Universe.BotManager.AStar.AStarNode.IsGoal C# (CSharp) Method

        public bool IsGoal()
        {
            return IsSameState(FGoalNode);
        }

        /// <summary>
        ///     Finds the shortest path from the start node to the goal node
        /// </summary>
        /// <param name="AStartNode">Start node</param>
        /// <param name="AGoalNode">Goal node</param>
        public void FindPath(AStarNode AStartNode, AStarNode AGoalNode)
        {
            FStartNode = AStartNode;
            FGoalNode  = AGoalNode;

            FOpenList.Add(FStartNode);
            int i = 0;

            while (FOpenList.Count > 0 && i < 2000)
            {
                // Get the node with the lowest TotalCost
                AStarNode NodeCurrent = (AStarNode)FOpenList.Pop();

                // If the node is the goal copy the path to the solution array
                if (NodeCurrent.IsGoal())
                {
                    while (NodeCurrent != null)
                    {
                        FSolution.Insert(0, NodeCurrent);
                        NodeCurrent = NodeCurrent.Parent;
                    }
                    break;
                }

                // Get successors to the current node
                NodeCurrent.GetSuccessors(FSuccessors);
                foreach (AStarNode NodeSuccessor in FSuccessors)
                {
                    // Test if the currect successor node is on the open list, if it is and
                    // the TotalCost is higher, we will throw away the current successor.
                    AStarNode NodeOpen = null;
                    if (FOpenList.Contains(NodeSuccessor))
                    {
                        NodeOpen = (AStarNode)FOpenList[FOpenList.IndexOf(NodeSuccessor)];
                    }
                    if ((NodeOpen != null) && (NodeSuccessor.TotalCost > NodeOpen.TotalCost))
                    {
                        continue;
                    }

                    // Test if the currect successor node is on the closed list, if it is and
                    // the TotalCost is higher, we will throw away the current successor.
                    AStarNode NodeClosed = null;
                    if (FClosedList.Contains(NodeSuccessor))
                    {
                        NodeClosed = (AStarNode)FClosedList[FClosedList.IndexOf(NodeSuccessor)];
                    }
                    if ((NodeClosed != null) && (NodeSuccessor.TotalCost > NodeClosed.TotalCost))
                    {
                        continue;
                    }

                    // Remove the old successor from the open list
                    FOpenList.Remove(NodeOpen);

                    // Remove the old successor from the closed list
                    FClosedList.Remove(NodeClosed);

                    // Add the current successor to the open list
                    FOpenList.Push(NodeSuccessor);
                }
                // Add the current node to the closed list
                FClosedList.Add(NodeCurrent);
                i++;
            }

            if (i == 2000)
            {
                m_pathPossible = false;
            }
        }