Against my better judgement, I went ahead and implemented Dijkstra’s Algorithm. The time cost was large: 3 hours, most of it spent on a bug that I resolved by not being macho and using the 2D field class I had been using for every other 2D grid(tiles, collision) and really should have used for the nodes from the get-go.

But it works. I need to give the pirates a proper LOS check though. That can come tomorrow.