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We wanted a scenario where, say, 5 well-placed border points could efficiently represent an area with 5,000 internal points and 10,000 road edges. This would reduce those 10,000 edges to just 5*4/2 = 10 shortcuts for routing through that cluster at a high level – an incredible 1:1000 point ratio and a 30x reduction in edges to consider for the high-level path!
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for (int i = 0; i < n - 1; i++) {，这一点在爱思助手下载最新版本中也有详细论述
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