There are a bunch of path finding implementations online. But, to be honest, I wasn't much satisfied with most of them, for one of these reasons:
Dynamic memory allocation in the middle of the algorithm
Algorithm that does too much (more than what is needed)
Too many files for just a single task
So I made this two-files (`uastar.c` and `uastar.h`) library: https://github.com/ferreiradaselva/uastar
No memory dynamic allocation. Straight to the point (the README.md explains how to use).
It's nothing biggie, but certainly useful.
Path finder at work:
I'm leaving this in announcements, because I probably won't add more features (it's pretty much done).
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