public List <PathNode> FindPath(string startSystem, string endSystem)
{
ClearPathData();
PathNode start = nodes[startSystem],
end = nodes[endSystem];
AddToOpenSet(start, null, end, 0.0f);
while (openSet.Count > 0)
{
// Take the node off the top of the open set and add it to the closed set
PathNode current = openSet[0];
openSet.RemoveAt(0);
current.Closed = true;
if (current == end)
{
List <PathNode> path = new List <PathNode>();
while (current != null)
{
path.Insert(0, current);
current = current.Parent;
}
return(path);
}
// Add its neighbors to the open list
if (current.Neighbors == null)
{
current.ComputeNeighbors(nodes.Values.ToList(), jump);
}
foreach (KeyValuePair <PathNode, float> pair in current.Neighbors)
{
if (pair.Key.Closed)
{
continue;
}
AddToOpenSet(pair.Key, current, end, pair.Value);
}
}
return(null);
}