From d7b084659ad71a4820e5c8d80377e2873e6a3c34 Mon Sep 17 00:00:00 2001
From: C9Glax <13404778+C9Glax@users.noreply.github.com>
Date: Wed, 8 Feb 2023 18:09:06 +0100
Subject: [PATCH] Fixed instant depletion of toVisit()

---
 Pathfinding/Pathfinder.cs | 16 +++++++---------
 1 file changed, 7 insertions(+), 9 deletions(-)

diff --git a/Pathfinding/Pathfinder.cs b/Pathfinding/Pathfinder.cs
index 2458e52..8703bfb 100644
--- a/Pathfinding/Pathfinder.cs
+++ b/Pathfinding/Pathfinder.cs
@@ -10,7 +10,6 @@ public class Pathfinder
     {
         RegionManager regionManager = new RegionManager(workingDir);
         Region startRegion, goalRegion;
-        OsmNode? startNode, goalNode;
         try
         {
             startRegion = regionManager.GetRegion(start);
@@ -21,18 +20,18 @@ public class Pathfinder
             throw new Exception(string.Format("No region at coordinates {0}", e.FileName), e);
         }
 
-        startNode = ClosestNodeToCoordinates(start, startRegion);
-        goalNode = ClosestNodeToCoordinates(goal, goalRegion);
+        OsmNode? startNode = ClosestNodeToCoordinates(start, startRegion);
+        OsmNode? goalNode = ClosestNodeToCoordinates(goal, goalRegion);
         if (startNode == null || goalNode == null)
             return new List<OsmNode>();
         
         List<OsmNode> toVisit = new() { startNode };
-        OsmNode closestNodeToGoal;
+        OsmNode closestNodeToGoal = toVisit.First();
+        closestNodeToGoal.currentPathWeight = 0;
         bool stop = false;
 
         while (toVisit.Count > 0 && !stop)
         {
-            Console.WriteLine("toVisit length: {0}", toVisit.Count.ToString());
             closestNodeToGoal = toVisit.First();
             foreach (OsmNode node in toVisit)
             {
@@ -46,11 +45,10 @@ public class Pathfinder
                 }
             }
 
-            foreach (OsmEdge connection in closestNodeToGoal.edges)
+            foreach (OsmEdge edge in closestNodeToGoal.edges)
             {
-                OsmNode? neighbor = regionManager.GetNode(connection.neighborCoordinates);
-                Console.WriteLine(neighbor);
-                if (neighbor != null && neighbor.currentPathWeight < closestNodeToGoal.currentPathWeight + Utils.DistanceBetween(closestNodeToGoal, neighbor))
+                OsmNode? neighbor = regionManager.GetNode(edge.neighborCoordinates);
+                if (neighbor != null && neighbor.currentPathWeight > closestNodeToGoal.currentPathWeight + Utils.DistanceBetween(closestNodeToGoal, neighbor))
                 {
                     neighbor.previousPathNode = closestNodeToGoal;
                     neighbor.currentPathWeight = closestNodeToGoal.currentPathWeight +