Remove Contains function from A*. Optimization completed.

Assets/Scenes/Pathfinding.unity

@@ -261,13 +261,13 @@ MonoBehaviour:
   bounds:
     m_Center: {x: 0, y: 0, z: 0}
     m_Extent: {x: 10, y: 10, z: 0}
-  pointInterval: 0.768
+  pointInterval: 0.614
   agentRadius: 0.1
   blockMask:
     serializedVersion: 2
     m_Bits: 256
   isOptimizing: 1
-  complementLevel: 10
+  complementLevel: 8
   enableGizmos: 1
 --- !u!4 &178212235
 Transform:

Assets/Scripts/Generals/PriorityQueue.cs

@@ -32,6 +32,11 @@ public class PriorityQueue<T>
 	{
 		heap.HeapUpdated(item);
 	}
+
+	public IEnumerator<T> GetEnumerator()
+	{
+		return heap.GetEnumerator();
+	}
 }
 
 class Heap<T>
@@ -219,4 +224,9 @@ class Heap<T>
 			TryWithParent(Parent(index));
 		}
 	}
+
+	public IEnumerator<T> GetEnumerator()
+	{
+		return list.GetEnumerator();
+	}
 }
\ No newline at end of file

Assets/Scripts/NodalPathfinding/NodalPathfinding2D.cs

@@ -425,6 +425,7 @@ namespace BS
             List<Node> closed = new List<Node>();
 
             queue.Enqueue(start);
+			start.state = 1;
             while (queue.Count > 0)
             {
                 Node cur = queue.Dequeue();
@@ -436,6 +437,7 @@ namespace BS
                 if(cur.gridPosition == goal.gridPosition)
                 {
                     closed.Add(cur);
+					cur.state = -1;
                     break;
                 }
 				
@@ -443,8 +445,8 @@ namespace BS
                 foreach (var adj in cur.adjacencies)
                 {
                     Node adjNode = nodes[adj];
-					bool isOpened = queue.Contains(nodes[adj]);
-					bool isClosed = closed.Contains(nodes[adj]);
+					bool isOpened = nodes[adj].state > 0;
+					bool isClosed = nodes[adj].state < 0;
 
                     if (isOpened)
                     {
@@ -462,10 +464,11 @@ namespace BS
 						adjNode.cost = cur.cost + Vector2.Distance(cur.worldPositon, adjNode.worldPositon);
 						adjNode.CalculateScore(to);
                         queue.Enqueue(adjNode);
+						adjNode.state = 1;
                     }
 
                 }
-
+				cur.state = -1;
                 closed.Add(cur);
             }
 
@@ -492,14 +495,16 @@ namespace BS
 			{
 				path.Add(to);
 			}
-			/*
-			foreach(var node in nodes.Values)
+
+			foreach(var close in closed)
 			{
-				node.cost = 0;
-				node.parent = null;
-				node.score = 0;
+				close.state = 0;
 			}
-			*/
+			foreach(var open in queue)
+			{
+				open.state = 0;
+			}
+
 			return path;
         }
 
@@ -632,15 +637,7 @@ namespace BS
             cost = 0;
             score = 0;
             parent = null;
-        }
-        public Node(Node node, Node parent, float cost = 0)
-        {
-            this.gridPosition = node.gridPosition;
-            this.worldPositon = node.worldPositon;
-            this.adjacencies = node.adjacencies;
-            this.cost = cost;
-            this.parent = parent;
-            score = 0;
+			state = 0;
         }
 
         public Vector2Int gridPosition;
@@ -649,7 +646,7 @@ namespace BS
         public float cost;
         public float score;
         public Node parent;
-
+		public int state; // -1 : closed, 1 : opened, 0 : neutral
         public void CalculateScore(Vector3 destination)
         {
             score = cost + GetHeuristic(destination);