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@alcinnz A fun trick I learned from a blog post by a game dev (Factorio, I think) is that you can use Djikstra's algorithm over a coarser map, and then use that as your heuristic function for A* on the detailed map. If the coarse map is cheap to produce, or if it only needs to be updated rarely, then this can be a huge improvement over using Euclidean distance as your heuristic, as it quickly routes around lakes and other large barriers.