astar broken, just like my spirits

Pathfinding Visualizer/Assets/Scripts/PathNode.cs

@@ -16,8 +16,8 @@ using UnityEngine;
 		public char lastMove; // for output/animation
 		public int distanceTraveled; // for calculating f(n) value
 		public double heuristic;
-		public static double fn; // distance traveled + heuristic value
+		public double fn; // distance traveled + heuristic value
-		bool canSample; // for expansion 
+		//bool canSample; // for expansion 
 
 		// construct node :)
 		public Node(Node parent, Vector2Int agent, List<Vector2Int> samples, char lastMove, int distanceTraveled, double heuristic)
@@ -50,8 +50,8 @@ using UnityEngine;
 			////////////////////////////////////
 
 			// store coordinates for all potential moves to be checked
-			Vector2Int up    = new Vector2Int( this.agent.y - 1, this.agent.x );
+			Vector2Int up    = new Vector2Int( this.agent.y + 1, this.agent.x );
-			Vector2Int down  = new Vector2Int( this.agent.y + 1, this.agent.x );
+			Vector2Int down  = new Vector2Int( this.agent.y - 1, this.agent.x );
 			Vector2Int left  = new Vector2Int( this.agent.y, this.agent.x - 1 );
 			Vector2Int right = new Vector2Int( this.agent.y, this.agent.x + 1 );
 
@@ -117,14 +117,17 @@ using UnityEngine;
 			// check that agent is not trying to move into an obstacle
 			for (int i = 0; i < Pathfinder.obstacles.Count(); i++)
 			{
-				if (Pathfinder.obstacles[i].x == position.x && Pathfinder.obstacles[i].y == position.y)
+				if (Pathfinder.obstacles[i].x.Equals(position.x) && Pathfinder.obstacles[i].y.Equals(position.y))
 					return false;
 			}
 
-			// check that agent is not stepping out of the world
+			if ((position.y < 0) || (position.y > Pathfinder.height - 1) || (position.x < 0) || (position.x > Pathfinder.width - 1))
-			if (!((position.y >= 0) && (position.y <= Pathfinder.height - 1) && (position.x >= 0) && (position.x <= Pathfinder.width - 1)))
 				return false;
 
+			// check that agent is not stepping out of the world
+			// if (!((position.y >= 0) && (position.y <= Pathfinder.height - 1) && (position.x >= 0) && (position.x <= Pathfinder.width - 1)))
+			//	return false;
+
 			return true;
 		}
 

Pathfinding Visualizer/Assets/Scripts/Pathfinder.cs

@@ -60,6 +60,7 @@ public class Pathfinder
         Node initialState = new Node(null, agent, samples, '0', 0, 0);
         List<Node> result = new List<Node>();
 
+        // Run AStar
         if (algorithm == 0)
         {
             result = StartAStar(initialState);
@@ -96,6 +97,7 @@ public class Pathfinder
             // check whether we are in goal state
             if (currentNode.samples.Count() == 0)
             {
+                Debug.Log("Gottem");
                 while (currentNode.parent != null)
                 {
                     solution.Add(currentNode);
@@ -108,7 +110,7 @@ public class Pathfinder
             // if not, expand children and continue
             List<Node> children = currentNode.expand(-1);
 
-            if (heuristic.Equals("h0"))
+            if (heuristic == 0)
                 h0(children);
            /* else if (heuristic.Equals("h1"))
                 h1(children);
@@ -124,6 +126,20 @@ public class Pathfinder
 
         return solution;
     }
+
+/*    private Node GetLowestNode(List<Node> NodeList)
+    {
+        Node lowest = NodeList[0];
+        for (int i = 1; i < NodeList.Count; i++)
+        {
+            if (NodeList[i].fn < lowest.fn)
+            {
+                lowest = NodeList[i];
+            }
+        }
+        return lowest;
+    }*/
+
     // HEURISTICS FOR ASTAR
     public static List<Node> h0(List<Node> children)
     {

Pathfinding Visualizer/Assets/UI Elements/UI/Scripts/nMain.cs

@@ -150,7 +150,6 @@ public class nMain : MonoBehaviour
         if (true)
         {
             Pathfinder astar = new Pathfinder(world, agent, obstacles, samples, algorithm, 0);
-            astar.go();
         }
     }