public void solveWithAStar() 	{		if (start.X == -1 || end.X == -1) return;		clearNodes();		getPath();			}	private void getPath() 	{				Point currentPoint = new Point();		Point newPoint = new Point();		int lowestIndex = 0;		int lowestValue = 0;		int val;		bool done = false;		openList.Clear();		closedList.Clear();		openList.Add(start);		while (!done) 		{			// get smallest F-value here			lowestIndex = 0;			currentPoint = (Point)openList[lowestIndex];			lowestValue = areaNode[currentPoint.X, currentPoint.Y].f;			for (int i = 0; i < openList.Count - 1; i++) 			{					currentPoint = (Point)openList;				val = areaNode[currentPoint.X, currentPoint.Y].f;				if (val < lowestValue) 				{					lowestIndex = i;					lowestValue = val;				}			}						currentPoint = (Point)openList[lowestIndex];			openList.Remove(currentPoint);			closedList.Add(currentPoint);					// checking and adding new points to move to			// adding LEFT adjacent square			newPoint.X = currentPoint.X - 1;			newPoint.Y = currentPoint.Y;				if (checkNode(newPoint, currentPoint)) processNode(currentPoint, newPoint);					// adding RIGHT adjacent square			newPoint.X = currentPoint.X + 1;			newPoint.Y = currentPoint.Y;			if (checkNode(newPoint, currentPoint)) processNode(currentPoint, newPoint);			// adding UP adjacent square			newPoint.X = currentPoint.X;			newPoint.Y = currentPoint.Y + 1;			if (checkNode(newPoint, currentPoint)) processNode(currentPoint, newPoint);			// adding DOWN adjacent square			newPoint.X = currentPoint.X;			newPoint.Y = currentPoint.Y - 1;			if (checkNode(newPoint, currentPoint)) processNode(currentPoint, newPoint);			// adding DOWN-LEFT adjacent square			newPoint.X = currentPoint.X - 1;			newPoint.Y = currentPoint.Y - 1;			if (checkNode(newPoint, currentPoint)) processNode(currentPoint, newPoint);					// adding DOWN-RIGHT adjacent square			newPoint.X = currentPoint.X + 1;			newPoint.Y = currentPoint.Y - 1;			if (checkNode(newPoint, currentPoint)) processNode(currentPoint, newPoint);					// adding UP-LEFT adjacent square			newPoint.X = currentPoint.X - 1;			newPoint.Y = currentPoint.Y + 1;			if (checkNode(newPoint, currentPoint)) processNode(currentPoint, newPoint);					// adding UP-RIGHT adjacent square			newPoint.X = currentPoint.X + 1;			newPoint.Y = currentPoint.Y + 1;			if (checkNode(newPoint, currentPoint)) processNode(currentPoint, newPoint);			if (openList.Count == 0) done = true;			if (openList.Contains(end)) done = true;		}		if (openList.Count == 0) return;				// path has been found		currentPoint = areaNode[end.X, end.Y].parent;		while (currentPoint != start) 		{			areaNode[currentPoint.X, currentPoint.Y].isPath = true;			currentPoint = areaNode[currentPoint.X, currentPoint.Y].parent;		}					}	private bool checkNode(Point p, Point oldPoint) 	{				// is this node walkable?		if (p.X < 0) return false;		if (p.Y < 0) return false;		if (p.X > (areaSize - 1)) return false;		if (p.Y > (areaSize - 1)) return false;				if (areaNode[p.X, p.Y].type			== Node.nodeType.ntWall) return false;		if (areaNode[oldPoint.X, p.Y].type	== Node.nodeType.ntWall) return false;		if (areaNode[p.X, oldPoint.Y].type	== Node.nodeType.ntWall) return false;				// is this square already in closed list?		if (closedList.Contains(p)) return false;		// node is valid		return true;	}	private void processNode(Point currentp, Point newp) 	{		// this is a valid node to move to,		int gScore, hScore;				// distance to get to the new point		int distance = Math.Abs(currentp.X - newp.X) + 					   Math.Abs(currentp.Y - newp.Y);				if (distance == 2)		// this is a diagonal move			distance = diagonalMove;		else					// this is a straight move			distance = straightMove;		gScore = areaNode[currentp.X, currentp.Y].g + distance;		hScore = Math.Abs(end.X - newp.X) * straightMove +				 Math.Abs(end.Y - newp.Y) * straightMove;				// check if this node is already on the open list		if (openList.Contains(newp)) 		{			if (gScore < areaNode[newp.X, newp.Y].g) 			{				areaNode[newp.X, newp.Y].parent = currentp;				areaNode[newp.X, newp.Y].g = gScore;				areaNode[newp.X, newp.Y].calculateF();			}			return;		}		// estimate for distance to end		// set parent and calculate cost		areaNode[newp.X, newp.Y].parent = currentp;		areaNode[newp.X, newp.Y].g = gScore;		areaNode[newp.X, newp.Y].h = hScore;					// here we calculate F = G + H		areaNode[newp.X, newp.Y].calculateF();			// finally add the new point to the open list		openList.Add(newp);		}