http://blog.jobbole.com/71044/ 系列文章
http://theory.stanford.edu/~amitp/GameProgramming/AStarComparison.html
python实现
http://blog.jobbole.com/85676/
hot-queues改进方法
http://theory.stanford.edu/%7Eamitp/GameProgramming/ImplementationNotes.html#hot-queues
分层等 优化方法
http://theory.stanford.edu/%7Eamitp/GameProgramming/MapRepresentations.html
结点快速处理
http://cswww.essex.ac.uk/cig/2005/papers/p1039.pdf
for in