学步园

1.

 http://hi.baidu.com/%B3%A3%D1%C5%C3%F4/blog/item/2cc4c7c6f55ff1d7d100601e.html

2.

http://www-cs-students.stanford.edu/~amitp/gameprog.html#Paths 

3.在A*寻路中使用二叉堆

http://www.vckbase.com/document/viewdoc/?id=1452