A Heirarchal Pathfinding algorithm, based on http://webdocs.cs.ualberta.ca/~mmueller/ps/hpastar.pdf. Implemented with clearance values for different terrain types.
- Generate near optimal paths, no more than 10% deviation from a true optimal path
- Return incomplete paths so an actor can move before pathfinding is 100% done
- No allocation of memory in the main algorithm
- Trivially parallelizable
- Paths respond to terrain changes
- Minimal storage requirements
- 2 bytes per tile for passability requirements.