c# – 维基百科A *寻路算法需要花费大量时间

地图是80×80,有10-11个节点.

我从Wikipedia那里拿了伪代码

这是我的实施：

public static List<PGNode> Pathfind(PGMap mMap,PGNode mStart,PGNode mEnd)
    {
        mMap.ClearNodes();

        mMap.GetTile(mStart.X,mStart.Y).Value = 0;
        mMap.GetTile(mEnd.X,mEnd.Y).Value = 0;

        List<PGNode> openNodes = new List<PGNode>();
        List<PGNode> closedNodes = new List<PGNode>();
        List<PGNode> solutionNodes = new List<PGNode>();

        mStart.G = 0;
        mStart.H = GetManhattanHeuristic(mStart,mEnd);

        solutionNodes.Add(mStart);
        solutionNodes.Add(mEnd);

        openNodes.Add(mStart); // 1) Add the starting square (or node) to the open list.

        while (openNodes.Count > 0) // 2) Repeat the following:
        {
            openNodes.Sort((p1,p2) => p1.F.CompareTo(p2.F));

            PGNode current = openNodes[0]; // a) We refer to this as the current square.)

            if (current == mEnd)
            {
                while (current != null)
                {
                    solutionNodes.Add(current);
                    current = current.Parent;
                }

                return solutionNodes;
            }

            openNodes.Remove(current);
            closedNodes.Add(current); // b) Switch it to the closed list.

            List<PGNode> neighborNodes = current.GetNeighborNodes();
            double cost = 0;
            bool isCostBetter = false;

            for (int i = 0; i < neighborNodes.Count; i++)
            {
                PGNode neighbor = neighborNodes[i];
                cost = current.G + 10;
                isCostBetter = false;

                if (neighbor.Passable == false || closedNodes.Contains(neighbor))
                    continue; // If it is not walkable or if it is on the closed list,ignore it.

                if (openNodes.Contains(neighbor) == false)
                {
                    openNodes.Add(neighbor); // If it isn’t on the open list,add it to the open list.
                    isCostBetter = true;
                }
                else if (cost < neighbor.G)
                {
                    isCostBetter = true;
                }

                if (isCostBetter)
                {
                    neighbor.Parent = current; //  Make the current square the parent of this square. 
                    neighbor.G = cost;
                    neighbor.H = GetManhattanHeuristic(current,neighbor);
                }
            }
        }

        return null;
    }

这是我正在使用的启发式：

private static double GetManhattanHeuristic(PGNode mStart,PGNode mEnd)
    {
        return Math.Abs(mStart.X - mEnd.X) + Math.Abs(mStart.Y - mEnd.Y);
    }

我究竟做错了什么？这是一整天我一直在看同样的代码.