gistfile1.js

/*
    A* Pathfinding
*/
function Path(map, start, end) {

    // Sets
    var open = [],
        closed = [];

    // Create node for start
    var begin;
    begin = new Path.Node(start);
    begin.gscore = 0;
    begin.hscore = Path.heuristic(start, end);
    begin.fscore = begin.gscore + begin.hscore;

    // Open set begins with start node
    Path.append(open, begin);

    var i;

    // Avoiding infinite loops for testing
    for (i = 0; i < 10; i += 1) {
        if (open.length) {

            // Node with lowest fscore
            var current = Path.best(open);

            // Current node not at the end of path
            if (!Vector.isEqual(current.vector, end)) {

                // Swap sets
                Path.remove(open, current);
                Path.append(closed, current);

                // Loop through immediate neighbors
                var j, neighbors = Path.neighbors(current);
                for (j = 0; j < neighbors.length; j += 1) {

                    // Shorthand
                    var neighbor = neighbors[i];

                    // Tentative move cost
                    var cost = current.gscore + Vector.distance(current.vector, neighbor.vector);

                    if (Path.belongs(open, neighbor) && cost < neighbor.gscore) {
                        Path.remove(open, neighbor);
                    }

                    if (Path.belongs(closed, neighbor) && cost < neighbor.gscore) {
                        Path.remove(closed, neighbor);
                    }

                    if (!Path.belongs(closed, neighbor) && !Path.belongs(open, neighbor)) {
                        Path.append(open, neighbor);
                        neighbor.hscore = Path.heuristic(neighbor.vector, end);
                        neighbor.gscore = cost;
                        neighbor.fscore = neighbor.gscore + neighbor.hscore;
                        neighbor.parent = current;
                    }
                }
            }
        }
    }
    console.log(closed);
}