I recently implemented A* with the help of this website, which really explains it well. http://www.redblobgames.com/pathfinding/a-star/introduction.html http:/

I recently implemented A* with the help of this website, which really explains it well. http://www.redblobgames.com/pathfinding/a-star/introduction.html http://www.redblobgames.com/pathfinding/a-star/introduction.... I also used a method to create discrete path between cells, to straighten the path when possible.