public static Node DigFreakingSearch(Node start, Node goal){
        Stack<Node> stack = new Stack<>();
        HashSet<Node> discovered = new HashSet<>();

        stack.add(start);
        discovered.add(start);

        while(!stack.isEmpty()){
            Node v = stack.pop();
            discovered.add(v);
            if(v.equals(goal)){
                return v;
            }
            for(Node w : v.getNeighbors()){
                if(!discovered.contains(w)){
                    w.setParent(v);
                    stack.add(w);
                }
            }
        }

        return null;
    }