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private IndexedAStarPathFinder<Node> pathFinder = new IndexedAStarPathFinder<Node>(MapManager.graph, false);
private GraphPath<Node> resultPath;
private int startX, startY, endX, endY;
private Node startNode, endNode;
private PathFinderRequest<Node> request = new PathFinderRequest<Node>(startNode, endNode, heuristic, resultPath);


public void initPath(){
        startX = (int) (aiSteering.getPosition().x);
        startY = (int) (aiSteering.getPosition().y);

        endX = (int) (aiSteering.getTarget().getPosition().x);
        endY = (int) (aiSteering.getTarget().getPosition().y);

        startNode = MapManager.graph.getNodeByXY(startX, startY);
        endNode = MapManager.graph.getNodeByXY(endX, endY);

        waypoint.setTarget(aiSteering.getTarget());

        request.startNode = startNode;
        request.endNode = endNode;
        request.heuristic = heuristic;

        if(resultPath != null &&resultPath.getCount() > 0)
        {
            resultPath.clear();
        }
        if(request.resultPath != null && request.resultPath.getCount() > 0)
        {
            request.resultPath.clear();
        }
        pathFinder.search(request, 1000000000);
        resultPath = request.resultPath;
    }