AStar algorithm

using System;
using System.Collections;
using System.Collections.Generic;
using UnityEngine;
using UnityEngine.UI;
 
public class Test0517 : MonoBehaviour
{
    public int row, col;
    public int startX, startY;
    public int targetX, targetY;
    public Button btnNext;
 
    private GameObject[] tilePrefabs;
    private GameObject[,] tiles;
    private GameObject motherNode;
    private GameObject startNode;
    private GameObject targetNode;
    private List<GameObject> listTile;
    private List<GameObject> openList;
    private List<GameObject> closeList;
    private List<GameObject> motherNodes;
 
    private Vector2[,] coordinate;
 
    void Start()
    {
        this.tilePrefabs = Resources.LoadAll<GameObject>("Tiles");
        this.coordinate = new Vector2[this.row, this.col];
        this.tiles = new GameObject[this.row, this.col];
        this.listTile = new List<GameObject>();
        this.openList = new List<GameObject>();
 
        this.SetCorrdinate();
        this.CreateTiles();
 
 
        this.SetMotherNode(this.tiles[startX, startY]);
        this.FindPath(this.tiles[targetX, targetY]);
 
        this.btnNext.onClick.AddListener(() =>
        {
 
            //현재 박스 저장한 뒤
            this.OpenTileSort(this.openList);
            Debug.LogFormat("{0}  F : {1}", this.openList[0].GetComponent<TestTile>().textCoord.text, this.openList[0].GetComponent<TestTile>().f);
 
            this.SetMotherNode(this.openList[0]);
            this.ResetNodeVal(this.openList);
            this.openList.Clear();
            this.openList = new List<GameObject>();
            this.FindPath(this.tiles[targetX, targetY]);
 
            if (this.motherNode.GetComponent<TestTile>().x == targetX && this.motherNode.GetComponent<TestTile>().y == targetY)
            {
                Debug.Log("도착!");
                this.btnNext.gameObject.SetActive(false);
            }
        });
 
    }
 
    private void ResetNodeVal(List<GameObject> openList)
    {
        for (int i = 0; i < openList.Count; i++)
        {
            openList[i].GetComponent<TestTile>().textF.text = "F";
            openList[i].GetComponent<TestTile>().textG.text = "G";
            openList[i].GetComponent<TestTile>().textH.text = "H";
            openList[i].GetComponent<TestTile>().Arrow.gameObject.SetActive(false);
        }
    }
 
    private void OpenTileSort(List<GameObject> openList)
    {
        Debug.Log("솔트시작");
        int i = 0;
        int j = 0;
        int min = 0;
 
        Debug.Log("솔트전");
        foreach (var data in openList)
        {
            Debug.LogFormat("{0}  F : {1}", data.GetComponent<TestTile>().textCoord.text, data.GetComponent<TestTile>().f);
        }
 
        for (i = 0; i < openList.Count - 1; i++)//전체 훑기 Count-1 : 마지막칸은 자동으로 정렬되고 뒷칸이 없으므로 제외
        {
            min = i;//최소값을 들고 있을 제 3의 손//맨 처음엔 검사하는 첫배열을 들고있음
 
            for (j = i + 1; j < openList.Count; j++)// 최소값을 탐색한다.
            {
                if (openList[j].GetComponent<TestTile>().f < openList[min].GetComponent<TestTile>().f)//초기값 or 최소값이 j보다 크면 j를 최소값에 넣는다.
                {
                    min = j;
                }
            }
            if (min != 0)//스왑 알고리즘
            {
                SwapList(i, min);
            }
        }
 
        Debug.Log("솔트 후");
        foreach (var data in openList)
        {
            Debug.LogFormat("{0}  F : {1}", data.GetComponent<TestTile>().textCoord.text, data.GetComponent<TestTile>().f);
        }
    }
 
    private void SwapList(int index1, int index2)
    {
        //값을 임시로 저장할 temp변수
        var temp = openList[index2];
        openList[index2] = openList[index1];
        openList[index1] = temp;
    }
 
    private void FindPath(GameObject target)
    {
        this.FindNodes();
    }
 
    private void FindNodes()
    {
        var mother = this.motherNode.GetComponent<TestTile>();
        var motherX = this.motherNode.GetComponent<TestTile>().x - 1;
        var motherY = this.motherNode.GetComponent<TestTile>().y - 1;
        var maxX = this.motherNode.GetComponent<TestTile>().x + 1;
        var maxY = this.motherNode.GetComponent<TestTile>().y + 1;
 
        if (motherX < 0)
        {
            motherX = 0;
        }
        if (motherY < 0)
        {
            motherY = 0;
        }
 
        for (int i = motherX; i <= maxX; i++)
        {
            for (int j = motherY; j <= maxY; j++)
            {
                if (this.tiles[i, j].GetComponent<TestTile>().tileType == 0)
                {
                    this.listTile.Add(this.tiles[i, j]);
                    this.openList.Add(this.tiles[i, j]);
                    this.SetH(this.tiles[i, j]);
                    this.SetG(this.tiles[i, j]);
                    this.SetF(this.tiles[i, j]);
                    this.TurnArrow(this.tiles[i, j]);
                    var sprite = this.tiles[i, j].GetComponentInChildren<SpriteRenderer>();
                    sprite.color = Color.cyan;
                }
                else
                {
                    this.tiles[i, j].GetComponent<TestTile>().closeNode = true;
                }
            }
        }
    }
 
    private void TurnArrow(GameObject tile)
    {
        var script = tile.GetComponent<TestTile>();
        var xPos = this.motherNode.transform.position.x - script.Arrow.transform.position.x;
        var yPos = this.motherNode.transform.position.y - script.Arrow.transform.position.y;
        var rad = Mathf.Atan2(yPos, xPos) * Mathf.Rad2Deg;
        script.Arrow.transform.rotation = Quaternion.Euler(new Vector3(0, 0, rad + 270));
 
        script.Arrow.SetActive(true);
    }
 
    private void SetMotherNode(GameObject mother)
    {
        this.motherNode = mother;
        this.motherNode.GetComponent<TestTile>().tileType = 2;
        this.motherNode.GetComponentInChildren<SpriteRenderer>().color = Color.gray;
    }
 
    private void SetCorrdinate()
    {
        for (int i = 0; i < this.row; i++)
        {
            for (int j = 0; j < this.col; j++)
            {
                this.coordinate[i, j] = new Vector2(i, j);
            }
        }
    }
 
    private void SetF(GameObject tile)
    {
        var tileScript = tile.GetComponent<TestTile>();
        tileScript.f = tileScript.g + tileScript.h;
        tileScript.textF.text = tileScript.f.ToString();
    }
    private void SetH(GameObject tile)
    {
        var tileScript = tile.GetComponent<TestTile>();
        var targetScript = this.targetNode.GetComponent<TestTile>();
        var dis = (int)(Vector2.Distance(tile.transform.position, this.targetNode.transform.position) * 10);
        //Debug.Log(dis);
        tileScript.textH.text = dis.ToString();
        tileScript.h = dis;
    }
    private void SetG(GameObject tile)
    {
        var tileScript = tile.GetComponent<TestTile>();
        var targetScript = this.targetNode.GetComponent<TestTile>();
        var dis = (int)((Vector2.Distance(tile.transform.position, this.motherNode.transform.position)) * 10);
        //Debug.LogFormat("{0} : {1}", tile.transform.position, dis);
        tileScript.textG.text = dis.ToString();
        tileScript.g = dis;
    }
 
 
    private void CreateTiles()
    {
 
        for (int i = 0; i < this.row; i++)
        {
            for (int j = 0; j < this.col; j++)
            {
                var screenPos = Camera.main.ScreenToWorldPoint(new Vector2((j * 100) + 400, (i * -100) + 550));
                screenPos.z = 0;
                if (i == this.startX && j == this.startY)
                {
                    var tile = GameObject.Instantiate(this.tilePrefabs[1]);
                    this.tiles[i, j] = tile;
                    this.startNode = tile;
                    var script = tile.GetComponent<TestTile>();
                    script.x = i;
                    script.y = j;
                    script.textCoord.text = script.x.ToString() + ", " + script.y.ToString();
                    tile.transform.position = screenPos;
                }
                else if (i == this.targetX && j == this.targetY)
                {
                    var tile = GameObject.Instantiate(this.tilePrefabs[2]);
                    this.tiles[i, j] = tile;
                    this.targetNode = tile;
                    var script = tile.GetComponent<TestTile>();
                    script.x = i;
                    script.y = j;
                    script.textCoord.text = script.x.ToString() + ", " + script.y.ToString();
                    tile.transform.position = screenPos;
                }
                else if ((i >= 1 && i < 4) && j == 3)
                {
                    var tile = GameObject.Instantiate(this.tilePrefabs[0]);
                    this.tiles[i, j] = tile;
                    var script = tile.GetComponent<TestTile>();
                    script.tileType = 1;
                    script.x = i;
                    script.y = j;
                    script.textCoord.text = script.x.ToString() + ", " + script.y.ToString();
                    tile.transform.position = screenPos;
                }
                else
                {
                    var tile = GameObject.Instantiate(this.tilePrefabs[3]);
                    this.tiles[i, j] = tile;
                    var script = tile.GetComponent<TestTile>();
                    script.x = i;
                    script.y = j;
                    script.textCoord.text = script.x.ToString() + ", " + script.y.ToString();
                    tile.transform.position = screenPos;
                }
            }
        }
    }
}
 

using System.Collections;
using System.Collections.Generic;
using UnityEngine;
 
public class TestTile : MonoBehaviour
{
    public TextMesh textCoord;
    public TextMesh textF;
    public TextMesh textG;
    public TextMesh textH;
    public GameObject Arrow;
    public int x, y;
    public int tileType;
    public Vector2 vec2;
    public int g, h, f;
    public bool closeNode;
 
    public TestTile()
    {
        this.vec2 = new Vector2(this.x, this.y);
    }
}