public List <Vector3> FindPath(Vector3 from, Vector3 to)
    {
        ClearPath();
        foreach (NavSeqAStar s in g_Pathfinders)
        {
            s.ClearPath();
        }

        if (DynamicWeight)
        {
            HeuristicWeight = 1.0f;
        }

        RaycastHit hit;

        g_PathList = new List <Vector3>();

        if (Physics.Raycast(new Ray(transform.position + (transform.up * 0.2f), -1 * transform.up), out hit))
        {
            // Ensure we are on a grid
            g_Grid = hit.collider.GetComponent <NavGrid>();
            if (CleanPathOnRestart)
            {
                g_Grid.CleanAll();
            }
            g_FromNode = g_FromNode == null?g_Grid.GetOccupiedNode(this) : g_FromNode;

            if (g_FromNode == null)
            {
                g_NPCController.Debug("NavAStar --> Agent is currently navigating in between nodes, try again please");
                return(g_PathList);
            }

            /* Initialize all heuristics here */
            InitializeFinder(g_FromNode, to, g_Grid);
            foreach (NavSeqAStar s in g_Pathfinders)
            {
                s.InitializeFinder(g_FromNode, to, g_Grid);
            }

            while (g_OpenList.Count > 0)
            {
                // get next optimal node
                NavNode n = g_Fringe.Values[0];

                // Then Heuristic-based search
                foreach (NavSeqAStar nav in g_Pathfinders)
                {
                    float va = nav.g_gVal.Count == 0 ? float.MaxValue : nav.g_gVal[nav.g_Fringe.Values[0]];
                    if (va < (nav.g_SecondaryHeuristicsWeight * g_gVal[g_Fringe.Values[0]]))
                    {
                        if (IsCurrentStateGoal(new System.Object[] { nav.g_Fringe.Values[0] }))
                        {
                            g_Winner = "Heuristic won: " + nav.Name();
                            n        = nav.g_Fringe.Values[0];
                            n.SetHighlightTile(true, Color.green, 1f);
                            g_GoalNode         = n;
                            g_PathList         = ConstructPath(n, nav.g_Parents);
                            g_CurrentPathValue = nav.g_gVal[n];
                            g_NPCController.Debug(g_Winner);
                            goto exit_pathfinding;
                        }
                        else
                        {
                            NavNode s = nav.g_Fringe.Values[0];
                            nav.ExpandNode(s);
                            nav.g_ClosedList.Add(s);
                        }
                    }
                    else if (IsCurrentStateGoal(new System.Object[] { n }))
                    {
                        g_Winner = "Search won: " + nav.Name();
                        n.SetHighlightTile(true, Color.green, 1f);
                        g_GoalNode         = n;
                        g_PathList         = ConstructPath(g_GoalNode, g_Parents);
                        g_CurrentPathValue = g_gVal[n];
                        g_NPCController.Debug(g_Winner);
                        goto exit_pathfinding;
                    }
                    else
                    {
                        ExpandNode(n);
                        g_ClosedList.Add(n);
                    }
                }
            }
        }
        else
        {
            g_NPCController.Debug("NavAStar --> Pathfinder not on grid");
        }
exit_pathfinding:
        g_FromNode = null;
        return(g_PathList);
    }