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diff --git a/.doctrees/environment.pickle b/.doctrees/environment.pickle
diff --git a/.doctrees/pathfinding3d.core.grid.doctree b/.doctrees/pathfinding3d.core.grid.doctree
diff --git a/.doctrees/pathfinding3d.core.heap.doctree b/.doctrees/pathfinding3d.core.heap.doctree
diff --git a/.doctrees/pathfinding3d.core.heuristic.doctree b/.doctrees/pathfinding3d.core.heuristic.doctree
diff --git a/.doctrees/pathfinding3d.core.util.doctree b/.doctrees/pathfinding3d.core.util.doctree
diff --git a/.doctrees/pathfinding3d.core.world.doctree b/.doctrees/pathfinding3d.core.world.doctree
diff --git a/.doctrees/pathfinding3d.finder.a_star.doctree b/.doctrees/pathfinding3d.finder.a_star.doctree
diff --git a/.doctrees/pathfinding3d.finder.best_first.doctree b/.doctrees/pathfinding3d.finder.best_first.doctree
diff --git a/.doctrees/pathfinding3d.finder.bi_a_star.doctree b/.doctrees/pathfinding3d.finder.bi_a_star.doctree
diff --git a/.doctrees/pathfinding3d.finder.breadth_first.doctree b/.doctrees/pathfinding3d.finder.breadth_first.doctree
diff --git a/.doctrees/pathfinding3d.finder.dijkstra.doctree b/.doctrees/pathfinding3d.finder.dijkstra.doctree
diff --git a/.doctrees/pathfinding3d.finder.finder.doctree b/.doctrees/pathfinding3d.finder.finder.doctree
diff --git a/.doctrees/pathfinding3d.finder.ida_star.doctree b/.doctrees/pathfinding3d.finder.ida_star.doctree
diff --git a/.doctrees/pathfinding3d.finder.msp.doctree b/.doctrees/pathfinding3d.finder.msp.doctree
diff --git a/.doctrees/pathfinding3d.finder.theta_star.doctree b/.doctrees/pathfinding3d.finder.theta_star.doctree
diff --git a/_modules/index.html b/_modules/index.html
@@ -131,7 +131,21 @@
 
   <h1>All modules for which code is available</h1>
 <ul><li><a href="pathfinding3d/core/diagonal_movement.html">pathfinding3d.core.diagonal_movement</a></li>
+<li><a href="pathfinding3d/core/grid.html">pathfinding3d.core.grid</a></li>
+<li><a href="pathfinding3d/core/heap.html">pathfinding3d.core.heap</a></li>
+<li><a href="pathfinding3d/core/heuristic.html">pathfinding3d.core.heuristic</a></li>
 <li><a href="pathfinding3d/core/node.html">pathfinding3d.core.node</a></li>
+<li><a href="pathfinding3d/core/util.html">pathfinding3d.core.util</a></li>
+<li><a href="pathfinding3d/core/world.html">pathfinding3d.core.world</a></li>
+<li><a href="pathfinding3d/finder/a_star.html">pathfinding3d.finder.a_star</a></li>
+<li><a href="pathfinding3d/finder/best_first.html">pathfinding3d.finder.best_first</a></li>
+<li><a href="pathfinding3d/finder/bi_a_star.html">pathfinding3d.finder.bi_a_star</a></li>
+<li><a href="pathfinding3d/finder/breadth_first.html">pathfinding3d.finder.breadth_first</a></li>
+<li><a href="pathfinding3d/finder/dijkstra.html">pathfinding3d.finder.dijkstra</a></li>
+<li><a href="pathfinding3d/finder/finder.html">pathfinding3d.finder.finder</a></li>
+<li><a href="pathfinding3d/finder/ida_star.html">pathfinding3d.finder.ida_star</a></li>
+<li><a href="pathfinding3d/finder/msp.html">pathfinding3d.finder.msp</a></li>
+<li><a href="pathfinding3d/finder/theta_star.html">pathfinding3d.finder.theta_star</a></li>
 </ul>
 
            </div>

diff --git a/_modules/pathfinding3d/core/grid.html b/_modules/pathfinding3d/core/grid.html
diff --git a/_modules/pathfinding3d/core/heap.html b/_modules/pathfinding3d/core/heap.html
diff --git a/_modules/pathfinding3d/core/heuristic.html b/_modules/pathfinding3d/core/heuristic.html
diff --git a/_modules/pathfinding3d/core/util.html b/_modules/pathfinding3d/core/util.html
diff --git a/_modules/pathfinding3d/core/world.html b/_modules/pathfinding3d/core/world.html
@@ -0,0 +1,231 @@
+<!DOCTYPE html>
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+          <li class="breadcrumb-item"><a href="../../index.html">Module code</a></li>
+      <li class="breadcrumb-item active">pathfinding3d.core.world</li>
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+      </li>
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+
+  <h1>Source code for pathfinding3d.core.world</h1><div class="highlight"><pre>
+<span></span><span class="kn">from</span> <span class="nn">typing</span> <span class="kn">import</span> <span class="n">Dict</span><span class="p">,</span> <span class="n">List</span>
+
+<span class="kn">from</span> <span class="nn">.grid</span> <span class="kn">import</span> <span class="n">Grid</span>
+<span class="kn">from</span> <span class="nn">.node</span> <span class="kn">import</span> <span class="n">GridNode</span>
+
+
+<span class="c1"># a world connects grids but can have multiple grids.</span>
+<div class="viewcode-block" id="World"><a class="viewcode-back" href="../../../pathfinding3d.core.world.html#pathfinding3d.core.world.World">[docs]</a><span class="k">class</span> <span class="nc">World</span><span class="p">:</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    A world connects grids but can have multiple grids.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+
+<div class="viewcode-block" id="World.__init__"><a class="viewcode-back" href="../../../pathfinding3d.core.world.html#pathfinding3d.core.world.World.__init__">[docs]</a>    <span class="k">def</span> <span class="fm">__init__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">grids</span><span class="p">:</span> <span class="n">Dict</span><span class="p">[</span><span class="nb">int</span><span class="p">,</span> <span class="n">Grid</span><span class="p">]):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">        Initialize a new world.</span>
+
+<span class="sd">        Parameters</span>
+<span class="sd">        ----------</span>
+<span class="sd">        grids : Dict[int, Grid]</span>
+<span class="sd">            grids in this world</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">grids</span> <span class="o">=</span> <span class="n">grids</span></div>
+
+<div class="viewcode-block" id="World.neighbors"><a class="viewcode-back" href="../../../pathfinding3d.core.world.html#pathfinding3d.core.world.World.neighbors">[docs]</a>    <span class="k">def</span> <span class="nf">neighbors</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">node</span><span class="p">:</span> <span class="n">GridNode</span><span class="p">,</span> <span class="n">diagonal_movement</span><span class="p">:</span> <span class="nb">int</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">List</span><span class="p">[</span><span class="n">GridNode</span><span class="p">]:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">        Get neighbors of the given node.</span>
+
+<span class="sd">        Parameters</span>
+<span class="sd">        ----------</span>
+<span class="sd">        node : GridNode</span>
+<span class="sd">            node to get neighbors from</span>
+<span class="sd">        diagonal_movement : int</span>
+<span class="sd">            if diagonal movement is allowed</span>
+<span class="sd">            (see enum in diagonal_movement)</span>
+
+<span class="sd">        Returns</span>
+<span class="sd">        -------</span>
+<span class="sd">        List[GridNode]</span>
+<span class="sd">            neighbors of the given node</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">grids</span><span class="p">[</span><span class="n">node</span><span class="o">.</span><span class="n">grid_id</span><span class="p">]</span><span class="o">.</span><span class="n">neighbors</span><span class="p">(</span><span class="n">node</span><span class="p">,</span> <span class="n">diagonal_movement</span><span class="o">=</span><span class="n">diagonal_movement</span><span class="p">)</span></div>
+
+<div class="viewcode-block" id="World.calc_cost"><a class="viewcode-back" href="../../../pathfinding3d.core.world.html#pathfinding3d.core.world.World.calc_cost">[docs]</a>    <span class="k">def</span> <span class="nf">calc_cost</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">node_a</span><span class="p">:</span> <span class="n">GridNode</span><span class="p">,</span> <span class="n">node_b</span><span class="p">:</span> <span class="n">GridNode</span><span class="p">,</span> <span class="n">weighted</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">False</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">float</span><span class="p">:</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">        Calculate the cost between two nodes.</span>
+
+<span class="sd">        Parameters</span>
+<span class="sd">        ----------</span>
+<span class="sd">        node_a : GridNode</span>
+<span class="sd">            first node</span>
+<span class="sd">        node_b : GridNode</span>
+<span class="sd">            second node</span>
+<span class="sd">        weighted : bool</span>
+<span class="sd">            wether to use weights or not</span>
+
+<span class="sd">        Returns</span>
+<span class="sd">        -------</span>
+<span class="sd">        float</span>
+<span class="sd">            cost between the two nodes</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="c1"># TODO: if node_a.grid_id != node_b.grid_id calculate distance between</span>
+        <span class="c1"># grids as well, for now we ignore switching grids</span>
+        <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">grids</span><span class="p">[</span><span class="n">node_a</span><span class="o">.</span><span class="n">grid_id</span><span class="p">]</span><span class="o">.</span><span class="n">calc_cost</span><span class="p">(</span><span class="n">node_a</span><span class="p">,</span> <span class="n">node_b</span><span class="p">,</span> <span class="n">weighted</span><span class="o">=</span><span class="n">weighted</span><span class="p">)</span></div>
+
+<div class="viewcode-block" id="World.cleanup"><a class="viewcode-back" href="../../../pathfinding3d.core.world.html#pathfinding3d.core.world.World.cleanup">[docs]</a>    <span class="k">def</span> <span class="nf">cleanup</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">        Cleanup all grids in this world.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">for</span> <span class="n">grid</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">grids</span><span class="o">.</span><span class="n">values</span><span class="p">():</span>
+            <span class="n">grid</span><span class="o">.</span><span class="n">cleanup</span><span class="p">()</span></div></div>
+</pre></div>
+
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