//寻路主要逻辑，通过调用该方法来获取路径信息，由一串Point2代表
public List <APoint> FindPath(APoint beginPos, APoint endPos)
{
List <APoint> result = new List <APoint>();
this.endPos = endPos;
APoint currentPos = beginPos;
openSet.Add(currentPos);
while (!currentPos.Equals(this.endPos))
{
UpdatePath(currentPos);
if (openSet.Count == 0)
{
return(null);
}
currentPos = openTree.First().Value.First();
}
APoint path = currentPos;
while (!path.Equals(beginPos))
{
result.Add(path);
path = allNodes[path].parent.position;
currentPath = result;
}
result.Add(beginPos);
return(result);
}
