public Path calculatePath(Point from, Point to)
	{
		startPoint.x = from.x;
		startPoint.y = from.y;
		startPoint.weight = 0;
		startPoint.parent = null;
		
		destPoint.x = to.x;
		destPoint.y = to.y;
		destPoint.weight = 0;
		
		open = new PriorityQueue<PointWeighted>(1);
		
		open.add(startPoint);
		
		dest = to;
		
		for(int i = 0; i <= mapsize; i++)
			for(int j = 0; j <= mapsize; j++)
				closed[i][j] = 0;
		
		generateNodes(from);
		curPoint = startPoint;
		closed[curPoint.x][curPoint.y] = 1;
		
		//find the path
		for(;;)
		{
			curPoint = open.remove();
			closed[curPoint.x][curPoint.y] = 1;
			
			if(curPoint.x == destPoint.x && curPoint.y == destPoint.y)
			{
				break;
			}
			generateNodes(new Point(curPoint.x, curPoint.y));
			
		}
		
		//create the path
		for(;;)
		{
			calcedPath.addPoint(new Point(curPoint.x, curPoint.y));
			if(curPoint.parent == null)
				break;
			curPoint = curPoint.parent;
		}
		
		return calcedPath;
	}