bug-fix: invalid contract node

[fenwuyaoji]

Issue

To fix issue #7054

Currently, in OSRM CH algo, the graph contract node and search routes update the weight of each edge. OSRM uses filters to exclude some specific roads with tags like toll, ferry, etc. In the function contractExcludableGraph, if filters are more than 1, OSRM will first contract a non-core graph and contract a corresponding graph of each filter. However, the weight update process uses all edges to search routes and doesn't consider that we can not use edges that should be excluded. This will lead to no route found issue when using the exlclude=toll, addressed in #7054.
In that case, node 3 has 2 alternative routes to node 7, while 3->1->0->6->7 is faster than 3->2->0. When OSRM wants to contract node 2, edge (3,2), (7,2) are deleted and no shortcut is inserted, because 3->1->0->6->7 is the actual shortcut (shorter than 3->2->0). However, updating the route weight doesn’t consider whether node 0 or 1 or others are accessible in this filtered graph. So I try to pass the array contractable into function relaxNode(), if a finding node is inaccessible, we shouldn’t insert this node into the searching heap or update the weight.
Notice: this change will leave more edges in graph and enlarge the memory usage, but I think it's worth it.

I'm not sure this is the best way to fix it. Waiting for your feedback, and appreciate it in advance.

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