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

Makefile

@@ -23,6 +23,7 @@ tracy_build:
 
 test: build
 	./builddir/runtests "[ai]"
+	./builddir/runtests "[combat]"
 
 run: build test
 	powershell "cp ./builddir/zedcaster.exe ."

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;