ïmproved a star

bracket-pathfinding/Cargo.toml

@@ -23,6 +23,7 @@ bracket-algorithm-traits = { path = "../bracket-algorithm-traits", version = "~0
 num-rational = { version = "0.4", default-features = false, features = ["std"] }
 rayon = { version = "1.5.0", optional = true }
 smallvec = "~1"
+hashbrown = "0.13.2"
 
 [dev-dependencies]
 crossterm = "~0.25"

bracket-pathfinding/src/astar.rs

@@ -1,6 +1,7 @@
 use bracket_algorithm_traits::prelude::BaseMap;
+use hashbrown::HashMap;
 use std::cmp::Ordering;
-use std::collections::{BinaryHeap, HashMap};
+use std::collections::BinaryHeap;
 use std::convert::TryInto;
 
 /// Bail out if the A* search exceeds this many steps.
@@ -109,13 +110,13 @@ impl AStar {
         let s = Node {
             idx,
             f: q.g + cost + distance_to_end,
-            g: cost,
+            g: q.g + cost,
         };
 
         // If a node with the same position as successor is in the open list with a lower f, skip add
         let mut should_add = true;
         if let Some(e) = self.parents.get(&idx) {
-            if e.1 < s.g {
+            if e.1 <= s.g {
                 should_add = false;
             }
         }