Very interesting, excellent work you do. "Binary cells" sorry for my English I'm from Panama City in Latin America. It is a way to sort your lists your open and closed A *. Instead this is from largest to smallest, which are sorted by the closest to your target. Or find easier to explain the node with the lowest score F. Because a large map can be take more time to find the score F. time consuming. But with "Binary cells, can shorten the search. In the "Binary cells" also say "Binary Heaps":) I am interested to learn all about the game's programming is amazing the work they have done.