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This adds the PathNode class and the PathMap class which generates a path for a NPC to follow to a desired position.

Assets/Scripts/PathGenerator.cs

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+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+public class PathNode
+{
+
+    private Vector3 position;
+    public Vector2 index;
+    private float score;
+    public PathNode(Vector3 Pos, float Score) {
+
+        position = Pos;
+        score = Score;
+    }
+    public Vector3 Position { get => position; set => position = value; }
+}

Assets/Scripts/PathGenerator.cs.meta

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Assets/Scripts/PathMap.cs

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+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+public class PathMap : MonoBehaviour
+{
+    private Vector3 position;
+    private PathNode[,] map;
+    private GameObject[,] ball;
+    private int rows = 40;
+    private int cols = 40;
+    private float spacing = 1f;
+    private float height = 0;
+
+    private PathNode[] uncheckedNodes;
+    private List<PathNode> openList;
+    private List<PathNode> closedList;
+    private List<PathNode> nextList;
+
+    void Start()
+    {
+        map = new PathNode[40, 40];
+        ball = new GameObject[rows, cols];
+        openList = new List<PathNode>();
+        closedList = new List<PathNode>();
+        nextList = new List<PathNode>();
+
+        for (int r = 0; r < rows; r++)
+        {
+            for (int c = 0; c < cols; c++)
+            {
+                PathNode node = new PathNode(new Vector3(r * spacing, height, c * spacing), 1f);
+                node.index = new Vector2(r,c);
+                map[r, c] = node;
+
+            }
+        }  
+
+
+        for (int r = 0; r < rows; r++)
+        {
+            for (int c = 0; c < cols; c++)
+            {
+                GameObject sphere = GameObject.CreatePrimitive(PrimitiveType.Sphere);
+                sphere.transform.position = map[r,c].Position;
+                ball[r,c] = sphere;
+
+            }
+        }
+        FindClosestNode(new Vector3(0.7f,2,0.7f));
+    }
+    private void AddAllNeigbors(Vector2 index) {
+        if ((int)index.x - 1 >= 0 && (int) index.y - 1 >= 0 && !openList.Contains(map[(int)index.x - 1, (int)index.y - 1])) {
+            openList.Add(map[(int)index.x - 1, (int)index.y - 1]);
+        }
+        if ((int)index.y - 1 >= 0 && !openList.Contains(map[(int)index.x, (int)index.y - 1]))
+        {
+            openList.Add(map[(int)index.x, (int)index.y - 1]);
+        }
+        if ((int)index.x + 1 <= rows && (int)index.y - 1 >= 0 && !openList.Contains(map[(int)index.x + 1, (int)index.y - 1]))
+        {
+            openList.Add(map[(int)index.x + 1, (int)index.y - 1]);
+        }
+
+        if ((int)index.x - 1 >= 0 && !openList.Contains(map[(int)index.x - 1, (int)index.y]))
+        {
+            openList.Add(map[(int)index.x - 1, (int)index.y]);
+        }
+        if ((int)index.x + 1 <= rows && (int)index.y - 1 >= 0 && !openList.Contains(map[(int)index.x + 1, (int)index.y]))
+        {
+            openList.Add(map[(int)index.x + 1, (int)index.y]);
+        }
+
+
+
+        if ((int)index.x - 1 >= 0 && (int)index.y + 1 <= cols && !openList.Contains(map[(int)index.x - 1, (int)index.y + 1]))
+        {
+            openList.Add(map[(int)index.x - 1, (int)index.y + 1]);
+        }
+        if ((int)index.y + 1 <= cols && !openList.Contains(map[(int)index.x, (int)index.y + 1]))
+        {
+            openList.Add(map[(int)index.x, (int)index.y + 1]);
+        }
+        if ((int)index.x + 1 <= rows && (int)index.y + 1 <= cols && !openList.Contains(map[(int)index.x + 1, (int)index.y + 1]))
+        {
+            openList.Add(map[(int)index.x + 1, (int)index.y + 1]);
+        }
+
+    }
+    private PathNode FindClosestNode(Vector3 pos) {
+        if (pos.x > 0 && pos.x < rows * spacing && pos.z > 0 && pos.z < cols * spacing)
+        {
+            Destroy(ball[Mathf.RoundToInt(pos.x / spacing), Mathf.RoundToInt(pos.z / spacing)]);
+            return map[Mathf.RoundToInt(pos.x / 2), Mathf.RoundToInt(pos.z / 2)];
+        }
+        else {
+            return null;
+        }
+    }
+    public void QueryNodes() {
+        PathNode currentNode;
+        for (int r = 0; r < rows; r++)
+        {
+            for (int c = 0; c < cols; c++)
+            {
+                currentNode = map[r,c];
+
+            }
+        }
+
+    }
+
+    // Update is called once per frame
+    void Update()
+    {
+
+
+    }
+}

Assets/Scripts/PathMap.cs.meta

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