From c50defc21c956a5cb24db7281aa85448af2986fc Mon Sep 17 00:00:00 2001
From: loboho <ipgk@163.com>
Date: Tue, 17 Sep 2019 18:09:43 +0800
Subject: [PATCH 1/3] optimize percolate_up

---
 astar/astar.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/astar/astar.h b/astar/astar.h
index e17f61e..6877997 100644
--- a/astar/astar.h
+++ b/astar/astar.h
@@ -150,7 +150,7 @@ class AStar
     /**
      * 二叉堆上滤
      */
-    void percolate_up(size_t hole);
+    void percolate_up(size_t hole， Node *node);
 
     /**
      * 获取节点索引

From f77805973e3529055f6fd5227294c53b7b3dbc9e Mon Sep 17 00:00:00 2001
From: loboho <ipgk@163.com>
Date: Tue, 17 Sep 2019 18:13:03 +0800
Subject: [PATCH 2/3] optimize percolate_up

---
 astar/astar.cpp | 9 +++++----
 1 file changed, 5 insertions(+), 4 deletions(-)

diff --git a/astar/astar.cpp b/astar/astar.cpp
index c7c1678..38f17f9 100644
--- a/astar/astar.cpp
+++ b/astar/astar.cpp
@@ -102,7 +102,7 @@ bool AStar::get_node_index(Node *node, size_t *index)
 }
 
 // 二叉堆上滤
-void AStar::percolate_up(size_t hole)
+void AStar::percolate_up(size_t hole, Node *node)
 {
     size_t parent = 0;
     while (hole > 0)
@@ -110,14 +110,15 @@ void AStar::percolate_up(size_t hole)
         parent = (hole - 1) / 2;
         if (open_list_[hole]->f() < open_list_[parent]->f())
         {
-            std::swap(open_list_[hole], open_list_[parent]);
+            open_list_[hole] = open_list_[parent];
             hole = parent;
         }
         else
         {
-            return;
+            break;
         }
     }
+    open_list_[hole] = node;
 }
 
 // 计算G值
@@ -224,7 +225,7 @@ void AStar::handle_found_node(Node *current, Node *destination)
         size_t index = 0;
         if (get_node_index(destination, &index))
         {
-            percolate_up(index);
+            percolate_up(index, destination);
         }
         else
         {

From 58aadc5e671970861bc7ffd2885b899f0d74eeb9 Mon Sep 17 00:00:00 2001
From: loboho <ipgk@163.com>
Date: Tue, 17 Sep 2019 18:32:42 +0800
Subject: [PATCH 3/3] optimize percolate_up

---
 astar/astar.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/astar/astar.cpp b/astar/astar.cpp
index 38f17f9..839d58a 100644
--- a/astar/astar.cpp
+++ b/astar/astar.cpp
@@ -108,7 +108,7 @@ void AStar::percolate_up(size_t hole, Node *node)
     while (hole > 0)
     {
         parent = (hole - 1) / 2;
-        if (open_list_[hole]->f() < open_list_[parent]->f())
+        if (node->f() < open_list_[parent]->f())
         {
             open_list_[hole] = open_list_[parent];
             hole = parent;