The most challenging part of this project was understanding and implementing hierarchical pathfinding. We used Artificial Intelligence For Games by Ian Millington and John Funge for the explanation of how hierarchical pathfinding works and algorithm for implementing the pathfinding. It took us a few hours to completely understand how hierarchical pathfinding should work and how we should approach doing it. I was able to create an infrastructure that would read in the data from my level editor and create multiple layers that we could use in our pathfinding algorithm. We were then able to take that infrastructure and apply it to the algorithm in the book to get a working hierarchical pathfinder.
To show off the smaller subsections of hierarchical pathfinding working we added the ability to turn on and off continuous pathfinding. When continuous pathfinding is off the characters only move to the next room on the higher path. This demonstrates how small of a path is created at one time.
In order for hierarchical pathfinding to really be worth it the map would need to be much larger than it is in this tech demo. In this situation it would not be impossible to A* across the whole map but if the map was much larger it would take far too much time to A* to any position. In that case this technique would be very useful to allow for pathfinding over a smaller area.