Fixed Include/Insert mixup in A* algorithmHEADmaster

1 files changed, 4 insertions, 8 deletions

diff --git a/src/pathfinding.adb b/src/pathfinding.adb
index 267b0a3..7f683ce 100644
--- a/src/pathfinding.adb
+++ b/src/pathfinding.adb
@@ -147,7 +147,6 @@ package body Pathfinding is
         Came_From : Node_To_Node_Maps.Map := Node_To_Node_Maps.Empty_Map;
 
         New_G_Score : G_Score;
-        New_F_Score : F_Score;
     begin
         G_Scores := G_Score_Maps.Empty_Map;
         G_Scores.Insert (Start, 0);
@@ -164,17 +163,14 @@ package body Pathfinding is
             Closed_Set.Insert (Current);
             for N of Neighbours (My_Grid, Current) loop
                 if not Closed_Set.Contains (N) then
-                    if not Open_Set.Contains (N) then
-                        Open_Set.Insert (N);
-                    end if;
                     New_G_Score := G_Scores.Element (Current) + 1;
-                    New_F_Score := New_G_Score + Heuristic (N, Goal);
                     if  not G_Scores.Contains (N) or else
                         New_G_Score < G_Scores.Element (N)
                     then
-                        Came_From.Insert (N, Current);
-                        G_Scores.Insert (N, New_G_Score);
-                        F_Scores.Insert (N, New_F_Score);
+                        Came_From.Include (N, Current);
+                        G_Scores.Include (N, New_G_Score);
+                        F_Scores.Include (N, New_G_Score + Heuristic (N, Goal));
+                        Open_Set.Include (N);
                     end if;
                 end if;
             end loop;