diff --git a/engine/world_generation/src/hex_utils.rs b/engine/world_generation/src/hex_utils.rs
index 032ffb4..c7fbb75 100644
--- a/engine/world_generation/src/hex_utils.rs
+++ b/engine/world_generation/src/hex_utils.rs
@@ -56,7 +56,7 @@ pub fn tile_to_world_distance(dist: u32) -> f32 {
 	return dist as f32 * (2. * INNER_RADIUS);
 }
 
-pub fn get_tile_count(radius: usize) -> usize {
+pub fn get_tile_count_in_range(radius: usize) -> usize {
 	return 1 + 3 * (radius + 1) * radius;
 }
 
@@ -240,7 +240,7 @@ impl HexCoord {
 
 	pub fn hex_select(&self, radius: usize, include_center: bool) -> Vec<HexCoord> {
 		assert!(radius != 0, "Radius cannot be zero");
-		let mut result = Vec::with_capacity(get_tile_count(radius));
+		let mut result = Vec::with_capacity(get_tile_count_in_range(radius));
 
 		if include_center {
 			result.push(*self);
@@ -267,7 +267,7 @@ impl HexCoord {
 		width: usize,
 	) -> Vec<HexCoord> {
 		assert!(radius != 0, "Radius cannot be zero");
-		let mut result = Vec::with_capacity(get_tile_count(radius));
+		let mut result = Vec::with_capacity(get_tile_count_in_range(radius));
 
 		if include_center {
 			if self.is_in_bounds(height, width) {
@@ -296,10 +296,10 @@ impl HexCoord {
 
 		let mut p = self.scale(4, radius);
 
-		if radius == 1 {
-			result.push(*self);
-			return result;
-		}
+		// if radius == 1 {
+		// 	result.push(*self);
+		// 	return result;
+		// }
 
 		for i in 0..6 {
 			for _j in 0..radius {
diff --git a/engine/world_generation/src/map/map.rs b/engine/world_generation/src/map/map.rs
index 69987f7..9ac52d3 100644
--- a/engine/world_generation/src/map/map.rs
+++ b/engine/world_generation/src/map/map.rs
@@ -180,9 +180,9 @@ impl Map {
 		assert!(radius != 0, "Radius cannot be zero");
 
 		let mut result = if include_center {
-			Vec::with_capacity(get_tile_count(radius) + 1)
+			Vec::with_capacity(get_tile_count_in_range(radius) + 1)
 		} else {
-			Vec::with_capacity(get_tile_count(radius))
+			Vec::with_capacity(get_tile_count_in_range(radius))
 		};
 		if include_center {
 			let h = self.sample_height(&center);
@@ -218,9 +218,9 @@ impl Map {
 		assert!(radius != 0, "Radius cannot be zero");
 
 		let mut result = if include_center {
-			Vec::with_capacity(get_tile_count(radius) + 1)
+			Vec::with_capacity(get_tile_count_in_range(radius) + 1)
 		} else {
-			Vec::with_capacity(get_tile_count(radius))
+			Vec::with_capacity(get_tile_count_in_range(radius))
 		};
 		if include_center {
 			let h = self.sample_height_mut(&center);
diff --git a/game/main/src/map_rendering/map_init.rs b/game/main/src/map_rendering/map_init.rs
index 213eda3..4f5b7dd 100644
--- a/game/main/src/map_rendering/map_init.rs
+++ b/game/main/src/map_rendering/map_init.rs
@@ -34,11 +34,10 @@ use crate::{
 	},
 	utlis::{
 		chunk_utils::{paint_map, prepare_chunk_mesh_with_collider},
-		render_distance_system::RenderDistanceVisibility,
 	},
 };
 
-use super::{chunk_rebuild::ChunkRebuildPlugin, terraforming_test::TerraFormingTestPlugin};
+use super::{chunk_rebuild::ChunkRebuildPlugin, render_distance_system::RenderDistanceVisibility, terraforming_test::TerraFormingTestPlugin};
 
 pub struct MapInitPlugin;
 
diff --git a/game/main/src/map_rendering/mod.rs b/game/main/src/map_rendering/mod.rs
index 44fe72b..96454ba 100644
--- a/game/main/src/map_rendering/mod.rs
+++ b/game/main/src/map_rendering/mod.rs
@@ -2,3 +2,4 @@ pub mod chunk_rebuild;
 pub mod map_init;
 pub mod prelude;
 pub mod terraforming_test;
+pub mod render_distance_system;
diff --git a/game/main/src/utlis/render_distance_system.rs b/game/main/src/map_rendering/render_distance_system.rs
similarity index 94%
rename from game/main/src/utlis/render_distance_system.rs
rename to game/main/src/map_rendering/render_distance_system.rs
index 848e32d..e7aaa80 100644
--- a/game/main/src/utlis/render_distance_system.rs
+++ b/game/main/src/map_rendering/render_distance_system.rs
@@ -9,9 +9,6 @@ impl Plugin for RenderDistancePlugin {
 		app.register_type::<RenderDistanceSettings>();
 		app.add_systems(PostUpdate, render_distance_system)
 			.insert_resource(RenderDistanceSettings::default());
-
-		#[cfg(debug_assertions)]
-		app.insert_resource(RenderDistanceSettings::new(f32::MAX));
 	}
 }
 
diff --git a/game/main/src/phos.rs b/game/main/src/phos.rs
index fbbc7eb..b9b66ac 100644
--- a/game/main/src/phos.rs
+++ b/game/main/src/phos.rs
@@ -1,7 +1,7 @@
 use crate::camera_system::components::PhosCamera;
 use crate::map_rendering::map_init::MapInitPlugin;
+use crate::map_rendering::render_distance_system::RenderDistancePlugin;
 use crate::utlis::editor_plugin::EditorPlugin;
-use crate::utlis::render_distance_system::RenderDistancePlugin;
 use crate::utlis::tile_selection_plugin::TileSelectionPlugin;
 use crate::{camera_system::camera_plugin::PhosCameraPlugin, utlis::debug_plugin::DebugPlugin};
 use bevy::{
diff --git a/game/main/src/utlis/debug_plugin.rs b/game/main/src/utlis/debug_plugin.rs
index 2ae5a24..8c43248 100644
--- a/game/main/src/utlis/debug_plugin.rs
+++ b/game/main/src/utlis/debug_plugin.rs
@@ -1,16 +1,7 @@
-use bevy::{prelude::*, window::PrimaryWindow};
-use bevy_inspector_egui::bevy_egui::{systems::InputEvents, EguiContexts};
-use bevy_inspector_egui::egui;
-use bevy_rapier3d::prelude::*;
+use bevy::prelude::*;
 use shared::resources::TileUnderCursor;
 use shared::states::GameplayState;
-use shared::tags::MainCamera;
-use world_generation::{
-	consts::HEX_CORNERS,
-	hex_utils::{HexCoord, INNER_RADIUS},
-	prelude::Map,
-	states::GeneratorState,
-};
+use world_generation::{consts::HEX_CORNERS, prelude::Map, states::GeneratorState};
 
 pub struct DebugPlugin;
 
@@ -76,24 +67,10 @@ fn show_tile_heights(map: Res<Map>, mut gizmos: Gizmos, shape: Res<Shape>, tile_
 			Quat::IDENTITY,
 			Color::WHITE,
 		);
-		let nbors = map.get_neighbors(&contact.tile);
-		let contact_tile_pos = contact.tile.to_world(map.sample_height(&contact.tile));
-
-		// for i in 0..6 {
-		// 	if let Some(s) = nbors[i] {
-		// 		let coord = contact.tile.get_neighbor(i);
-		// 		let p = coord.to_world(s);
-		// 		gizmos.arrow(p, p + Vec3::Y * (i as f32 + 1.0), Color::WHITE);
-		// 	}
-
-		// 	let p = HEX_CORNERS[i] + contact_tile_pos;
-		// 	gizmos.arrow(p, p + Vec3::Y * (i as f32 + 1.0), LinearRgba::rgb(1.0, 0.0, 0.5));
-		// }
 
 		gizmos.line(contact.point, contact.point + Vec3::X, LinearRgba::RED);
 		gizmos.line(contact.point, contact.point + Vec3::Y, LinearRgba::GREEN);
 		gizmos.line(contact.point, contact.point + Vec3::Z, LinearRgba::BLUE);
-		//gizmos.sphere(contact_point, Quat::IDENTITY, 0.1, LinearRgba::rgb(1., 0., 0.5));
 	}
 }
 
diff --git a/game/main/src/utlis/mod.rs b/game/main/src/utlis/mod.rs
index 86dcd04..8fc95da 100644
--- a/game/main/src/utlis/mod.rs
+++ b/game/main/src/utlis/mod.rs
@@ -1,5 +1,4 @@
 pub mod chunk_utils;
-pub mod render_distance_system;
 pub mod debug_plugin;
 pub mod editor_plugin;
 pub mod tile_selection_plugin;
diff --git a/game/units/src/components.rs b/game/units/src/components.rs
index 2296d5e..2342420 100644
--- a/game/units/src/components.rs
+++ b/game/units/src/components.rs
@@ -26,4 +26,4 @@ pub struct Target(pub HexCoord);
 pub struct Path(pub Vec<Vec3>, pub usize);
 
 #[derive(Component, Debug)]
-pub struct PathTask(pub Task<CommandQueue>);
+pub struct PathTask(pub Task<Option<CommandQueue>>);
diff --git a/game/units/src/nav_data.rs b/game/units/src/nav_data.rs
index 071a413..895249d 100644
--- a/game/units/src/nav_data.rs
+++ b/game/units/src/nav_data.rs
@@ -1,10 +1,8 @@
+use bevy::prelude::Resource;
 use ordered_float::OrderedFloat;
-use world_generation::{
-	hex_utils::HexCoord,
-	prelude::{Chunk, Map},
-};
+use world_generation::{hex_utils::HexCoord, prelude::Map};
 
-#[derive(Clone)]
+#[derive(Clone, Resource)]
 pub struct NavData {
 	pub tiles: Vec<NavTile>,
 	pub map_height: usize,
@@ -14,12 +12,14 @@ pub struct NavData {
 impl NavData {
 	pub fn get_neighbors(&self, coord: &HexCoord) -> Vec<(HexCoord, OrderedFloat<f32>)> {
 		let mut neighbors = Vec::with_capacity(6);
+		let cur_height = self.get_height(coord);
 		for i in 0..6 {
 			let n = coord.get_neighbor(i);
 			if !self.is_in_bounds(&n) {
 				continue;
 			}
-			neighbors.push((n, OrderedFloat(1.0)));
+			let n_height = self.get_height(&n);
+			neighbors.push((n, OrderedFloat((cur_height - n_height).abs().powi(2))));
 		}
 		return neighbors;
 	}
@@ -27,11 +27,17 @@ impl NavData {
 		return &self.tiles[coord.to_index(self.map_width)];
 	}
 
+	pub fn get_height(&self, coord: &HexCoord) -> f32 {
+		return self.tiles[coord.to_index(self.map_width)].height;
+	}
+
 	pub fn is_in_bounds(&self, pos: &HexCoord) -> bool {
 		return pos.is_in_bounds(self.map_height, self.map_width);
 	}
 
 	pub fn build(map: &Map) -> NavData {
+		#[cfg(feature = "tracing")]
+		let _path_span = info_span!("Build Nav Data").entered();
 		let mut tiles = Vec::with_capacity(map.get_tile_count());
 		let h = map.get_tile_height();
 		let w = map.get_tile_width();
@@ -54,6 +60,25 @@ impl NavData {
 			map_height: h,
 		};
 	}
+
+	pub fn update(&mut self, map: &Map) {
+		#[cfg(feature = "tracing")]
+		let _path_span = info_span!("Update Nav Data").entered();
+		let h = map.get_tile_height();
+		let w = map.get_tile_width();
+		for y in 0..h {
+			for x in 0..w {
+				let coord = HexCoord::from_grid_pos(x, y);
+				let height = map.sample_height(&coord);
+				let tile = NavTile {
+					coord,
+					height,
+					move_cost: 1.0,
+				};
+				self.tiles[y * w + x] = tile;
+			}
+		}
+	}
 }
 
 #[derive(Clone)]
@@ -65,6 +90,6 @@ pub struct NavTile {
 
 impl NavTile {
 	pub fn calculate_heuristic(&self, to: &HexCoord) -> OrderedFloat<f32> {
-		todo!();
+		return (self.coord.distance(to) as f32).into();
 	}
 }
diff --git a/game/units/src/units_debug_plugin.rs b/game/units/src/units_debug_plugin.rs
index 160cf2f..ed06830 100644
--- a/game/units/src/units_debug_plugin.rs
+++ b/game/units/src/units_debug_plugin.rs
@@ -1,10 +1,7 @@
-use std::f32::consts::E;
-
 use bevy::prelude::*;
 use shared::{resources::TileUnderCursor, sets::GameplaySet, states::AssetLoadState};
-use world_generation::{heightmap, prelude::Map};
 
-use crate::components::{LandUnit, Target, Unit};
+use crate::components::{LandUnit, Path, Target, Unit};
 
 pub struct UnitsDebugPlugin;
 
@@ -13,6 +10,7 @@ impl Plugin for UnitsDebugPlugin {
 		app.add_systems(Update, init.run_if(in_state(AssetLoadState::Loading)));
 
 		app.add_systems(Update, (spawn_test_unit, set_unit_target).in_set(GameplaySet));
+		app.add_systems(FixedUpdate, (visualize_paths).in_set(GameplaySet));
 	}
 }
 
@@ -64,3 +62,21 @@ fn set_unit_target(
 		}
 	}
 }
+
+fn visualize_paths(units: Query<&Path, With<Unit>>, mut gizmos: Gizmos) {
+	for path in units.iter() {
+		if path.1 > path.0.len() {
+			continue;
+		}
+		for node in 1..path.0.len() {
+			let from = path.0[node];
+			let to = path.0[node - 1];
+			let color = if node > path.1 {
+				LinearRgba::rgb(1.0, 0.5, 0.0)
+			} else {
+				LinearRgba::rgb(1.0, 0.5, 1.5)
+			};
+			gizmos.line(from + Vec3::Y * 0.1, to + Vec3::Y * 0.1, color);
+		}
+	}
+}
diff --git a/game/units/src/units_plugin.rs b/game/units/src/units_plugin.rs
index 61571ae..707ec19 100644
--- a/game/units/src/units_plugin.rs
+++ b/game/units/src/units_plugin.rs
@@ -8,7 +8,7 @@ use world_generation::{hex_utils::HexCoord, prelude::Map};
 use crate::{
 	assets::unit_asset::UnitAssetPlugin,
 	components::{Path, PathTask, Target, Unit},
-	nav_data::{self, NavData},
+	nav_data::NavData,
 	units_debug_plugin::UnitsDebugPlugin,
 };
 
@@ -65,12 +65,15 @@ fn dispatch_path_requests(
 	map: Res<Map>,
 	mut commands: Commands,
 ) {
+	if units.is_empty() {
+		return;
+	}
 	let mut groups: HashMap<HexCoord, Vec<PathRequest>> = HashMap::new();
 
 	for (transform, target, entity) in units.iter() {
 		let req = PathRequest {
 			entity,
-			to: HexCoord::from_world_pos(transform.translation),
+			from: HexCoord::from_world_pos(transform.translation),
 		};
 		if let Some(group) = groups.get_mut(&target.0) {
 			group.push(req);
@@ -79,45 +82,94 @@ fn dispatch_path_requests(
 		}
 	}
 
+	//todo: only generate when map is changed
 	let nav_data = NavData::build(&map);
 
 	let pool = AsyncComputeTaskPool::get();
-	for (from, units) in groups {
+	for (target, units) in groups {
+		let destinations = get_end_points(&target, units.len(), &map);
+		let mut i = 0;
 		for req in units {
 			let d = nav_data.clone();
+			let dst = destinations[i];
+			i += 1;
 			let task = pool.spawn(async move {
-				let path = calculate_path(&from, &req.to, d);
-				let mut queue = CommandQueue::default();
-				queue.push(move |world: &mut World| {
-					world.entity_mut(req.entity).insert(path);
-				});
-				return queue;
+				#[cfg(feature = "tracing")]
+				let _path_span = info_span!("Path Finding").entered();
+				if let Some(path) = calculate_path(&req.from, &dst, d) {
+					let mut queue = CommandQueue::default();
+					queue.push(move |world: &mut World| {
+						world.entity_mut(req.entity).insert(path);
+					});
+					return Some(queue);
+				}
+				return None;
 			});
-			commands.entity(req.entity).insert(PathTask(task)).remove::<Target>();
+			commands
+				.entity(req.entity)
+				.insert(PathTask(task))
+				.remove::<Target>()
+				.remove::<Path>();
 		}
 	}
 }
 
+fn get_end_points(coord: &HexCoord, count: usize, map: &Map) -> Vec<HexCoord> {
+	let mut result = Vec::with_capacity(count);
+	if count == 1 {
+		return vec![*coord];
+	}
+	result.push(*coord);
+	let mut r = 1;
+	while result.len() < count {
+		let tiles = HexCoord::select_ring(coord, r);
+		let needed = count - result.len();
+		if needed >= tiles.len() {
+			for t in tiles {
+				if map.is_in_bounds(&t) {
+					result.push(t);
+				}
+			}
+		} else {
+			for i in 0..needed {
+				let t = tiles[i];
+				if map.is_in_bounds(&t) {
+					result.push(t);
+				}
+			}
+		}
+		r += 1;
+	}
+
+	return result;
+}
+
 fn resolve_path_task(mut tasks: Query<(&mut PathTask, Entity), With<Unit>>, mut commands: Commands) {
 	for (mut task, entity) in tasks.iter_mut() {
-		if let Some(mut c) = futures::check_ready(&mut task.0) {
-			commands.append(&mut c);
+		if let Some(c) = futures::check_ready(&mut task.0) {
+			if let Some(mut queue) = c {
+				commands.append(&mut queue);
+			}
 			commands.entity(entity).remove::<PathTask>();
 		}
 	}
 }
 
-fn calculate_path(from: &HexCoord, to: &HexCoord, nav: NavData) -> Path {
+fn calculate_path(from: &HexCoord, to: &HexCoord, nav: NavData) -> Option<Path> {
 	let path = astar(
 		from,
 		|n| nav.get_neighbors(n),
 		|n| nav.get(n).calculate_heuristic(to),
 		|n| n == to,
 	);
-	todo!("Convert path");
+	if let Some((nodes, _cost)) = path {
+		let result: Vec<_> = nodes.iter().map(|f| f.to_world(nav.get_height(f))).collect();
+		return Some(Path(result, 1));
+	}
+	return None;
 }
 
 struct PathRequest {
 	pub entity: Entity,
-	pub to: HexCoord,
+	pub from: HexCoord,
 }