用java代码写一个基于A* 算法的demo

下面是一个使用 Java 语言实现的基于 A* 算法的示例代码：

import java.util.*;

public class AStar {
    static class Node {
        int x;
        int y;
        int f;
        int g;
        int h;
        Node parent;

        public Node(int x, int y) {
            this.x = x;
            this.y = y;
        }
    }

    public static List<Node> findPath(int[][] map, int startX, int startY, int endX, int endY) {
        List<Node> openList = new ArrayList<>();
        List<Node> closeList = new ArrayList<>();
        Node startNode = new Node(startX, startY);
        Node endNode = new Node(endX, endY);
        openList.add(startNode);

        while (openList.size() > 0) {
            Node currentNode = openList.get(0);
            for (int i = 1; i < openList.size(); i++) {
                if (openList.get(i).f < currentNode.f) {
                    currentNode = openList.get(i);
                }
            }

            openList.remove(currentNode);
            closeList.add(currentNode);

            if (currentNode.x == endNode.x && currentNode.y == endNode.y) {
                return getPath(endNode);
            }

            List<Node> neighbors = getNeighbors(currentNode, map, endNode);
            for (Node neighbor : neighbors) {
                if (closeList.contains(neighbor)) {
                    continue;
                }

                int g = currentNode.g + 1;
                boolean isBetter = false;
                if (!openList.contains(neighbor)) {
                    isBetter = true;
                    neighbor.h = getDistance(neighbor, endNode);
                    openList.add(neighbor);
                } else if (g < neighbor.g) {
                    isBetter = true;
                }

                if (isBetter) {
                    neighbor.parent = currentNode;
                    neighbor.g = g;
                    neighbor.f = neighbor.g + neighbor.h;
                }
            }
        }

        return null;
    }

    private static List<Node> getNeighbors(Node node, int[][] map, Node endNode) {
        List<Node> neighbors = new ArrayList<>();
        int x = node.x;
        int y = node.y;
        if (x > 0 && map[x - 1][y] == 0) {
            neighbors.add(new Node(x - 1, y));
        }
        if (x < map.length - 1 && map[x + 1][y] == 0) {
            neighbors.add(new Node(x + 1, y));
        }
        if (y > 0 && map[x][y - 1] == 0) {
            neighbors.add(new Node(x, y - 1));
        }
        if (y < map[0