void aStar(Point start, Point goal)
    {
        ArrayList<Field> closed = new ArrayList<>();
        ArrayList<Field> open = new ArrayList<>();
        map[start.x][start.y].setG(0d);
        map[start.x][start.y].setF();
        map[start.x][start.y].setParent(null);
        open.add(map[start.x][start.y]);

        while(!open.isEmpty())
        {
            double temp = 1000;
            Field Q = new Field();
            for (Field f : open)
            {
                if (f.getF() < temp)
                {
                    temp = f.getF();
                    Q = f;
                }
            }
            out.println("i = " + Q.getI() + " j = " + Q.getJ());
            open.remove(Q);
            closed.add(Q);
            if (Q.getI() == goal.x && Q.getJ() == goal.y)
            {
                out.println("Found goal.");
                break;
            }
            for (int i = Q.getI() - 1; i < Q.getI() + 2; i ++)
            {
                for (int j = Q.getJ() - 1; j < Q.getJ() + 2; j++)
                {
                    try {
                        if (!map[i][j].isAvailable() || closed.contains(map[i][j])) ;
                        else if (!open.contains(map[i][j])) {
                            map[i][j].setParent(Q);
                            map[i][j].setG(Q.getG() + countDistance(i, j, Q.getI(), Q.getJ()));
                            map[i][j].setF();
                            open.add(map[i][j]);
                        } else {
                            double newG = Q.getG() + countDistance(i, j, Q.getI(), Q.getJ());
                            if (newG < Q.getG()) {
                                open.remove(map[i][j]);
                                map[i][j].setParent(Q);
                                map[i][j].setG(newG);
                                map[i][j].setF();
                                open.add(map[i][j]);
                            }
                        }
                    }
                    catch (IndexOutOfBoundsException ignored){}
                }
            }
        }
    }