Pathfinder library didn't work as I expected; is now instanced once for every PathFinder component.

Now with selection and move orders by right clicking the map!

DepthsBelow/DepthsBelow/Component/PathFinder.cs

@@ -1,5 +1,6 @@
 using System;
 using System.Collections.Generic;
+using System.Diagnostics;
 using System.Linq;
 using System.Text;
 using Microsoft.Xna.Framework;
@@ -45,11 +46,23 @@ namespace DepthsBelow.Component
 
 		public void FindPath(Point start, Point goal)
 		{
+			AStar.PathFinderFast pathFinder = new AStar.PathFinderFast(Core.Map.GetCollisionMap());
+			pathFinder.Formula = AStar.HeuristicFormula.Manhattan;
+			pathFinder.Diagonals = false;
+			pathFinder.HeavyDiagonals = false;
+			pathFinder.HeuristicEstimate = 2;
+			pathFinder.PunishChangeDirection = true;
+			pathFinder.TieBreaker = false;
+			pathFinder.SearchLimit = 50000;
+			pathFinder.DebugProgress = false;
+			pathFinder.DebugFoundPath = false;
+
 			var _start = new System.Drawing.Point(start.X, start.Y);
 			var _goal = new System.Drawing.Point(goal.X, goal.Y);
-			path = Core.PathFinder.FindPath(_start, _goal);
+			//path = Core.PathFinder.FindPath(_start, _goal);
+			path = pathFinder.FindPath(_start, _goal);
 			if (path == null)
-				Console.WriteLine("Path not found!");
+				Debug.WriteLine(this.Parent.ToString() + ": Path not found!");
 		}
 	}
 }

DepthsBelow/DepthsBelow/Core.cs

@@ -25,7 +25,7 @@ namespace DepthsBelow
 		MouseInput mouseInput;
 		//public Soldier soldier;
 		public List<Soldier> Squad; 
-		private Map map;
+		public static Map Map;
 
 		public Core()
 		{
@@ -36,7 +36,7 @@ namespace DepthsBelow
 			graphics.PreferredBackBufferHeight = 720;
 			graphics.IsFullScreen = false;
 
-			graphics.SynchronizeWithVerticalRetrace = false;
+			//graphics.SynchronizeWithVerticalRetrace = false;
 			this.IsFixedTimeStep = false;
 			graphics.ApplyChanges();
 
@@ -67,9 +67,9 @@ namespace DepthsBelow
 			// Create a new SpriteBatch, which can be used to draw textures.
 			spriteBatch = new SpriteBatch(GraphicsDevice);
 
-			map = Content.Load<Map>("maps/Cave.Level1");
+			Map = Content.Load<Map>("maps/Cave.Level1");
 
-			PathFinder = new AStar.PathFinderFast(map.GetCollisionMap());
+			PathFinder = new AStar.PathFinderFast(Map.GetCollisionMap());
 			PathFinder.Formula = AStar.HeuristicFormula.Manhattan;
 			PathFinder.Diagonals = false;
 			PathFinder.HeavyDiagonals = false;
@@ -80,7 +80,7 @@ namespace DepthsBelow
 			PathFinder.DebugProgress = false;
 			PathFinder.DebugFoundPath = false;
 
-			map.ParseObjects(this);
+			Map.ParseObjects(this);
 
 			// TODO: use this.Content to load your game content here
 			Soldier.LoadContent(this);
@@ -134,7 +134,7 @@ namespace DepthsBelow
 			                  Camera.Transform);
 
 			// Draw the level
-			map.Draw(spriteBatch);
+			Map.Draw(spriteBatch);
 			// Draw units
 			// TODO: Foreach etc...
 			foreach (var soldier in Squad)

DepthsBelow/DepthsBelow/Map.cs

@@ -69,13 +69,11 @@ namespace DepthsBelow
 
 				foreach (var mapObject in objectLayer.Objects)
 				{
-					Console.WriteLine(mapObject.Type);
-					Console.WriteLine(mapObject.Bounds.Left + "," + mapObject.Bounds.Top);
-
 					if (mapObject.Type == "SquadStart")
 					{
 						var soldier = new Soldier(core);
-						var mapObjectPos = new Vector2(mapObject.Bounds.Left, mapObject.Bounds.Top);
+						// HACK: For some reason, the tile object coordinates are offset by one tile on the Y-axis in the Tiled map file (https://github.com/bjorn/tiled/issues/91)
+						var mapObjectPos = new Vector2(mapObject.Bounds.X, mapObject.Bounds.Y - Grid.TileSize);
 						var mapObjectGridPos = Grid.WorldToGrid(mapObjectPos);
 						soldier.X = mapObjectGridPos.X;
 						soldier.Y = mapObjectGridPos.Y;

DepthsBelow/DepthsBelow/MouseInput.cs

@@ -76,6 +76,14 @@ namespace DepthsBelow
 				selectionRectangle = Rectangle.Empty;
 			}
 
+			// Send orders with right click
+			if (ms.RightButton == ButtonState.Released && lastMouseState.RightButton == ButtonState.Pressed)
+			{
+				foreach (var unit in core.Squad)
+					if (unit.Selected)
+						unit.GetComponent<Component.PathFinder>().Goal = Grid.WorldToGrid(mouseWorldPos);
+			}
+
 			// Grid highlighting
 			Point mouseGridPos = Grid.WorldToGrid(mouseWorldPos);
 			Vector2 rectWorldPos = Grid.GridToWorld(mouseGridPos);

DepthsBelow/DepthsBelow/Soldier.cs

@@ -21,8 +21,8 @@ namespace DepthsBelow
 				LoadContent(core);
 
 			pixelTransform.Origin = new Vector2(16, 16);
-			gridTransform.Position = new Point(7, 3);
+			//gridTransform.Position = new Point(7, 3);
-			pixelTransform.Position = gridTransform.ToWorld();
+			//pixelTransform.Position = gridTransform.ToWorld();
 
 			this.Color = Color.White;
 			var rc = new SpriteRenderer(this) {Texture = Texture, Color = Color.White};
@@ -32,7 +32,6 @@ namespace DepthsBelow
 			AddComponent(cc);
 
 			var pfc = new PathFinder(this);
-			pfc.Goal = new Point(8, 39);
 			AddComponent(pfc);
 		}
 

DepthsBelow/DepthsBelowContent/maps/Cave.Level1.tmx

@@ -215,10 +215,10 @@
 </data>
  </layer>
  <objectgroup name="Object Layer 1" width="100" height="100">
-  <object name="Spawn1" type="SquadStart" gid="143" x="288" y="256"/>
+  <object name="Spawn1" type="SquadStart" gid="143" x="320" y="256"/>
   <object name="Spawn2" type="SquadStart" gid="143" x="288" y="192"/>
   <object name="Spawn4" type="SquadStart" gid="143" x="224" y="160"/>
-  <object name="Spawn3" type="SquadStart" gid="143" x="224" y="224"/>
+  <object name="Spawn3" type="SquadStart" gid="143" x="256" y="288"/>
-  <object name="Spawn5" type="SquadStart" gid="143" x="160" y="192"/>
+  <object name="Spawn5" type="SquadStart" gid="143" x="224" y="224"/>
  </objectgroup>
 </map>