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Added a check to see if a found state is already in a closed_set so I can skip it.

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Zed A. Shaw 2025-03-15 22:57:09 -04:00
parent 63f032ff12
commit 7984540c0c
2 changed files with 5 additions and 0 deletions
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4
goap.cpp
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@ -90,6 +90,7 @@ namespace ai {
ActionPlan plan_actions(std::vector<Action>& actions, State start, State goal) {
std::unordered_map<ActionState, int> open_set;
std::unordered_map<State, bool> closed_set;
std::unordered_map<Action, Action> came_from;
std::unordered_map<State, int> g_score;
ActionState current{FINAL_ACTION, start};
@ -106,6 +107,7 @@ namespace ai {
}
open_set.erase(current);
closed_set.insert_or_assign(current.state, true);
for(auto& neighbor_action : actions) {
// calculate the State being current/neighbor
@ -114,6 +116,8 @@ namespace ai {
}
auto neighbor = neighbor_action.apply_effect(current.state);
if(closed_set.contains(neighbor)) continue;
int d_score = d(current.state, neighbor, current.action);
int tentative_g_score = g_score[current.state] + d_score;
int neighbor_g_score = g_score.contains(neighbor) ? g_score[neighbor] : SCORE_MAX;