public float2[,] FlowField(MapCell goal, Squad squad = null)
    {
#if UNITY_EDITOR
        UnityEngine.Profiling.Profiler.BeginSample("FlowField");
#endif
        // reset costs
        for (int x = 0; x < width; x++)
        {
            for (int y = 0; y < height; y++)
            {
                MapCell cell = grid.grid_cells[x, y];
                cell.cost = 0;
                result[x, y] = 0;
            }
        }
        // result directions
        // open cells
        List<MapCell> open = new List<MapCell>();
        // start dijkstra
        open.Add(goal);
        goal.cost = 0;
        // if there is a squad, only process dijkstra until we reach each squad pawn
        List<Pawn> to_process = null;
        List<int2> coords_to_process = new List<int2>();
        if(squad != null)
        {
            to_process = new List<Pawn>();
            for(int i = 0; i < squad.pawns.Count; i++)
            {
                to_process.Add(squad.pawns[i]);
            }
        }

        while(open.Count > 0)
        {
            MapCell cell = open[0];
            coords_to_process.Add(cell.coords);
            open.RemoveAt(0);
            var neighbours = grid.GetNeighbours(cell);
            for (var i = 0; i < neighbours.Count; i++)
            {
                MapCell n = neighbours[i];
                if(n == null)
                {
                    continue;
                }
                if (!open.Contains(n) && n.cost == 0)
                {
                    n.cost = cell.cost + n.weight;
                    open.Add(n);
                }
            }
            // early break in case we've reached every pawn, no point in going further
            if(to_process != null)
            {
                for (int j = to_process.Count - 1; j >= 0; j--)
                {
                    if (cell.pawns.Contains(to_process[j]))
                    {
                        to_process.RemoveAt(j);
                    }
                }
                if (to_process.Count == 0)
                {
                    break;
                }
            }
        }

        // after dijkstra create flow field
        for (int j = 0; j < coords_to_process.Count; j++)
        {
            int2 coords = coords_to_process[j];
            MapCell cell = grid.grid_cells[coords.x, coords.y];
            var neighbours = grid.GetNeighbours(cell);

            //Go through all neighbours and find the one with the lowest distance
            MapCell min = null;
            float minDist = 0;
            for (var i = 0; i < neighbours.Count; i++)
            {
                MapCell n = neighbours[i];
                var dist = n.cost - cell.cost;

                if (dist < minDist)
                {
                    min = n;
                    minDist = dist;
                }
            }

            //If we found a valid neighbour, point in its direction
            if (min != null)
            {
                result[coords.x, coords.y] = math.normalize(min.pos - cell.pos);
            }
        }
#if UNITY_EDITOR
        UnityEngine.Profiling.Profiler.EndSample();
#endif
        return result;
    }