public List <ConnectionPoint> FindPath(ConnectionPoint start, ConnectionPoint end) //TODO Zero the Cost at Start
{
//PREPERATION
ConnectionPoint current = null;
open.Clear();
closed.Clear();
cycleID++;
start.resetPathfindingValues();
open.Add(start);
//A*
do
{
//Get The Element with the Lowest Cost
open.Sort(SortByCost);
current = open[0];
open.RemoveAt(0);
//Is this the Target?
if (current == end)
{
return(CalculatePath(current));
}
closed.Add(current);
Expand(current);
} while (open.Count != 0);
return(null);
}