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ïmproved a star #367

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1 change: 1 addition & 0 deletions bracket-pathfinding/Cargo.toml
Original file line number Diff line number Diff line change
Expand Up @@ -23,6 +23,7 @@ bracket-algorithm-traits = { path = "../bracket-algorithm-traits", version = "~0
num-rational = { version = "0.4", default-features = false, features = ["std"] }
rayon = { version = "1.5.0", optional = true }
smallvec = "~1"
hashbrown = "0.13.2"

[dev-dependencies]
crossterm = "~0.25"
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7 changes: 4 additions & 3 deletions bracket-pathfinding/src/astar.rs
Original file line number Diff line number Diff line change
@@ -1,6 +1,7 @@
use bracket_algorithm_traits::prelude::BaseMap;
use hashbrown::HashMap;
use std::cmp::Ordering;
use std::collections::{BinaryHeap, HashMap};
use std::collections::BinaryHeap;
use std::convert::TryInto;

/// Bail out if the A* search exceeds this many steps.
Expand Down Expand Up @@ -109,13 +110,13 @@ impl AStar {
let s = Node {
idx,
f: q.g + cost + distance_to_end,
g: cost,
g: q.g + cost,
};

// If a node with the same position as successor is in the open list with a lower f, skip add
let mut should_add = true;
if let Some(e) = self.parents.get(&idx) {
if e.1 < s.g {
if e.1 <= s.g {
should_add = false;
}
}
Expand Down