distance map now holds the edge the current path is coming from,
removing the need for next map.
Both distance map and distanceHeap now hold pointers instead of the full
struct to reduce allocations and copies.
Both these changes reduced path finding time by ~5% and memory usage by
~2mb.
Pre-sizing these structures avoids a lot of map resizing, which causes
copies and rehashing of entries. We mostly know that the map won't
exceed that size, and it doesn't affect memory usage in any significant
way.
This commit adds the pubkeyIndices map to the distanceHeap to avoid
duplicate entries on the heap. This happened in the earlier iteration
of the findPath algorithm and would cause the driving loop to
evaluate already evaluated entries when there was no need.
This commit introduces a new heap struct that will be used to keep
track of the next closest node to the source during path finding within
our modified Dijkstra's algorithm.
