Generic Pathfinding implimentation

Pathfinding.fs

module Pathfinding
open Level
open Tools
 
(* a wrapper for mapPoint that can contain pathing data as per typical A* pathfinding *)
(* g = cost of path so far, h = estimated cost to goal, parent = tile we came here from *)
type PathingNode =
        {point:MapPoint; h:float; g:float; parent:PathingNode option}
 
(* returns a pathnode based on a given map point *)
let pointToPathNode parent goal node = {point=node; h=node.Distance goal; g=(parent.g+1.0); parent=Some(parent)}
 
(* A 2D tile specific version of the A* algorithm *)
let pathFind 
    (map:Map) goal = aStar (fun n-> n.point) (fun n-> n.g) (fun n-> n.h) (fun n-> (map.GetNeighborsOf n.point) 
        |> List.filter(fun n-> n.value =0) 
        |> List.map (pointToPathNode n goal)) goal