added pathfinding and ai factories, split layers, and made fixes to other factories

src/AI/AIManager.ts

@@ -0,0 +1,39 @@
+import { Actor, AI, Updateable } from "../DataTypes/Interfaces/Descriptors";
+import Map from "../DataTypes/Map";
+
+export default class AIManager implements Updateable {
+	actors: Array<Actor>;
+
+	registeredAI: Map<new <T extends AI>() => T>;
+
+	constructor(){
+		this.actors = new Array();
+		this.registeredAI = new Map();
+	}
+
+	/**
+	 * Registers an actor with the AIManager
+	 * @param actor The actor to register
+	 */
+	registerActor(actor: Actor): void {
+		actor.actorId = this.actors.length;
+		this.actors.push(actor);
+	}
+
+	registerAI(name: string, constr: new <T extends AI>() => T ): void {
+		this.registeredAI.add(name, constr);
+	}
+
+	generateAI(name: string): AI {
+		if(this.registeredAI.has(name)){
+			return new (this.registeredAI.get(name))();
+		} else {
+			throw `Cannot create AI with name ${name}, no AI with that name is registered`;
+		}
+	}
+
+	update(deltaT: number): void {
+		// Run the ai for every active actor
+		this.actors.forEach(actor => { if(actor.aiActive) actor.ai.update(deltaT) });
+	}
+}

src/AI/StateMachineAI.ts

@@ -0,0 +1,9 @@
+import { AI } from "../DataTypes/Interfaces/Descriptors";
+import StateMachine from "../DataTypes/State/StateMachine";
+import GameNode from "../Nodes/GameNode";
+
+export default class StateMachineAI extends StateMachine implements AI {
+	protected owner: GameNode;
+
+	initializeAI(owner: GameNode, config: Record<string, any>): void {}
+}

src/BoidDemo.ts

@@ -18,29 +18,29 @@ export default class BoidDemo extends Scene {
 
     startScene(){
         // Set the world size
-        this.worldSize = new Vec2(800, 600);
+        // this.worldSize = new Vec2(800, 600);
-        this.sceneGraph = new SceneGraphQuadTree(this.viewport, this);
+        // this.sceneGraph = new SceneGraphQuadTree(this.viewport, this);
-        this.viewport.setBounds(0, 0, 800, 600)
+        // this.viewport.setBounds(0, 0, 800, 600)
-        this.viewport.setCenter(400, 300);
+        // this.viewport.setCenter(400, 300);
 
-        let layer = this.addLayer();
+        // let layer = this.addLayer();
-        this.boids = new Array();
+        // this.boids = new Array();
 
-        // Add the player
+        // // Add the player
-        let player = this.add.graphic(Player, layer, new Vec2(0, 0));
+        // let player = this.add.graphic(Player, layer, new Vec2(0, 0));
-        player.addPhysics();
+        // player.addPhysics();
-        let ai = new PlayerController(player, "topdown");
+        // let ai = new PlayerController(player, "topdown");
-        player.update = (deltaT: number) => {ai.update(deltaT)}
+        // player.update = (deltaT: number) => {ai.update(deltaT)}
-        this.viewport.follow(player);
+        // this.viewport.follow(player);
-        this.viewport.enableZoom();
+        // this.viewport.enableZoom();
 
-        // Create a bunch of boids
+        // // Create a bunch of boids
-        for(let i = 0; i < 150; i++){
+        // for(let i = 0; i < 150; i++){
-            let boid = this.add.graphic(Boid, layer, new Vec2(this.worldSize.x*Math.random(), this.worldSize.y*Math.random()));
+        //     let boid = this.add.graphic(Boid, layer, new Vec2(this.worldSize.x*Math.random(), this.worldSize.y*Math.random()));
-            boid.fb = new FlockBehavior(this, boid, this.boids, 75, 50);
+        //     boid.fb = new FlockBehavior(this, boid, this.boids, 75, 50);
-            boid.size.set(5, 5);
+        //     boid.size.set(5, 5);
-            this.boids.push(boid);
+        //     this.boids.push(boid);
-        }
+        // }
     }
 
     updateScene(deltaT: number): void {

src/DataTypes/Graphs/Graph.ts

@@ -27,9 +27,22 @@ export default class Graph {
 	addEdge(x: number, y: number, weight?: number){
 		let edge = new EdgeNode(y, weight);
 
+		if(this.edges[x]){
 			edge.next = this.edges[x];
+		}
 		
 		this.edges[x] = edge;
+
+		if(!this.directed){
+			edge = new EdgeNode(x, weight);
+
+			if(this.edges[y]){
+				edge.next = this.edges[y];
+			}
+			
+			this.edges[y] = edge;
+		}
+
 		this.numEdges += 1;
 	}
 
@@ -40,6 +53,34 @@ export default class Graph {
 	getDegree(x: number): number {
 		return this.degree[x];
 	}
+
+	protected nodeToString(index: number): string {
+		return "Node " + index;
+	}
+
+	toString(): string {
+		let retval = "";
+
+		for(let i = 0; i < this.numVertices; i++){
+			let edge = this.edges[i];
+			let edgeStr = "";
+			while(edge !== null){
+				edgeStr += edge.y.toString();
+				if(this.weighted){
+					edgeStr += " (" + edge.weight + ")";
+				}
+				if(edge.next !== null){
+					edgeStr += ", ";
+				}
+
+				edge = edge.next;
+			}
+
+			retval += this.nodeToString(i) + ": " + edgeStr + "\n";
+		}
+
+		return retval;
+	}
 }
 
 export class EdgeNode {

src/DataTypes/Graphs/PositionGraph.ts

@@ -10,21 +10,34 @@ export default class PositionGraph extends Graph implements Debug_Renderable{
 		this.positions = new Array(MAX_V);
 	}
 
+	addPositionedNode(position: Vec2){
+		this.positions[this.numVertices] = position;
+		this.addNode();
+	}
+
 	setNodePosition(index: number, position: Vec2): void {
 		this.positions[index] = position;
 	}
 
+	getNodePosition(index: number): Vec2 {
+		return this.positions[index];
+	}
+
 	addEdge(x: number, y: number): void {
 		if(!this.positions[x] || !this.positions[y]){
 			throw "Can't add edge to un-positioned node!";
 		}
 
 		// Weight is the distance between the nodes
-		let weight = this.positions[x].distanceSqTo(this.positions[y]);
+		let weight = this.positions[x].distanceTo(this.positions[y]);
 
 		super.addEdge(x, y, weight);
 	}
 
+	protected nodeToString(index: number): string {
+		return "Node " + index + " - " + this.positions[index].toString();
+	}
+
 	debug_render(ctx: CanvasRenderingContext2D, origin: Vec2, zoom: number): void {
 		for(let point of this.positions){
 			ctx.fillRect((point.x - origin.x - 4)*zoom, (point.y - origin.y - 4)*zoom, 8, 8);

src/DataTypes/Interfaces/Descriptors.ts

@@ -3,6 +3,8 @@ import Map from "../Map";
 import AABB from "../Shapes/AABB";
 import Shape from "../Shapes/Shape";
 import Vec2 from "../Vec2";
+import NavigationPath from "../../Pathfinding/NavigationPath";
+import GameNode from "../../Nodes/GameNode";
 
 export interface Unique {
     /** The unique id of this object. */
@@ -107,6 +109,37 @@ export interface Physical {
     addTrigger: (group: string, eventType: string) => void;
 }
 
+/**
+ * Defines a controller for a bot or a human. Must be able to update
+ */
+export interface AI extends Updateable {
+    /** Initializes the AI with the actor and any additional config */
+    initializeAI: (owner: GameNode, config: Record<string, any>) => void;
+}
+
+export interface Actor {
+    /** The AI of the actor */
+    ai: AI;
+
+    /** The activity status of the actor */
+    aiActive: boolean;
+
+    /** The id of the actor according to the AIManager */
+    actorId: number;
+
+    path: NavigationPath;
+
+    pathfinding: boolean;
+
+    addAI: <T extends AI>(ai: string | (new () => T), options: Record<string, any>) => void;
+
+    setAIActive: (active: boolean) => void;
+}
+
+export interface Navigable {
+    getNavigationPath: (fromPosition: Vec2, toPosition: Vec2) => NavigationPath;
+}
+
 export interface Updateable {
     /** Updates this object. */
     update: (deltaT: number) => void;

src/DataTypes/Navmesh.ts

@@ -1,27 +0,0 @@
-import PositionGraph from "./Graphs/PositionGraph"
-import Vec2 from "./Vec2";
-
-export default class Navmesh {
-	protected graph: PositionGraph;
-
-	getNavigationPath(fromPosition: Vec2, toPosition: Vec2): Array<number> {
-		return [];
-	}
-
-	getClosestNode(position: Vec2): number {
-		let n = this.graph.numVertices;
-		let i = 1;
-		let index = 0;
-		let dist = position.distanceSqTo(this.graph.positions[0]);
-		while(i < n){
-			let d = position.distanceSqTo(this.graph.positions[i]);
-			if(d < dist){
-				dist = d;
-				index = i;
-			}
-			i++;
-		}
-
-		return index;
-	}
-}

src/DataTypes/Stack.ts

@@ -47,6 +47,11 @@ export default class Stack<T> implements Collection {
         return this.stack[this.head];
     }
 
+    /** Returns true if this stack is empty  */
+    isEmpty(): boolean {
+        return this.head === -1;
+    }
+
     clear(): void {
         this.forEach((item, index) => delete this.stack[index]);
         this.head = -1;
@@ -62,8 +67,22 @@ export default class Stack<T> implements Collection {
     forEach(func: (item: T, index?: number) => void): void{
         let i = 0;
         while(i <= this.head){
-            func(this.stack[i]);
+            func(this.stack[i], i);
             i += 1;
         }
     }
+
+    toString(): string {
+        let retval = "";
+
+        this.forEach( (item, index) => {
+            let str = item.toString()
+            if(index !== 0){
+                str += " -> "
+            }
+            retval = str + retval;
+        });
+
+        return "Top -> " + retval;
+    }
 }

src/DataTypes/Vec2.ts

@@ -1,3 +1,5 @@
+import MathUtils from "../Utils/MathUtils";
+
 /**
  * A two-dimensional vector (x, y)
  */
@@ -99,10 +101,11 @@ export default class Vec2 {
 	/**
 	 * Sets the vector's x and y based on the angle provided. Goes counter clockwise.
 	 * @param angle The angle in radians
+	 * @param radius The magnitude of the vector at the specified angle
 	 */
-	setToAngle(angle: number): Vec2 {
+	setToAngle(angle: number, radius: number = 1): Vec2 {
-		this.x = Math.cos(angle);
+		this.x = MathUtils.floorToPlace(Math.cos(angle)*radius, 5);
-		this.y = Math.sin(angle);
+		this.y = MathUtils.floorToPlace(-Math.sin(angle)*radius, 5);
 		return this;
 	}
 
@@ -114,6 +117,14 @@ export default class Vec2 {
 		return new Vec2(other.x - this.x, other.y - this.y);
 	}
 	
+	/**
+	 * Returns a vector containing the direction from this vector to another
+	 * @param other 
+	 */
+	dirTo(other: Vec2): Vec2 {
+		return this.vecTo(other).normalize();
+	}
+
 	/**
 	 * Keeps the vector's direction, but sets its magnitude to be the provided magnitude
 	 * @param magnitude 
@@ -245,6 +256,22 @@ export default class Vec2 {
 		return this.x*other.x + this.y*other.y;
 	}
 
+	/**
+	 * Returns the angle counter-clockwise in radians from this vector to another vector
+	 * @param other 
+	 */
+	angleToCCW(other: Vec2): number {
+		let dot = this.dot(other);
+		let det = this.x*other.y - this.y*other.x;
+		let angle = -Math.atan2(det, dot);
+
+		if(angle < 0){
+			angle += 2*Math.PI;
+		}
+
+		return angle;
+	}
+
 	/**
 	 * Returns a string representation of this vector rounded to 1 decimal point
 	 */
@@ -267,12 +294,23 @@ export default class Vec2 {
 		return new Vec2(this.x, this.y);
 	}
 
+	/**
+	 * Returns true if this vector and other have the EXACT same x and y (not assured to be safe for floats)
+	 * @param other The vector to check against
+	 */
+	strictEquals(other: Vec2): boolean {
+		return this.x === other.x && this.y === other.y;
+	}
+
 	/**
 	 * Returns true if this vector and other have the same x and y
 	 * @param other The vector to check against
 	 */
 	equals(other: Vec2): boolean {
-		return this.x === other.x && this.y === other.y;
+		let xEq = Math.abs(this.x - other.x) < 0.00000001;
+		let yEq = Math.abs(this.y - other.y) < 0.00000001;
+
+		return xEq && yEq;
 	}
 
 	/**
@@ -293,4 +331,8 @@ export default class Vec2 {
 	getOnChange(): string {
 		return this.onChange.toString();
 	}
+
+	static lerp(a: Vec2, b: Vec2, t: number): Vec2 {
+		return new Vec2(MathUtils.lerp(a.x, b.x, t), MathUtils.lerp(a.y, b.y, t));
+	}
 }

src/Debug/Debug.ts

@@ -5,7 +5,11 @@ export default class Debug {
 	// A map of log messages to display on the screen
 	private static logMessages: Map<string> = new Map();
 
-	static log(id: string, message: string): void {
+	static log(id: string, ...messages: any): void {
+		let message = "";
+		for(let i = 0; i < messages.length; i++){
+			message += messages[i].toString();
+		}
 		this.logMessages.add(id, message);
 	}
 

src/Nodes/GameNode.ts

@@ -4,17 +4,16 @@ import Receiver from "../Events/Receiver";
 import Emitter from "../Events/Emitter";
 import Scene from "../Scene/Scene";
 import Layer from "../Scene/Layer";
-import { Physical, Positioned, isRegion, Unique, Updateable, Region } from "../DataTypes/Interfaces/Descriptors"
+import { Physical, Positioned, isRegion, Unique, Updateable, Actor, AI } from "../DataTypes/Interfaces/Descriptors"
 import Shape from "../DataTypes/Shapes/Shape";
-import GameEvent from "../Events/GameEvent";
 import Map from "../DataTypes/Map";
 import AABB from "../DataTypes/Shapes/AABB";
-import Debug from "../Debug/Debug";
+import NavigationPath from "../Pathfinding/NavigationPath";
 
 /**
  * The representation of an object in the game world
  */
-export default abstract class GameNode implements Positioned, Unique, Updateable, Physical {
+export default abstract class GameNode implements Positioned, Unique, Updateable, Physical, Actor {
 	/*---------- POSITIONED ----------*/
 	private _position: Vec2;
 
@@ -38,6 +37,13 @@ export default abstract class GameNode implements Positioned, Unique, Updateable
 	sweptRect: AABB;
 	isPlayer: boolean;
 
+	/*---------- ACTOR ----------*/
+	_ai: AI;
+	aiActive: boolean;
+	actorId: number;
+	path: NavigationPath;
+	pathfinding: boolean = false;
+
 	protected input: InputReceiver;
 	protected receiver: Receiver;
 	protected emitter: Emitter;
@@ -93,6 +99,9 @@ export default abstract class GameNode implements Positioned, Unique, Updateable
 	finishMove = (): void => {
 		this.moving = false;
 		this.position.add(this._velocity);
+		if(this.pathfinding){
+			this.path.handlePathProgress(this);
+		}
 	}
 
 	/**
@@ -138,6 +147,41 @@ export default abstract class GameNode implements Positioned, Unique, Updateable
 		this.triggers.add(group, eventType);
 	};
 
+	/*---------- ACTOR ----------*/
+	get ai(): AI {
+		return this._ai;
+	}
+
+	set ai(ai: AI) {
+		if(!this._ai){
+			// If we haven't been previously had an ai, register us with the ai manager
+			this.scene.getAIManager().registerActor(this);
+		}
+
+		this._ai = ai;
+		this.aiActive = true;
+	}
+
+	addAI<T extends AI>(ai: string | (new () => T), options?: Record<string, any>): void {
+		if(!this._ai){
+			this.scene.getAIManager().registerActor(this);
+		}
+
+		if(typeof ai === "string"){
+			this._ai = this.scene.getAIManager().generateAI(ai);
+		} else {
+			this._ai = new ai();
+		}
+
+		this._ai.initializeAI(this, options);
+
+		this.aiActive = true;
+	}
+
+	setAIActive(active: boolean): void {
+		this.aiActive = active;
+	}
+
 	/*---------- GAME NODE ----------*/
 	/**
 	 * Sets the scene for this object.
@@ -175,14 +219,5 @@ export default abstract class GameNode implements Positioned, Unique, Updateable
 		}
 	};
 
-	// TODO - This doesn't seem ideal. Is there a better way to do this?
-	getViewportOriginWithParallax(): Vec2 {
-		return this.scene.getViewport().getOrigin().mult(this.layer.getParallax());
-	}
-
-	getViewportScale(): number {
-		return this.scene.getViewport().getZoomLevel();
-	}
-
 	abstract update(deltaT: number): void;
 }

src/Nodes/Graphics/GraphicTypes.ts

@@ -0,0 +1,4 @@
+export enum GraphicType {
+	POINT = "POINT",
+	RECT = "RECT",
+}

src/Nodes/Graphics/Point.ts

@@ -12,11 +12,12 @@ export default class Point extends Graphic {
     update(deltaT: number): void {}
 
     render(ctx: CanvasRenderingContext2D): void {
-        let origin = this.getViewportOriginWithParallax();
+        let origin = this.scene.getViewTranslation(this);
+        let zoom = this.scene.getViewScale();
 
 		ctx.fillStyle = this.color.toStringRGBA();
-        ctx.fillRect(this.position.x - origin.x - this.size.x/2, this.position.y - origin.y - this.size.y/2,
+        ctx.fillRect((this.position.x - origin.x - this.size.x/2)*zoom, (this.position.y - origin.y - this.size.y/2)*zoom,
-            this.size.x, this.size.y);
+            this.size.x*zoom, this.size.y*zoom);
     }
 
 }

src/Nodes/Graphics/Rect.ts

@@ -34,8 +34,8 @@ export default class Rect extends Graphic {
     update(deltaT: number): void {}
 
     render(ctx: CanvasRenderingContext2D): void {
-        let origin = this.getViewportOriginWithParallax();
+        let origin = this.scene.getViewTranslation(this);
-        let zoom = this.getViewportScale();
+        let zoom = this.scene.getViewScale();
 
         if(this.color.a !== 0){
             ctx.fillStyle = this.color.toStringRGB();

src/Nodes/Sprites/Sprite.ts

@@ -29,8 +29,8 @@ export default class Sprite extends CanvasNode {
 
     render(ctx: CanvasRenderingContext2D): void {
         let image = ResourceManager.getInstance().getImage(this.imageId);
-        let origin = this.getViewportOriginWithParallax();
+        let origin = this.scene.getViewTranslation(this);
-        let zoom = this.getViewportScale();
+        let zoom = this.scene.getViewScale();
 
         ctx.drawImage(image,
             this.imageOffset.x, this.imageOffset.y, this.size.x, this.size.y,

src/Nodes/Tilemaps/OrthogonalTilemap.ts

@@ -85,8 +85,8 @@ export default class OrthogonalTilemap extends Tilemap {
         let previousAlpha = ctx.globalAlpha;
         ctx.globalAlpha = this.getLayer().getAlpha();
         
-        let origin = this.getViewportOriginWithParallax();
+        let origin = this.scene.getViewTranslation(this);
-        let zoom = this.getViewportScale();
+        let zoom = this.scene.getViewScale();
 
         if(this.visible){
             for(let i = 0; i < this.data.length; i++){

src/Nodes/UIElement.ts

@@ -31,8 +31,10 @@ export default class UIElement extends CanvasNode {
 	protected isClicked: boolean;
 	protected isEntered: boolean;
 
-	constructor(){
+	constructor(position: Vec2){
 		super();
+		this.position = position;
+		
 		this.textColor = new Color(0, 0, 0, 1);
 		this.backgroundColor = new Color(0, 0, 0, 0);
 		this.borderColor = new Color(0, 0, 0, 0);
@@ -82,6 +84,7 @@ export default class UIElement extends CanvasNode {
 				}
 				if(this.onClickEventId !== null){
 					let data = {};
+					console.log("Click event: " + this.onClickEventId)
 					this.emitter.fireEvent(this.onClickEventId, data);
 				}
 			}
@@ -179,7 +182,7 @@ export default class UIElement extends CanvasNode {
 		let previousAlpha = ctx.globalAlpha;
 		ctx.globalAlpha = this.getLayer().getAlpha();
 
-		let origin = this.getViewportOriginWithParallax();
+		let origin = this.scene.getViewTranslation(this);
 
 		ctx.font = this.fontSize + "px " + this.font;
 		let offset = this.calculateOffset(ctx);

src/Nodes/UIElements/Button.ts

@@ -4,8 +4,10 @@ import Vec2 from "../../DataTypes/Vec2";
 
 export default class Button extends UIElement{
 
-	constructor(){
+	constructor(position: Vec2, text: string){
-		super();
+		super(position);
+		this.text = text;
+
 		this.backgroundColor = new Color(150, 75, 203);
 		this.borderColor = new Color(41, 46, 30);
 		this.textColor = new Color(255, 255, 255);

src/Nodes/UIElements/Label.ts

@@ -1,8 +1,9 @@
+import Vec2 from "../../DataTypes/Vec2";
 import UIElement from "../UIElement";
 
 export default class Label extends UIElement{
-	constructor(text: string){
+	constructor(position: Vec2, text: string){
-		super();
+		super(position);
 		this.text = text;
 	}
 }

src/Nodes/UIElements/UIElementTypes.ts

@@ -0,0 +1,4 @@
+export enum UIElementType {
+	BUTTON = "BUTTON",
+	LABEL = "LABEL",
+}

src/Pathfinding/NavigationManager.ts

@@ -0,0 +1,22 @@
+import { Navigable } from "../DataTypes/Interfaces/Descriptors"
+import Map from "../DataTypes/Map";
+import Vec2 from "../DataTypes/Vec2";
+import NavigationPath from "./NavigationPath";
+
+export default class NavigationManager {
+
+	protected navigableEntities: Map<Navigable>;
+
+	constructor(){
+		this.navigableEntities = new Map();
+	}
+
+	addNavigableEntity(navName: string, nav: Navigable){
+		this.navigableEntities.add(navName, nav);
+	}
+
+	getPath(navName: string, fromPosition: Vec2, toPosition: Vec2): NavigationPath {
+		let nav = this.navigableEntities.get(navName);
+		return nav.getNavigationPath(fromPosition.clone(), toPosition.clone());
+	}
+}

src/Pathfinding/NavigationPath.ts

@@ -0,0 +1,35 @@
+import Stack from "../DataTypes/Stack";
+import Vec2 from "../DataTypes/Vec2";
+import GameNode from "../Nodes/GameNode";
+
+/**
+ * A path that AIs can follow. Uses finishMove() in Physical to determine progress on the route
+ */
+export default class NavigationPath {
+	protected path: Stack<Vec2>
+	protected currentMoveDirection: Vec2;
+	protected distanceThreshold: number;
+
+	constructor(path: Stack<Vec2>){
+		this.path = path;
+		console.log(path.toString())
+		this.currentMoveDirection = Vec2.ZERO;
+		this.distanceThreshold = 20;
+	}
+
+	isDone(): boolean {
+		return this.path.isEmpty();
+	}
+
+	getMoveDirection(node: GameNode): Vec2 {
+		// Return direction to next point in the nav
+		return node.position.dirTo(this.path.peek());
+	}
+
+	handlePathProgress(node: GameNode): void {
+		if(node.position.distanceSqTo(this.path.peek()) < this.distanceThreshold*this.distanceThreshold){
+			// We've reached our node, move on to the next destination
+			this.path.pop();
+		}
+	}
+}

src/Pathfinding/Navmesh.ts

@@ -0,0 +1,53 @@
+import PositionGraph from "../DataTypes/Graphs/PositionGraph";
+import { Navigable } from "../DataTypes/Interfaces/Descriptors";
+import Stack from "../DataTypes/Stack";
+import Vec2 from "../DataTypes/Vec2";
+import GraphUtils from "../Utils/GraphUtils";
+import NavigationPath from "./NavigationPath";
+
+export default class Navmesh implements Navigable {
+	protected graph: PositionGraph;
+
+	constructor(graph: PositionGraph){
+		this.graph = graph;
+	}
+
+	getNavigationPath(fromPosition: Vec2, toPosition: Vec2): NavigationPath {
+		let start = this.getClosestNode(fromPosition);
+		let end = this.getClosestNode(toPosition);
+
+		let parent = GraphUtils.djikstra(this.graph, start);
+
+		let pathStack = new Stack<Vec2>(this.graph.numVertices);
+		
+		// Push the final position and the final position in the graph
+		pathStack.push(toPosition.clone());
+		pathStack.push(this.graph.positions[end]);
+
+		// Add all parents along the path
+		let i = end;
+		while(parent[i] !== -1){
+			pathStack.push(this.graph.positions[parent[i]]);
+			i = parent[i];
+		}
+
+		return new NavigationPath(pathStack);
+	}
+
+	getClosestNode(position: Vec2): number {
+		let n = this.graph.numVertices;
+		let i = 1;
+		let index = 0;
+		let dist = position.distanceSqTo(this.graph.positions[0]);
+		while(i < n){
+			let d = position.distanceSqTo(this.graph.positions[i]);
+			if(d < dist){
+				dist = d;
+				index = i;
+			}
+			i++;
+		}
+
+		return index;
+	}
+}

src/Physics/Collisions.ts

@@ -0,0 +1,12 @@
+import { Physical } from "../DataTypes/Interfaces/Descriptors";
+import AABB from "../DataTypes/Shapes/AABB";
+import Vec2 from "../DataTypes/Vec2";
+
+export class Collision {
+	firstContact: Vec2;
+	lastContact: Vec2;
+	collidingX: boolean;
+	collidingY: boolean;
+	node1: Physical;
+	node2: Physical;
+}

src/Scene/Factories/CanvasNodeFactory.ts

@@ -1,9 +1,16 @@
 import Scene from "../Scene";
-import SceneGraph from "../../SceneGraph/SceneGraph";
 import UIElement from "../../Nodes/UIElement";
 import Layer from "../Layer";
 import Graphic from "../../Nodes/Graphic";
 import Sprite from "../../Nodes/Sprites/Sprite";
+import { GraphicType } from "../../Nodes/Graphics/GraphicTypes";
+import { UIElementType } from "../../Nodes/UIElements/UIElementTypes";
+import Point from "../../Nodes/Graphics/Point";
+import Vec2 from "../../DataTypes/Vec2";
+import Shape from "../../DataTypes/Shapes/Shape";
+import Button from "../../Nodes/UIElements/Button";
+import Label from "../../Nodes/UIElements/Label";
+import Rect from "../../Nodes/Graphics/Rect";
 
 export default class CanvasNodeFactory {
 	private scene: Scene;
@@ -14,20 +21,33 @@ export default class CanvasNodeFactory {
 
 	/**
 	 * Adds an instance of a UIElement to the current scene - i.e. any class that extends UIElement
-	 * @param constr The constructor of the UIElement to be created
+	 * @param type The type of UIElement to add
-	 * @param layer The layer to add the UIElement to
+	 * @param layerName The layer to add the UIElement to
-	 * @param args Any additional arguments to feed to the constructor
+	 * @param options Any additional arguments to feed to the constructor
 	 */
-	addUIElement = <T extends UIElement>(constr: new (...a: any) => T, layer: Layer, ...args: any): T => {
+	addUIElement = (type: string | UIElementType, layerName: string, options?: Record<string, any>): UIElement => {
-		let instance = new constr(...args);
+		// Get the layer
+		let layer = this.scene.getLayer(layerName);
+
+		let instance: UIElement;
+
+		switch(type){
+			case UIElementType.BUTTON:
+				instance = this.buildButton(options);
+			break;
+			case UIElementType.LABEL:
+				instance = this.buildLabel(options);
+			break;
+			default:
+				throw `UIElementType '${type}' does not exist, or is registered incorrectly.`
+		}
 
-		// Add instance to scene
 		instance.setScene(this.scene);
 		instance.id = this.scene.generateId();
 		this.scene.getSceneGraph().addNode(instance);
 
 		// Add instance to layer
-		layer.addNode(instance);
+		layer.addNode(instance)
 
 		return instance;
 	}
@@ -35,9 +55,11 @@ export default class CanvasNodeFactory {
 	/**
 	 * Adds a sprite to the current scene
 	 * @param key The key of the image the sprite will represent
-	 * @param layer The layer on which to add the sprite
+	 * @param layerName The layer on which to add the sprite
 	 */
-	addSprite = (key: string, layer: Layer): Sprite => {
+	addSprite = (key: string, layerName: string): Sprite => {
+		let layer = this.scene.getLayer(layerName);
+
 		let instance = new Sprite(key);
 
 		// Add instance to scene
@@ -53,21 +75,90 @@ export default class CanvasNodeFactory {
 
 	/**
 	 * Adds a new graphic element to the current Scene
-	 * @param constr The constructor of the graphic element to add
+	 * @param type The type of graphic to add
-	 * @param layer The layer on which to add the graphic
+	 * @param layerName The layer on which to add the graphic
-	 * @param args Any additional arguments to send to the graphic constructor
+	 * @param options Any additional arguments to send to the graphic constructor
 	 */
-	addGraphic = <T extends Graphic>(constr: new (...a: any) => T, layer: Layer, ...args: any): T => {
+	addGraphic = (type: GraphicType | string, layerName: string, options?: Record<string, any>): Graphic => {
-		let instance = new constr(...args);
+		// Get the layer
+		let layer = this.scene.getLayer(layerName);
+
+		let instance: Graphic;
+
+		switch(type){
+			case GraphicType.POINT:
+				instance = this.buildPoint(options);
+			break;
+			case GraphicType.RECT:
+				instance = this.buildRect(options);
+			break;
+			default:
+				throw `GraphicType '${type}' does not exist, or is registered incorrectly.`
+		}
 
 		// Add instance to scene
 		instance.setScene(this.scene);
 		instance.id = this.scene.generateId();
+
+		if(!(this.scene.isParallaxLayer(layerName) || this.scene.isUILayer(layerName))){
 			this.scene.getSceneGraph().addNode(instance);
+		}
 
 		// Add instance to layer
 		layer.addNode(instance);
 
 		return instance;
 	}
+
+	/* ---------- BUILDERS ---------- */
+
+	buildButton(options?: Record<string, any>): Button {
+		this.checkIfPropExists("Button", options, "position", Vec2, "Vec2");
+		this.checkIfPropExists("Button", options, "text", "string");
+
+		return new Button(options.position, options.text);
+	}
+
+	buildLabel(options?: Record<string, any>): Label {
+		this.checkIfPropExists("Label", options, "position", Vec2, "Vec2");
+		this.checkIfPropExists("Label", options, "text", "string");
+
+		return new Label(options.position, options.text)
+	}
+
+	buildPoint(options?: Record<string, any>): Point {
+		this.checkIfPropExists("Point", options, "position", Vec2, "Vec2");
+
+		return new Point(options.position);
+	}
+
+	buildRect(options?: Record<string, any>): Rect {
+		this.checkIfPropExists("Rect", options, "position", Vec2, "Vec2");
+		this.checkIfPropExists("Rect", options, "size", Vec2, "Vec2");
+
+		return new Rect(options.position, options.size);
+	}
+
+	/* ---------- ERROR HANDLING ---------- */
+
+	checkIfPropExists<T>(objectName: string, options: Record<string, any>, prop: string, type: (new (...args: any) => T) | string, typeName?: string){
+		if(!options || !options[prop]){
+			// Check that the options object has the property
+			throw `${objectName} object requires argument ${prop} of type ${typeName}, but none was provided.`;
+		} else {
+			// Check that the property has the correct type
+			if((typeof type) === "string"){
+				if(!(typeof options[prop] === type)){
+					throw `${objectName} object requires argument ${prop} of type ${type}, but provided ${prop} was not of type ${type}.`;
+				}
+			} else if(type instanceof Function){
+				// If type is a constructor, check against that
+				if(!(options[prop] instanceof type)){
+					throw `${objectName} object requires argument ${prop} of type ${typeName}, but provided ${prop} was not of type ${typeName}.`;
+				}
+			} else {
+				throw `${objectName} object requires argument ${prop} of type ${typeName}, but provided ${prop} was not of type ${typeName}.`;
+			}
+		}
+	}
 }

src/Scene/Factories/TilemapFactory.ts

@@ -1,6 +1,5 @@
 import Scene from "../Scene";
 import Tilemap from "../../Nodes/Tilemap";
-import PhysicsManager from "../../Physics/PhysicsManager";
 import ResourceManager from "../../ResourceManager/ResourceManager";
 import OrthogonalTilemap from "../../Nodes/Tilemaps/OrthogonalTilemap";
 import Layer from "../Layer";
@@ -8,6 +7,8 @@ import Tileset from "../../DataTypes/Tilesets/Tileset";
 import Vec2 from "../../DataTypes/Vec2";
 import { TiledCollectionTile } from "../../DataTypes/Tilesets/TiledData";
 import Sprite from "../../Nodes/Sprites/Sprite";
+import PositionGraph from "../../DataTypes/Graphs/PositionGraph";
+import Navmesh from "../../Pathfinding/Navmesh";
 
 export default class TilemapFactory {
     private scene: Scene;
@@ -63,7 +64,7 @@ export default class TilemapFactory {
         // Loop over the layers of the tilemap and create tiledlayers or object layers
         for(let layer of tilemapData.layers){
             
-            let sceneLayer = this.scene.addLayer();
+            let sceneLayer = this.scene.addLayer(layer.name);
             
             if(layer.type === "tilelayer"){
                 // Create a new tilemap object for the layer
@@ -82,17 +83,34 @@ export default class TilemapFactory {
                 }
             } else {
 
-                let isNavmeshPoints = false
+                let isNavmeshPoints = false;
+                let navmeshName;
+                let edges;
                 if(layer.properties){
                     for(let prop of layer.properties){
                         if(prop.name === "NavmeshPoints"){
                             isNavmeshPoints = true;
+                        } else if(prop.name === "name"){
+                            navmeshName = prop.value;
+                        } else if(prop.name === "edges"){
+                            edges = prop.value
                         }
                     }
                 }
                 
                 if(isNavmeshPoints){
-                    console.log("Parsing NavmeshPoints")
+                    let g = new PositionGraph();
+
+                    for(let obj of layer.objects){
+                        g.addPositionedNode(new Vec2(obj.x, obj.y));
+                    }
+
+                    for(let edge of edges){
+                        g.addEdge(edge.from, edge.to);
+                    }
+
+                    this.scene.getNavigationManager().addNavigableEntity(navmeshName, new Navmesh(g));
+
                     continue;
                 }
 
@@ -126,7 +144,7 @@ export default class TilemapFactory {
                             // The object is a tile from this set
                             let imageKey = tileset.getImageKey();
                             let offset = tileset.getImageOffsetForTile(obj.gid);
-                            sprite = this.scene.add.sprite(imageKey, sceneLayer);
+                            sprite = this.scene.add.sprite(imageKey, layer.name);
                             let size = tileset.getTileSize().clone();
                             sprite.position.set((obj.x + size.x/2)*scale.x, (obj.y - size.y/2)*scale.y);
                             sprite.setImageOffset(offset);
@@ -140,7 +158,7 @@ export default class TilemapFactory {
                         for(let tile of collectionTiles){
                             if(obj.gid === tile.id){
                                 let imageKey = tile.image;
-                                sprite = this.scene.add.sprite(imageKey, sceneLayer);
+                                sprite = this.scene.add.sprite(imageKey, layer.name);
                                 sprite.position.set((obj.x + tile.imagewidth/2)*scale.x, (obj.y - tile.imageheight/2)*scale.y);
                                 sprite.scale.set(scale.x, scale.y);
                             }

src/Scene/Layer.ts

@@ -1,24 +1,39 @@
-import Vec2 from "../DataTypes/Vec2";
 import Scene from "./Scene";
 import MathUtils from "../Utils/MathUtils";
 import GameNode from "../Nodes/GameNode";
 
+
 /**
  * A layer in the scene. Has its own alpha value and parallax.
  */
 export default class Layer {
+    /** The scene this layer belongs to */
     protected scene: Scene;
-    protected parallax: Vec2;
+
+    /** The name of this layer */
+    protected name: string;
+
+    /** Whether this layer is paused or not */
     protected paused: boolean;
+
+    /** Whether this layer is hidden from being rendered or not */
     protected hidden: boolean;
+
+    /** The global alpha level of this layer */
     protected alpha: number;
+
+    /** An array of the GameNodes that belong to this layer */
     protected items: Array<GameNode>;
+
+    /** Whether or not this layer should be ysorted */
     protected ySort: boolean;
+
+    /** The depth of this layer compared to other layers */
     protected depth: number;
 
-    constructor(scene: Scene){
+    constructor(scene: Scene, name: string){
         this.scene = scene;
-        this.parallax = new Vec2(1, 1);
+        this.name = name;
         this.paused = false;
         this.hidden = false;
         this.alpha = 1;
@@ -51,24 +66,18 @@ export default class Layer {
         return this.hidden;
     }
 
+    /** Pauses this scene and hides it */
     disable(): void {
         this.paused = true;
         this.hidden = true;
     }
 
+    /** Unpauses this layer and makes it visible */
     enable(): void {
         this.paused = false;
         this.hidden = false;
     }
 
-    setParallax(x: number, y: number): void {
-        this.parallax.set(x, y);
-    }
-
-    getParallax(): Vec2 {
-        return this.parallax;
-    }
-
     setYSort(ySort: boolean): void {
         this.ySort = ySort;
     }
@@ -89,4 +98,8 @@ export default class Layer {
         this.items.push(node);
         node.setLayer(this);
     }
+
+    getItems(): Array<GameNode> {
+        return this.items;
+    }
 }

src/Scene/Layers/ParallaxLayer.ts

@@ -0,0 +1,12 @@
+import Layer from "../Layer";
+import Vec2 from "../../DataTypes/Vec2";
+import Scene from "../Scene";
+
+export default class ParallaxLayer extends Layer {
+	parallax: Vec2;
+	
+	constructor(scene: Scene, name: string, parallax: Vec2){
+		super(scene, name);
+		this.parallax = parallax;
+	}
+}

src/Scene/Layers/UILayer.ts

@@ -0,0 +1,9 @@
+import Vec2 from "../../DataTypes/Vec2";
+import Scene from "../Scene";
+import ParallaxLayer from "./ParallaxLayer";
+
+export default class UILayer extends ParallaxLayer {
+	constructor(scene: Scene, name: string){
+		super(scene, name, Vec2.ZERO);
+	}
+}

src/Scene/Scene.ts

@@ -13,7 +13,13 @@ import SceneManager from "./SceneManager";
 import Receiver from "../Events/Receiver";
 import Emitter from "../Events/Emitter";
 import { Renderable, Updateable } from "../DataTypes/Interfaces/Descriptors";
-import Navmesh from "../DataTypes/Navmesh";
+import NavigationManager from "../Pathfinding/NavigationManager";
+import AIManager from "../AI/AIManager";
+import Map from "../DataTypes/Map";
+import ParallaxLayer from "./Layers/ParallaxLayer";
+import UILayer from "./Layers/UILayer";
+import CanvasNode from "../Nodes/CanvasNode";
+import GameNode from "../Nodes/GameNode";
 
 export default class Scene implements Updateable, Renderable {
     /** The size of the game world. */
@@ -40,18 +46,33 @@ export default class Scene implements Updateable, Renderable {
     /** This list of tilemaps in this scene. */
     protected tilemaps: Array<Tilemap>;
 
+    /** A map from layer names to the layers themselves */
+    protected layers: Map<Layer>;
+
+    /** A map from parallax layer names to the parallax layers themselves */
+    protected parallaxLayers: Map<ParallaxLayer>;
+
+    /** A map from uiLayer names to the uiLayers themselves */
+    protected uiLayers: Map<UILayer>;
+
     /** The scene graph of the Scene*/
     protected sceneGraph: SceneGraph;
+
+    /** The physics manager of the Scene */
     protected physicsManager: PhysicsManager;
     
+    /** The navigation manager of the Scene */
+    protected navManager: NavigationManager;
+
+    /** The AI manager of the Scene */
+    protected aiManager: AIManager;
+
     /** An interface that allows the adding of different nodes to the scene */
     public add: FactoryManager;
 
     /** An interface that allows the loading of different files for use in the scene */
     public load: ResourceManager;
 
-    protected navmeshes: Array<Navmesh>;
-
     constructor(viewport: Viewport, sceneManager: SceneManager, game: GameLoop){
         this.worldSize = new Vec2(500, 500);
         this.viewport = viewport;
@@ -64,7 +85,14 @@ export default class Scene implements Updateable, Renderable {
 
         this.tilemaps = new Array();
         this.sceneGraph = new SceneGraphArray(this.viewport, this);
+
+        this.layers = new Map();
+        this.uiLayers = new Map();
+        this.parallaxLayers = new Map();
+
         this.physicsManager = new BasicPhysicsManager();
+        this.navManager = new NavigationManager();
+        this.aiManager = new AIManager();
 
         this.add = new FactoryManager(this, this.tilemaps);
 
@@ -89,6 +117,9 @@ export default class Scene implements Updateable, Renderable {
     update(deltaT: number): void {
         this.updateScene(deltaT);
 
+        // Do all AI updates
+        this.aiManager.update(deltaT);
+
         // Update all physics objects
         this.physicsManager.update(deltaT);
 
@@ -111,6 +142,25 @@ export default class Scene implements Updateable, Renderable {
         // We need to keep track of the order of things.
         let visibleSet = this.sceneGraph.getVisibleSet();
 
+        // Add parallax layer items to the visible set (we're rendering them all for now)
+        this.parallaxLayers.forEach(key => {
+            let pLayer = this.parallaxLayers.get(key);
+            for(let node of pLayer.getItems()){
+                if(node instanceof CanvasNode){
+                    visibleSet.push(node);
+                }
+            }
+        });
+
+        // Sort by depth, then by visible set by y-value
+        visibleSet.sort((a, b) => {
+            if(a.getLayer().getDepth() === b.getLayer().getDepth()){
+                return (a.boundary.bottom) - (b.boundary.bottom);
+            } else {
+                return a.getLayer().getDepth() - b.getLayer().getDepth();
+            }
+        });
+
         // Render scene graph for demo
         this.sceneGraph.render(ctx);
 
@@ -124,6 +174,9 @@ export default class Scene implements Updateable, Renderable {
 
         // Debug render the physicsManager
         this.physicsManager.debug_render(ctx);
+
+        // Render the uiLayers
+        this.uiLayers.forEach(key => this.uiLayers.get(key).getItems().forEach(node => (<CanvasNode>node).render(ctx)));
     }
 
     setRunning(running: boolean): void {
@@ -136,9 +189,112 @@ export default class Scene implements Updateable, Renderable {
 
     /**
      * Adds a new layer to the scene and returns it
+     * @param name The name of the new layer
+     * @param depth The depth of the layer
      */
-    addLayer(): Layer {
+    addLayer(name: string, depth?: number): Layer {
-        return this.sceneGraph.addLayer();
+        if(this.layers.has(name) || this.uiLayers.has(name)){
+            throw `Layer with name ${name} already exists`;
+        }
+
+        let layer = new Layer(this, name);
+
+        this.layers.add(name, layer);
+
+        if(depth){
+            layer.setDepth(depth);
+        }
+
+        return layer;
+    }
+
+    /**
+     * Adds a new parallax layer to this scene and returns it
+     * @param name The name of the parallax layer
+     * @param parallax The parallax level
+     * @param depth The depth of the layer
+     */
+    addParallaxLayer(name: string, parallax: Vec2, depth?: number): ParallaxLayer {
+        if(this.layers.has(name) || this.uiLayers.has(name)){
+            throw `Layer with name ${name} already exists`;
+        }
+
+        let layer = new ParallaxLayer(this, name, parallax);
+
+        this.layers.add(name, layer);
+
+        if(depth){
+            layer.setDepth(depth);
+        }
+
+        return layer;
+    }
+
+    /**
+     * Adds a new UILayer to the scene
+     * @param name The name of the new UIlayer
+     */
+    addUILayer(name: string): UILayer {
+        if(this.layers.has(name) || this.uiLayers.has(name)){
+            throw `Layer with name ${name} already exists`;
+        }
+
+        let layer = new UILayer(this, name);
+
+        this.uiLayers.add(name, layer);
+
+        return layer;
+    }
+
+    /**
+     * Gets a layer from the scene by name if it exists
+     * @param name The name of the layer
+     */
+    getLayer(name: string): Layer {
+        if(this.layers.has(name)){
+            return this.layers.get(name);
+        } else if(this.parallaxLayers.has(name)){
+            return this.parallaxLayers.get(name);
+        } else if(this.uiLayers.has(name)){
+            return this.uiLayers.get(name);
+        } else {
+            throw `Requested layer ${name} does not exist.`;
+        }
+    }
+
+    /**
+     * Returns true if this layer is a ParallaxLayer
+     * @param name 
+     */
+    isParallaxLayer(name: string): boolean {
+        return this.parallaxLayers.has(name);
+    }
+
+    /**
+     * Returns true if this layer is a UILayer
+     * @param name 
+     */
+    isUILayer(name: string): boolean {
+        return this.uiLayers.has(name);
+    }    
+
+    /**
+     * Returns the translation of this node with respect to camera space (due to the viewport moving);
+     * @param node 
+     */
+    getViewTranslation(node: GameNode): Vec2 {
+        let layer = node.getLayer();
+
+        if(layer instanceof ParallaxLayer || layer instanceof UILayer){
+            return this.viewport.getOrigin().mult(layer.parallax);
+        } else {
+            return this.viewport.getOrigin();
+        }
+	}
+
+    /** Returns the scale level of the view */
+	getViewScale(): number {
+		return this.viewport.getZoomLevel();
 	}
 
     /** Returns the viewport associated with this scene */
@@ -158,6 +314,14 @@ export default class Scene implements Updateable, Renderable {
         return this.physicsManager;
     }
 
+    getNavigationManager(): NavigationManager {
+        return this.navManager;
+    }
+
+    getAIManager(): AIManager {
+        return this.aiManager;
+    }
+
     generateId(): number {
         return this.sceneManager.generateId();
     }

src/SceneGraph/SceneGraph.ts

@@ -3,8 +3,6 @@ import CanvasNode from "../Nodes/CanvasNode";
 import Map from "../DataTypes/Map";
 import Vec2 from "../DataTypes/Vec2";
 import Scene from "../Scene/Scene";
-import Layer from "../Scene/Layer";
-import Stack from "../DataTypes/Stack";
 import AABB from "../DataTypes/Shapes/AABB";
 
 /**
@@ -15,14 +13,12 @@ export default abstract class SceneGraph {
 	protected nodeMap: Map<CanvasNode>;
 	protected idCounter: number;
 	protected scene: Scene;
-	protected layers: Stack<Layer>;
 
     constructor(viewport: Viewport, scene: Scene){
 		this.viewport = viewport;
 		this.scene = scene;
 		this.nodeMap = new Map<CanvasNode>();
 		this.idCounter = 0;
-		this.layers = new Stack(10);
     }
 
 	/**
@@ -94,18 +90,6 @@ export default abstract class SceneGraph {
 	 */
     protected abstract getNodesAtCoords(x: number, y: number): Array<CanvasNode>;
 
-	addLayer(): Layer {
-		let layer = new Layer(this.scene);
-		let depth = this.layers.size();
-		layer.setDepth(depth);
-        this.layers.push(layer);
-        return layer;
-    }
-
-	getLayers(): Stack<Layer> {
-		return this.layers;
-	}
-
 	abstract update(deltaT: number): void;
 	
 	abstract render(ctx: CanvasRenderingContext2D): void;

src/SceneGraph/SceneGraphArray.ts

@@ -91,15 +91,6 @@ export default class SceneGraphArray extends SceneGraph{
             }
         }
 
-        // Sort by depth, then by visible set by y-value
-        visibleSet.sort((a, b) => {
-            if(a.getLayer().getDepth() === b.getLayer().getDepth()){
-                return (a.boundary.bottom) - (b.boundary.bottom);
-            } else {
-                return a.getLayer().getDepth() - b.getLayer().getDepth();
-            }
-        });
-
         return visibleSet;
     }
 }

src/SceneGraph/SceneGraphQuadTree.ts

@@ -77,15 +77,6 @@ export default class SceneGraphQuadTree extends SceneGraph {
 
         visibleSet = visibleSet.filter(node => !node.getLayer().isHidden());
 
-        // Sort by depth, then by visible set by y-value
-        visibleSet.sort((a, b) => {
-            if(a.getLayer().getDepth() === b.getLayer().getDepth()){
-                return (a.boundary.bottom) - (b.boundary.bottom);
-            } else {
-                return a.getLayer().getDepth() - b.getLayer().getDepth();
-            }
-        });
-
         return visibleSet;
     }
 }

src/SceneGraph/Viewport.ts

@@ -6,6 +6,8 @@ import Queue from "../DataTypes/Queue";
 import AABB from "../DataTypes/Shapes/AABB";
 import Debug from "../Debug/Debug";
 import InputReceiver from "../Input/InputReceiver";
+import ParallaxLayer from "../Scene/Layers/ParallaxLayer";
+import UILayer from "../Scene/Layers/UILayer";
 
 export default class Viewport {
     private view: AABB;
@@ -46,8 +48,9 @@ export default class Viewport {
         return this.view.center;
     }
 
+    /** Returns a new Vec2 with the origin of the viewport */
     getOrigin(): Vec2 {
-        return this.view.center.clone().sub(this.view.halfSize)
+        return new Vec2(this.view.left, this.view.top);
     }
 
     /**
@@ -133,7 +136,7 @@ export default class Viewport {
      * @param node 
      */
     includes(node: CanvasNode): boolean {
-        let parallax = node.getLayer().getParallax();
+        let parallax = node.getLayer() instanceof ParallaxLayer || node.getLayer() instanceof UILayer ? (<ParallaxLayer>node.getLayer()).parallax : new Vec2(1, 1);
         let center = this.view.center.clone();
         this.view.center.mult(parallax);
         let overlaps = this.view.overlaps(node.boundary);
@@ -197,8 +200,6 @@ export default class Viewport {
             }
         }
 
-        Debug.log("vpzoom", "View size: " + this.view.getHalfSize());
-
         // If viewport is following an object
         if(this.following){
             // Update our list of previous positions
@@ -220,8 +221,6 @@ export default class Viewport {
             pos.x = Math.floor(pos.x);
             pos.y = Math.floor(pos.y);
             
-            Debug.log("vp", "Viewport pos: " + pos.toString())
-            
             this.view.center.copy(pos);
         } else {
             if(this.lastPositions.getSize() > this.smoothingFactor){
@@ -240,7 +239,6 @@ export default class Viewport {
             pos.x = Math.floor(pos.x);
             pos.y = Math.floor(pos.y);
 
-            Debug.log("vp", "Viewport pos: " + pos.toString())
             this.view.center.copy(pos);
         }
     }

src/Utils/GraphUtils.ts

@@ -2,11 +2,12 @@ import Graph, { EdgeNode } from "../DataTypes/Graphs/Graph";
 
 export default class GraphUtils {
 
-	static djikstra(g: Graph, start: number): void {
+	static djikstra(g: Graph, start: number): Array<number> {
 		let i: number;		// Counter
 		let p: EdgeNode;	// Pointer to edgenode
-		let inTree: Array<boolean> 
+		let inTree: Array<boolean> = new Array(g.numVertices);
-		let distance: number;
+		let distance: Array<number> = new Array(g.numVertices);
+		let parent: Array<number> = new Array(g.numVertices);
 		let v: number;		// Current vertex to process
 		let w: number; 		// Candidate for next vertex
 		let weight: number;	// Edge weight
@@ -15,7 +16,41 @@ export default class GraphUtils {
 		for(i = 0; i < g.numVertices; i++){
 			inTree[i] = false;
 			distance[i] = Infinity;
-			// parent[i] = -1;
+			parent[i] = -1;
 		}
+
+		distance[start] = 0;
+		v = start;
+
+		while(!inTree[v]){
+			inTree[v] = true;
+			p = g.edges[v];
+
+			while(p !== null){
+				w = p.y;
+				weight = p.weight;
+
+				if(distance[w] > distance[v] + weight){
+					distance[w] = distance[v] + weight;
+					parent[w] = v;
+				}
+
+				p = p.next;
+			}
+
+			v = 0;
+
+			dist = Infinity;
+
+			for(i = 0; i <= g.numVertices; i++){
+				if(!inTree[i] && dist > distance[i]){
+					dist = distance;
+					v = i;
+				}
+			}
+		}
+
+		return parent;
+
 	}
 }

src/Utils/MathUtils.ts

@@ -41,10 +41,14 @@ export default class MathUtils {
 	 * Linear Interpolation
 	 * @param a The first value for the interpolation bound
 	 * @param b The second value for the interpolation bound
-	 * @param x The value we are interpolating
+	 * @param t The time we are interpolating to
 	 */
-	static lerp(a: number, b: number, x: number){
+	static lerp(a: number, b: number, t: number): number {
-		return a + x * (b - a);
+        return a + t * (b - a);
+    }
+
+    static invLerp(a: number, b: number, value: number){
+        return (value - a)/(b - a);
     }
     
     /**

src/_DemoClasses/Boids/Boid.ts

@@ -8,13 +8,13 @@ export default class Boid extends Graphic {
     acceleration: Vec2 = Vec2.ZERO;
     velocity: Vec2 = Vec2.ZERO;
 
-    ai: BoidController;
+    //ai: BoidController;
     fb: FlockBehavior;
 
     constructor(position: Vec2){
         super();
         this.position = position;
-        this.ai = new BoidController(this);
+        //this.ai = new BoidController(this);
     }
 
     update(deltaT: number){
@@ -22,8 +22,8 @@ export default class Boid extends Graphic {
     }
 
     render(ctx: CanvasRenderingContext2D): void {
-        let origin = this.getViewportOriginWithParallax();
+        let origin = this.scene.getViewTranslation(this);
-        let zoom = this.getViewportScale();
+        let zoom = this.scene.getViewScale();
 
         let dirVec = this.direction.scaled(this.size.x, this.size.y);
         let finVec1 = this.direction.clone().rotateCCW(Math.PI/2).scale(this.size.x/2, this.size.y/2).sub(this.direction.scaled(this.size.x/1.5, this.size.y/1.5));

src/_DemoClasses/Boids/BoidStates/BoidBehavior.ts

@@ -1,7 +1,6 @@
 import State from "../../../DataTypes/State/State";
 import StateMachine from "../../../DataTypes/State/StateMachine";
 import Vec2 from "../../../DataTypes/Vec2";
-import Debug from "../../../Debug/Debug";
 import GameEvent from "../../../Events/GameEvent";
 import MathUtils from "../../../Utils/MathUtils";
 import { CustomGameEventType } from "../../CustomGameEventType";
@@ -68,17 +67,6 @@ export default class BoidBehavior extends State {
             this.actor.direction = this.actor.velocity.clone();
             speed = MathUtils.clamp(speed, BoidBehavior.MIN_SPEED, BoidBehavior.MAX_SPEED);
             this.actor.velocity.scale(speed);
-
-            if(this.actor.id < 1){
-                Debug.log("BoidSep", "Separation: " + separationForce.toString());
-                Debug.log("BoidAl", "Alignment: " + alignmentForce.toString());
-                Debug.log("BoidCo", "Cohesion: " + cohesionForce.toString());
-                Debug.log("BoidSpd", "Speed: " + speed);
-            }
-        }
-
-        if(this.actor.id < 1){
-            Debug.log("BoidDir", "Velocity: " + this.actor.velocity.toString());
         }
 
         // Update the position

src/_DemoClasses/Enemies/GoombaController.ts

@@ -55,13 +55,5 @@ export default class GoombaController extends StateMachine {
 
 	update(deltaT: number): void {
 		super.update(deltaT);
-
-		if(this.currentState instanceof Jump){
-			Debug.log("goombastate", "GoombaState: Jump");
-		} else if (this.currentState instanceof Walk){
-			Debug.log("goombastate", "GoombaState: Walk");
-		} else {
-			Debug.log("goombastate", "GoombaState: Idle");
-		}
 	}
 }

src/_DemoClasses/MarioClone/MarioClone.ts

@@ -6,6 +6,7 @@ import PlayerController from "../Player/PlayerStates/Platformer/PlayerController
 import { PlayerStates } from "../Player/PlayerStates/Platformer/PlayerController";
 import GoombaController from "../Enemies/GoombaController";
 import InputReceiver from "../../Input/InputReceiver";
+import { GraphicType } from "../../Nodes/Graphics/GraphicTypes";
 
 export default class MarioClone extends Scene {
 
@@ -15,24 +16,22 @@ export default class MarioClone extends Scene {
 	}
 
 	startScene(): void {
-		let layer = this.addLayer();
+		this.addLayer("main");
 		this.add.tilemap("level", new Vec2(2, 2));
 
-		let player = this.add.graphic(Rect, layer, new Vec2(0, 0), new Vec2(64, 64));
+		let player = this.add.graphic(GraphicType.RECT, "main", {position: new Vec2(0, 0), size: new Vec2(64, 64)});
 		player.setColor(Color.BLUE);
 		player.addPhysics();
 		player.isPlayer = true;
 		this.viewport.follow(player);
 		this.viewport.setBounds(0, 0, 5120, 1280);
 
-		let ai = new PlayerController(player);
+		player.ai = new PlayerController();
-		ai.initialize(PlayerStates.IDLE);
-		player.update = (deltaT: number) => {ai.update(deltaT)};
 
 		player.addTrigger("CoinBlock", "playerHitCoinBlock");
 
 		for(let xPos of [14, 20, 25, 30, 33, 37, 49, 55, 58, 70, 74]){
-			let goomba = this.add.sprite("goomba", layer);
+			let goomba = this.add.sprite("goomba", "main");
 			let ai = new GoombaController(goomba, false);
 			ai.initialize("idle");
 			goomba.update = (deltaT: number) => {ai.update(deltaT)};

src/_DemoClasses/Pathfinding/Pathfinder/PathfinderController.ts

@@ -0,0 +1,22 @@
+import StateMachineAI from "../../../AI/StateMachineAI";
+import GameNode from "../../../Nodes/GameNode";
+import PathfinderIdle from "./PathfinderIdle";
+import PathfinderNav from "./PathfinderNav";
+
+export default class PathfinderController extends StateMachineAI {
+	protected owner: GameNode;
+
+	initializeAI(owner: GameNode, config: Record<string, any>): void {
+		this.owner = owner;
+
+		let idle = new PathfinderIdle(this);
+		this.addState("idle", idle);
+
+		let nav = new PathfinderNav(this, owner, config.player);
+		this.addState("nav", nav);
+
+		this.receiver.subscribe("navigate");
+
+		this.initialize("idle");
+	}
+}

src/_DemoClasses/Pathfinding/Pathfinder/PathfinderIdle.ts

@@ -0,0 +1,17 @@
+import State from "../../../DataTypes/State/State";
+import GameEvent from "../../../Events/GameEvent";
+
+export default class PathfinderIdle extends State {
+	onEnter(): void {}
+
+	handleInput(event: GameEvent): void {
+		if(event.type === "navigate"){
+			this.finished("nav");
+		}
+	}
+
+	update(deltaT: number): void {}
+
+	onExit(): void {}
+
+}

src/_DemoClasses/Pathfinding/Pathfinder/PathfinderNav.ts

@@ -0,0 +1,41 @@
+import State from "../../../DataTypes/State/State";
+import GameEvent from "../../../Events/GameEvent";
+import GameNode from "../../../Nodes/GameNode";
+import NavigationPath from "../../../Pathfinding/NavigationPath";
+import PathfinderController from "./PathfinderController";
+
+export default class PathfinderNav extends State {
+	parent: PathfinderController;
+	owner: GameNode;
+	player: GameNode;
+
+	constructor(parent: PathfinderController, owner: GameNode, player: GameNode){
+		super(parent);
+		this.owner = owner;
+		this.player = player;
+	}
+
+	onEnter(): void {
+		// Request a path
+		this.owner.path = this.owner.getScene().getNavigationManager().getPath("main", this.owner.position, this.player.position);
+		this.owner.pathfinding = true;
+	}
+
+	handleInput(event: GameEvent): void {}
+
+	update(deltaT: number): void {
+		if(this.owner.path.isDone()){
+			this.finished("idle");
+			return;
+		}
+
+		let dir = this.owner.path.getMoveDirection(this.owner);
+
+		this.owner.move(dir.scale(200 * deltaT));
+	}
+
+	onExit(): void {
+		this.owner.pathfinding = false;
+	}
+
+}

src/_DemoClasses/Pathfinding/PathfindingScene.ts

@@ -1,7 +1,10 @@
 import Scene from "../../Scene/Scene";
-import Rect from "../../Nodes/Graphics/Rect";
 import Vec2 from "../../DataTypes/Vec2";
 import PlayerController from "../Player/PlayerController";
+import { GraphicType } from "../../Nodes/Graphics/GraphicTypes";
+import { UIElementType } from "../../Nodes/UIElements/UIElementTypes";
+import Color from "../../Utils/Color";
+import PathfinderController from "./Pathfinder/PathfinderController";
 
 export default class PathfindingScene extends Scene {
 
@@ -12,15 +15,32 @@ export default class PathfindingScene extends Scene {
 	startScene(){
 		this.add.tilemap("interior");
 		
-		let layer = this.addLayer();
+		// Add a layer for the game objects
+		this.addLayer("main");
 
-		let player = this.add.graphic(Rect, layer, new Vec2(500, 500), new Vec2(64, 64));
+		// Add the player
+		let player = this.add.graphic(GraphicType.RECT, "main", {position: new Vec2(500, 500), size: new Vec2(64, 64)});
 		player.addPhysics();
-		let ai = new PlayerController(player, "topdown");
+		player.addAI(PlayerController, {playerType: "topdown", speed: 400});
-		ai.speed = 400;
+
-		player.update = (deltaT: number) => {ai.update(deltaT)}
+		// Set the viewport to follow the player
 		this.viewport.setBounds(0, 0, 40*64, 40*64);
 		this.viewport.follow(player);
 		this.viewport.enableZoom();
+
+		// Add a navigator
+		let nav = this.add.graphic(GraphicType.RECT, "main", {position: new Vec2(700, 400), size: new Vec2(64, 64)});
+		nav.setColor(Color.BLUE);
+		nav.addPhysics();
+		nav.addAI(PathfinderController, {player: player});
+
+		// Add a layer for the ui
+		this.addUILayer("uiLayer");
+
+		// Add a button that triggers the navigator
+		let btn = this.add.uiElement(UIElementType.BUTTON, "uiLayer", {position: new Vec2(400, 20), text: "Navigate"});
+		btn.size = new Vec2(120, 35);
+		btn.setBackgroundColor(Color.BLUE);
+		btn.onClickEventId = "navigate";
 	}
 }

src/_DemoClasses/Player/Player.ts

@@ -8,10 +8,10 @@ export default class Player extends Rect {
     constructor(position: Vec2){
         super(position, new Vec2(20, 20));
 
-        this.controller = new PlayerController(this, PlayerType.TOPDOWN);
+        //this.controller = new PlayerController(this, PlayerType.TOPDOWN);
     }
 
     update(deltaT: number): void {
-        this.controller.update(deltaT);
+        //this.controller.update(deltaT);
     }
 }

src/_DemoClasses/Player/PlayerController.ts

@@ -1,4 +1,4 @@
-import StateMachine from "../../DataTypes/State/StateMachine";
+import StateMachineAI from "../../AI/StateMachineAI";
 import Vec2 from "../../DataTypes/Vec2";
 import Debug from "../../Debug/Debug";
 import GameNode from "../../Nodes/GameNode";
@@ -23,21 +23,18 @@ export enum PlayerStates {
 	PREVIOUS = "previous"
 }
 
-export default class PlayerController extends StateMachine {
+export default class PlayerController extends StateMachineAI {
     protected owner: GameNode;
     velocity: Vec2 = Vec2.ZERO;
-	speed: number;
+	speed: number = 400;
 	MIN_SPEED: number = 400;
 	MAX_SPEED: number = 1000;
 
-
+    initializeAI(owner: GameNode, config: Record<string, any>){
-    constructor(owner: GameNode, playerType: string){
-        super();
-        
         this.owner = owner;
 
-        if(playerType === PlayerType.TOPDOWN){
+        if(config.playerType === PlayerType.TOPDOWN){
-            this.initializeTopDown();
+            this.initializeTopDown(config.speed);
         } else {
             this.initializePlatformer();
         }
@@ -46,11 +43,11 @@ export default class PlayerController extends StateMachine {
     /**
      * Initializes the player controller for a top down player
      */
-    initializeTopDown(): void {
+    initializeTopDown(speed: number): void {
         let idle = new IdleTopDown(this);
         let move = new MoveTopDown(this, this.owner);
 
-        this.speed = 150;
+        this.speed = speed ? speed : 150;
 
         this.addState(PlayerStates.IDLE, idle);
         this.addState(PlayerStates.MOVE, move);

src/_DemoClasses/Player/PlayerStates/Platformer/PlayerController.ts

@@ -1,4 +1,3 @@
-import StateMachine from "../../../../DataTypes/State/StateMachine";
 import Debug from "../../../../Debug/Debug";
 import Idle from "./Idle";
 import Jump from "./Jump";
@@ -6,6 +5,7 @@ import Walk from "./Walk";
 import Run from "./Run";
 import GameNode from "../../../../Nodes/GameNode";
 import Vec2 from "../../../../DataTypes/Vec2";
+import StateMachineAI from "../../../../AI/StateMachineAI";
 
 export enum PlayerStates {
 	WALK = "walk",
@@ -15,16 +15,14 @@ export enum PlayerStates {
 	PREVIOUS = "previous"
 }
 
-export default class PlayerController extends StateMachine {
+export default class PlayerController extends StateMachineAI {
 	protected owner: GameNode;
 	velocity: Vec2 = Vec2.ZERO;
 	speed: number = 400;
 	MIN_SPEED: number = 400;
 	MAX_SPEED: number = 1000;
 
-    constructor(owner: GameNode){
+    initializeAI(owner: GameNode, config: Record<string, any>): void {
-        super();
-        
 		this.owner = owner;
 		
 		let idle = new Idle(this, owner);
@@ -35,6 +33,8 @@ export default class PlayerController extends StateMachine {
 		this.addState(PlayerStates.RUN, run);
 		let jump = new Jump(this, owner);
 		this.addState(PlayerStates.JUMP, jump);
+
+		this.initialize(PlayerStates.IDLE);
     }
 
 	currentStateString: string = "";