PathFinding.js | A comprehensive path-finding library for grid based games | Learning library

function algorithm(){
if(startPoint === true && endPoint === true){
//add the heuristic distance to the start position from the final position
startPosition.h = distance([startPosition.x, startPosition.y]);

let openList = []

openList.push(startPosition)
let closedList = []
  while (openList.length > 0){
    //print(openList)
    lowPos = 0;
    for(let i = 0; i < openList.length; i++){
      if(openList[i].f < openList[lowPos].f){
        lowPos = i;
      }
    }
    let currentPosition = openList[lowPos];
    //currentPosition.check()
    //if the currentPosition is the endPosition, retrace steps and find the path, then return this path
    if(currentPosition === endPosition){
      let curr = currentPosition;
      let ret = [];
      while(curr.parent != null){
        curr.path()
        ret.push(curr);
        curr = curr.parent;
      }
      endPosition.end()
      return ret.reverse();
    }
    openList.splice(lowPos, 1);
    closedList.push(currentPosition);
    let neighbours = neighbors(currentPosition);
    for(let i = 0; i < neighbours.length; i++){
      let neighbour = neighbours[i];
      if(closedList.includes(neighbour) || neighbour.colour == "black"){
        continue;
      }
      neighbour.check()
      let gScore = currentPosition.g + 1;
      let gScoreBest = false;
      if(openList.includes(neighbour) == false){
        gScoreBest = true;
        neighbour.h = distance([neighbour.x, neighbour.y]);
        openList.push(neighbour);
      }
      else if(gScore < neighbour.g){
        gScoreBest = true;
      }
      if(gScoreBest == true){
        neighbour.parent = currentPosition;
        neighbour.g = gScore;
        neighbour.f = neighbour.g + neighbour.h;
      }
    }
  }
}
 //meaning that either the path is not possible or the final node/initial node 
 has not yet been placed.
 return [];
}