public class OpenL
    {
        public int Current { get; set; }
        public int Parent { get; set; }
        public float F { get; set; }
        public float G { get; set; }
    }
    
    
    
    //Algorytm A*
            Punkt poczatek = punkty.punkty[0];
            Punkt koniec = punkty.punkty[1];
            Punkt sasiad = punkty.punkty[0];
            int index = 0;
            int koszt = 1000;
            int koszt_save = 1000;
            bool bylo = false;
            int index_save = 0;
            var xd = new OpenL { };

            //Heuristic H             odleglosc(Node, End);
            //Movement cost G         odleglosc(currentNode, neighbour);
            //Total cost F            F = H(neighbourToEnd) + G;

            List<OpenL> OpenList = new List<OpenL>(); // a priority queue of nodes to be transversed (Parent, cost F, cumulative G). 
            List<OpenL> OpenList2 = new List<OpenL>(); // a priority queue of nodes to be transversed (Parent, cost F, cumulative G). 
            List<int> ClosedList = new List<int>(); // a list of nodes already transversed.

            OpenList.Add(new OpenL { Current = 0, Parent = 0, F = odleglosc(poczatek, koniec) + 0, G = 0 });

            do
            {
                foreach (var item in OpenList)
                {
                    for (int i = 0; i < punkty.rozmiar - 1; ++i)
                    {
                        xd = new OpenL { Current = item.Current, Parent = item.Parent, F = item.F, G = item.G };
                        jest_droga = false;
                        bylo = false;
                        index = item.Current;
                        Punkt currentNode = punkty.punkty[index];
                        Punkt neighbour = punkty.punkty[i];
                        int odl = odleglosc(currentNode, neighbour);
                        if (odl != 0 && odl < odl_max)
                        {
                            jest_droga = true;
                            line(currentNode, neighbour);
                            if (jest_droga)
                            {
                                foreach (var item2 in OpenList2)
                                {
                                    if (item2.Current == i) bylo = true;
                                }
                                if (!bylo)
                                {
                                    OpenList2.Add(new OpenL { Current = i, Parent = index, F = odleglosc(neighbour, koniec) + odl, G = odl });
                                }
                                koszt = odleglosc(neighbour, koniec) + odl;
                                if (koszt < koszt_save)
                                {
                                    index_save = index;
                                    koszt_save = koszt;
                                }
                            }
                        }
                        sasiad = punkty.punkty[index_save];
                        using (var graphics = Graphics.FromImage(image1))
                        {
                            graphics.DrawLine(bluePen, currentNode.x, currentNode.y, sasiad.x, sasiad.y);
                            pictureBox1.Image = image1;
                            pictureBox1.SizeMode = PictureBoxSizeMode.StretchImage;
                        }
                    }
                }
                OpenList2 = OpenList;
                OpenList.Remove(xd);
                OpenList2.Remove(xd);
            }
            while ((sasiad.x != koniec.x) && (sasiad.y != koniec.y));