From 7984540c0c98a4488399f74a2a7911c4d8b569d9 Mon Sep 17 00:00:00 2001
From: "Zed A. Shaw" <zed.shaw@gmail.com>
Date: Sat, 15 Mar 2025 22:57:09 -0400
Subject: [PATCH] Added a check to see if a found state is already in a
 closed_set so I can skip it.

---
 Makefile | 1 +
 goap.cpp | 4 ++++
 2 files changed, 5 insertions(+)

diff --git a/Makefile b/Makefile
index 268b517..2942b33 100644
--- a/Makefile
+++ b/Makefile
@@ -23,6 +23,7 @@ tracy_build:
 
 test: build
 	./builddir/runtests "[ai]"
+	./builddir/runtests "[combat]"
 
 run: build test
 	powershell "cp ./builddir/zedcaster.exe ."
diff --git a/goap.cpp b/goap.cpp
index 45e2f9b..49fee47 100644
--- a/goap.cpp
+++ b/goap.cpp
@@ -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;