Pseudo code for A*
Node Class:
A class used to store data about nodes (possible waypoints on the path)
position = the location of the node
parent = the node that leads to this node
costSoFar = stores the distance to this node from the start
distanceToEnd = distance "as crow flies" to the target destination
totalCost = distanceToEnd + costSoFar
findPath method:
openList = list of possible nodes
closedList = list of disregarded nodes
currentNode = the node being examined currently
SET currentNode to node at starting location
ADD currentNode to openList
WHILE openList is not empty
sort openList, from lowest totalCost to highest totalCost of the node
SET currentNode to first element in openList, i.e. on first run the start node
IF currentNode's position = goal THEN
the path has been found
path = list of nodes that make up path
WHILE currentNode is not start node
ADD currentNode to path
SET currentNode to currentNode's parent
RETURN path
IF path hasn't been found THEN
remove currentNode from openList and add to closedList
FOR adjacent nodes:
READ tile at the node's position
IF tile is solid or not valid THEN skip this node
SET nodes's costSoFar to (currentNode's costSoFar + distance to target from currentNode's
position)*movement cost at node
IF node is in closedList and you moving away from the goal THEN skip this node
IF node is not in openList and moving closer to target THEN add node to openList