That reason being I've been tinkered with various ideas to make the path-finding component goes faster. One solution that seems very promising is clustering smaller nodes, which is a square into a bigger rectangular or square. Bigger square cover more area of course so the map ends up with much less nodes, significantly reduce the nodes that need searching. In other words, instead of scanning through the graph at the step of a small node at a time, the algorithm can skip through large area with no obstacle within it. And so, if the number of node need searching is a lot less, I do wonder how useful binary heap will be in this case. After all, it has its own overhead in the sorting mechanism.
|Standard grid-based node|
|Merge nodes within a clear area into a single node|