From d094f0baf65e87f1cb7032096b89bc58787b148b Mon Sep 17 00:00:00 2001
From: Calclavia <admin@calclavia.com>
Date: Sun, 4 Aug 2013 00:04:16 -0400
Subject: [PATCH] Finished A* Pathfinder

---
 .../contractor/Pathfinding.java               | 21 ++++++++++++++++++-
 1 file changed, 20 insertions(+), 1 deletion(-)

diff --git a/src/resonantinduction/contractor/Pathfinding.java b/src/resonantinduction/contractor/Pathfinding.java
index 4b568937..333dcd4c 100644
--- a/src/resonantinduction/contractor/Pathfinding.java
+++ b/src/resonantinduction/contractor/Pathfinding.java
@@ -73,9 +73,28 @@ public class Pathfinding
 			{
 				ForgeDirection direction = ForgeDirection.getOrientation(i);
 				Vector3 neighbor = currentNode.clone().translate(new Vector3(direction.offsetX, direction.offsetY, direction.offsetZ));
-				
+
+				double tentativeG = this.gScore.get(currentNode);
+
+				if (this.closedSet.contains(neighbor))
+				{
+					if (tentativeG >= this.gScore.get(neighbor))
+					{
+						continue;
+					}
+				}
+
+				if (!this.openSet.contains(neighbor) || tentativeG < this.gScore.get(neighbor))
+				{
+					this.navMap.put(neighbor, currentNode);
+					this.gScore.put(neighbor, tentativeG);
+					this.fScore.put(neighbor, this.gScore.get(neighbor) + this.getEstimate(neighbor, this.target));
+					this.openSet.add(neighbor);
+				}
 			}
 		}
+
+		return false;
 	}
 
 	private Set<Vector3> reconstructPath(HashMap<Vector3, Vector3> naviMap, Vector3 currentNode)