcedure

Procedure draw(num_monsters)
  Shared average_time_path
  Shared average_time_validation
  Shared failed_validations
  Shared FrameRate
  
  ClearScreen(#Black)
  StartDrawing(ScreenOutput())
 
  For I = 0 To num_monsters-1
    Box(monster(I)\x,monster(I)\y,#tileSize,#tileSize,#Green)
    DrawingMode(#PB_2DDrawing_Outlined)
    Box(monster(I)\x,monster(I)\y,#tileSize,#tileSize,#White)
    DrawingMode(#PB_2DDrawing_Default)
    If monster(I)\Path > 0
      xx = monster(I)\x
      yy = monster(I)\y
      For z = monster(I)\num To monster(I)\pathsize-1
        x = path_get_x(monster(I)\Path,z)*#tileSize
        y = path_get_y(monster(I)\Path,z)*#tileSize
        LineXY(xx+#tileSize/2,yy+#tileSize/2,x+#tileSize/2,y+#tileSize/2,#White)
        xx = x
        yy = y
      Next z
    EndIf
  Next I
 
  Box(player\x,player\y,#tileSize,#tileSize,#Blue)
  DrawingMode(#PB_2DDrawing_Outlined)
  Box(player\x,player\y,#tileSize,#tileSize,#White)
  DrawingMode(#PB_2DDrawing_Default)
  For x = 0 To #view_width-1
    For y = 0 To #view_height-1
      If blocked(x,y) = 1
        Box(x*#tileSize,y*#tileSize,#tileSize,#tileSize,#Red)
        DrawingMode(#PB_2DDrawing_Outlined)
        Box(x*#tileSize,y*#tileSize,#tileSize,#tileSize,#White)
        DrawingMode(#PB_2DDrawing_Default)
      EndIf
    Next y
  Next x
  DrawingMode(#PB_2DDrawing_Transparent)
  DrawText(45,5," AVG path generation time: "+StrF(average_time_path/1000,3)+"ms",#White,#Black)
  DrawText(45,5+TextHeight("P")," AVG path validation time: "+StrF(average_time_validation/1000,3)+"ms",#White,#Black)
  DrawText(45,5+TextHeight("P")*2," Failed validations: "+Str(failed_validations),#White,#Black)
  DrawText(45,5+TextHeight("P")*3," FPS: "+Str(FrameRate)+"/40",#White,#Black)
  StopDrawing()
  FlipBuffers()
 
EndProcedure

OpenWindow(0,#PB_Ignore,#PB_Ignore,#view_width*#tileSize,#view_height*#tileSize,"Example",#PB_Window_MinimizeGadget|#PB_Window_ScreenCentered|#PB_Window_SystemMenu)
OpenWindowedScreen(WindowID(0),0,0,WindowWidth(0),WindowHeight(0),0,0,0)
SetFrameRate(40)

Repeat
  walk(monsters,pathfinding_structure)
  draw(monsters)
  If ElapsedMilliseconds() < FT
    fps + 1
  Else
    FrameRate = fps
    fps = 0
    FT = ElapsedMilliseconds() + 1000
  EndIf
  If sk = 4
    sk = 0
    goto_player(monsters,pathfinding_structure)
  EndIf
  sk + 1
  Event = WaitWindowEvent(1)
Until Event = #PB_Event_CloseWindow