a

3 files changed, 41 insertions, 20 deletions

diff --git a/src/path-search-astar.cpp b/src/path-search-astar.cpp
index ba73d23c..03225a33 100644
--- a/src/path-search-astar.cpp
+++ b/src/path-search-astar.cpp
@@ -1,5 +1,6 @@
 #include "path-search-astar.hpp"
 #include "compat/int-hash.hpp"
+#include <utility>
 
 namespace floormat {
 
@@ -33,6 +34,20 @@ size_t astar_edge::hash() const
         return fnvhash_32(this, sizeof *this);
 }
 
+astar_edge astar_edge::swapped() const
+{
+    auto e = *this;
+    std::exchange(e.from_cx,   e.to_cx);
+    std::exchange(e.from_cy,   e.to_cy);
+    std::exchange(e.from_cz,   e.to_cz);
+    std::exchange(e.from_t,    e.to_t);
+    std::exchange(e.from_offx, e.to_offx);
+    std::exchange(e.from_offy, e.to_offy);
+    return e;
+}
+
+astar_edge::astar_edge() {}
+
 bool operator<(const astar_edge_tuple& a, const astar_edge_tuple& b)
 {
     return b.dist < a.dist;
@@ -46,7 +61,7 @@ void astar::reserve(size_t count)
 
 bool astar::add_visited(const astar_edge& value)
 {
-    return seen.insert(value).second;
+    return seen.insert(value).second && seen.insert(value.swapped()).second;
 }
 
 void astar::push(const astar_edge& value, uint32_t dist)
diff --git a/src/path-search-astar.hpp b/src/path-search-astar.hpp
index 494f96c7..f4b5774b 100644
--- a/src/path-search-astar.hpp
+++ b/src/path-search-astar.hpp
@@ -1,4 +1,5 @@
 #pragma once
+#include "compat/defs.hpp"
 #include "global-coords.hpp"
 #include <vector>
 
@@ -17,10 +18,12 @@ struct astar_edge
     friend struct astar_equal;
     bool operator==(const astar_edge&) const noexcept;
 
+    fm_DECLARE_DEFAULT_COPY_ASSIGNMENT_(astar_edge);
     astar_edge(global_coords coord1, Vector2b off1, global_coords coord2, Vector2b off2);
     astar_edge(chunk_coords_ ch1, local_coords t1, Vector2b off1,
                chunk_coords_ ch2, local_coords t2, Vector2b off2);
     size_t hash() const;
+    astar_edge swapped() const;
 
     int16_t from_cx, from_cy, to_cx, to_cy;
     int8_t from_cz, to_cz;
@@ -28,6 +31,9 @@ struct astar_edge
     int8_t from_offx, from_offy, to_offx, to_offy;
 
     static constexpr auto INF = (uint32_t)-1;
+
+private:
+    astar_edge();
 };
 
 struct astar_edge_tuple
diff --git a/src/path-search-dijkstra.cpp b/src/path-search-dijkstra.cpp
index 404eb852..87b72a49 100644
--- a/src/path-search-dijkstra.cpp
+++ b/src/path-search-dijkstra.cpp
@@ -82,28 +82,28 @@ path_search_result path_search::Dijkstra(world& w, Vector2ub own_size, object_id
     if (from_offset_len >= eps && is_passable(w, ch0, bb0, own_id, p))
         astar.push({from, from_offset, from, from_offset}, from_offset_len);
 
-    constexpr auto dirs = [] constexpr -> std::array<Vector2i, 8> {
-        constexpr auto sqrt_2 = math::sqrt(2.f);
-        std::array<Vector2i, 8> array = {{
-            { -1, -1 },
-            {  1,  1 },
-            { -1,  1 },
-            {  1, -1 },
-            { -1,  0 },
-            {  0, -1 },
-            {  1,  0 },
-            {  0,  1 },
+    struct pair { Vector2i dir; uint32_t len; };
+
+    constexpr auto dirs = [] constexpr -> std::array<pair, 8> {
+        constexpr auto len1 = path_search::div_size;
+        constexpr auto len2 = (uint32_t)(math::sqrt((float)len1.dot()) + 0.5f); // NOLINT
+        std::array<pair, 8> array = {{
+            { { -1, -1 }, len2 },
+            { {  1,  1 }, len2 },
+            { { -1,  1 }, len2 },
+            { {  1, -1 }, len2 },
+            { { -1,  0 }, len1.x() },
+            { {  0, -1 }, len1.y() },
+            { {  1,  0 }, len1.x() },
+            { {  0,  1 }, len1.y() },
         }};
+        for (auto& [vec, len] : array)
+            vec *= path_search::div_size;
+#if 0
         for (auto i = 0uz; i < array.size(); i++)
             for (auto j = 0uz; j < i; j++)
-                fm_assert(array[i] != array[j]);
-        for (auto& vec : array)
-        {
-            if (vec.product() != 0)
-                vec = Vector2i(Vector2(vec) * path_search::div_size * sqrt_2);
-            else
-                vec *= path_search::div_size;
-        }
+                fm_assert(array[i].dir != array[j].dir);
+#endif
         return array;
     }();