public Node GetPath(Vector2 goal, Vector2 start)
    {
        List<Node> OpenNodes = new List<Node>();//список с не просмотренными узлами
        List<Node> ClosedNodes = new List<Node>();//список с не просмотренными узлами
        goal = new Vector2(Mathf.RoundToInt(goal.x), Mathf.RoundToInt(goal.y));
        OpenNodes.Add(new Node
        {
            pos = start,
            parent = null,
            DistStart = 0,
            DistOnGoal = GetDistOnGoal(Vector2.zero, goal)
        });
        while (OpenNodes.Count > 0)
        {
            var FirstNode = OpenNodes.OrderBy(node => node.FullDist).First();
            ClosedNodes.Add(FirstNode);
            OpenNodes.Remove(FirstNode);
            if (FirstNode.pos == goal)
            {
                return FirstNode;
            }
            var nigh = NighBours(FirstNode, goal);
            foreach (Node n in nigh)
            {
                if (ClosedNodes.Count(node => node.pos == n.pos) > 0)
                {
                    continue;
                }
                var opennod = OpenNodes.FirstOrDefault(node => node.pos == n.pos);
                if (opennod == null)
                {
                    OpenNodes.Add(n);
                }
                else
                {
                    if (opennod.DistStart > n.DistStart)
                    {
                        opennod.DistStart = n.DistStart;
                        opennod.parent = FirstNode;

                    }
                }
            }
        }
        return null;
    }
    public float GetDistOnGoal(Vector2 n, Vector2 goal)
    {//дистанция до цели
        return Mathf.Abs((n-goal).magnitude);
    }


    public List<Node> NighBours(Node n, Vector2 goal)//соседи
    {
        var Point = new Vector2[4];
        var Nodes = new List<Node>();
        Point[0] = new Vector2(n.pos.x - 1, n.pos.y);
        Point[1] = new Vector2(n.pos.x + 1, n.pos.y);
        Point[2] = new Vector2(n.pos.x, n.pos.y + 1);
        Point[3] = new Vector2(n.pos.x, n.pos.y - 1);
        for (var i = 0; i < Point.Length; i++)
        {
            if ((Point[i].x > 0 && Point[i].x < map.GetLength(0) - 1)||( Point[i].y > 0 && Point[i].y < map.GetLength(1) - 1))
            {
                if (map[(int)Point[i].x, (int)Point[i].y] == 0)
                {
                    Nodes.Add(
                   new Node
                   {
                       pos = Point[i],
                       parent = n,
                       DistStart = n.DistStart + 1,
                       DistOnGoal = GetDistOnGoal(Point[i], goal),
                   });
                }

            }
     }
        return Nodes;
    }

    public void Move(float speed)
    {
        if (Points.Count > 0)
        {
            rb.velocity = (Points[0].pos * size - new Vector2(transform.position.x, transform.position.y)).normalized * speed;
            if (Vector2.Distance(transform.position, Points[0].pos * size) < 0.1f)
            {
                Points.RemoveAt(0);
            }
        }
    }
    public void UpPos(object n)
    {
        Parametrs p = (Parametrs)n;

        Vector2 _transform = p._transform;
        Vector2 pl = p.pl;

        if (goal != null)
        {
            Points = new List<Node>();
            Node point = goal;
            while (point != null)
            {
                Points.Add(point);
                point = point.parent;
            }
        }
        Points.Reverse();
        int posx = (int)System.Math.Ceiling(System.Math.Floor(_transform.x / size));
        int posy = (int)System.Math.Ceiling(System.Math.Floor(_transform.y / size));
        goal = GetPath(new Vector2(pl.x / size, pl.y / size), new Vector2(posx, posy));
    }
public class Node
{
    public Vector2 pos;
    public Node parent;
    public float DistStart;
    public float DistOnGoal;
    public float FullDist
    {
        get
        {
            return DistStart + DistOnGoal;
        }
    }
}