Overhaul pathfinding algorithm

engine/tests/heap_test.c

@@ -29,6 +29,25 @@ int main() {
         printf("%d\n", node.weight);
     }
 
+    printf("\n\n");
+    bzHeapDestroy(heap);
+
+    heap = bzHeapCreate(Node, 10);
+    bzHeapPush(heap, (Node) {3});
+    bzHeapPush(heap, (Node) {8});
+    bzHeapPush(heap, (Node) {10});
+    bzHeapPush(heap, (Node) {5});
+    bzHeapPush(heap, (Node) {12});
+    bzHeapPush(heap, (Node) {7});
+
+    heap[3].weight = 20;
+    bzHeapUpdate(heap, 3);
+
+    while (!bzHeapIsEmpty(heap)) {
+        Node node = bzHeapPop(heap);
+        printf("%d ", node.weight);
+    }
+
     bzHeapDestroy(heap);