removed brackets

.clang-format

@@ -56,7 +56,7 @@ SpaceBeforeParensOptions:
   AfterIfMacros: true
   AfterOverloadedOperator: false
   BeforeNonEmptyParentheses: false
-SpaceBeforeRangeBasedForLoopColon: false
+SpaceBeforeRangeBasedForLoopColon: true
 SpaceInEmptyParentheses: false
 SpacesInCStyleCastParentheses: false
 SpacesInConditionalStatement: false

include/omath/pathfinding/a_star.hpp

@@ -22,9 +22,5 @@ namespace omath::pathfinding
         static std::vector<Vector3<float>>
         reconstruct_final_path(const std::unordered_map<Vector3<float>, PathNode>& closed_list,
                                const Vector3<float>& current) noexcept;
-
-        [[nodiscard]]
-        static auto get_perfect_node(const std::unordered_map<Vector3<float>, PathNode>& open_list,
-                                     const Vector3<float>& end_vertex) noexcept;
     };
 } // namespace omath::pathfinding

source/pathfinding/a_star.cpp

@@ -4,9 +4,25 @@
 #include "omath/pathfinding/a_star.hpp"
 #include <algorithm>
 #include <optional>
+#include <queue>
 #include <unordered_map>
 #include <unordered_set>
 
+namespace
+{
+    struct OpenListNode final
+    {
+        omath::Vector3<float> position;
+        float f_cost;
+
+        [[nodiscard]]
+        bool operator>(const OpenListNode& other) const noexcept
+        {
+            return f_cost > other.f_cost;
+        }
+    };
+}
+
 namespace omath::pathfinding
 {
     struct PathNode final
@@ -37,23 +53,13 @@ namespace omath::pathfinding
         std::ranges::reverse(path);
         return path;
     }
-    auto Astar::get_perfect_node(const std::unordered_map<Vector3<float>, PathNode>& open_list,
-                                 const Vector3<float>& end_vertex) noexcept
-    {
-        return std::ranges::min_element(open_list,
-                                        [&end_vertex](const auto& a, const auto& b)
-                                        {
-                                            const float fa = a.second.g_cost + a.first.distance_to(end_vertex);
-                                            const float fb = b.second.g_cost + b.first.distance_to(end_vertex);
-                                            return fa < fb;
-                                        });
-    }
 
     std::vector<Vector3<float>> Astar::find_path(const Vector3<float>& start, const Vector3<float>& end,
                                                  const NavigationMesh& nav_mesh) noexcept
     {
         std::unordered_map<Vector3<float>, PathNode> closed_list;
-        std::unordered_map<Vector3<float>, PathNode> open_list;
+        std::unordered_map<Vector3<float>, PathNode> node_data;
+        std::priority_queue<OpenListNode, std::vector<OpenListNode>, std::greater<>> open_list;
 
         auto maybe_start_vertex = nav_mesh.get_closest_vertex(start);
         auto maybe_end_vertex = nav_mesh.get_closest_vertex(end);
@@ -64,20 +70,27 @@ namespace omath::pathfinding
         const auto start_vertex = maybe_start_vertex.value();
         const auto end_vertex = maybe_end_vertex.value();
 
-        open_list.emplace(start_vertex, PathNode{std::nullopt, 0.f});
+        node_data.emplace(start_vertex, PathNode{std::nullopt, 0.f});
+        open_list.push({start_vertex, start_vertex.distance_to(end_vertex)});
 
         while (!open_list.empty())
         {
-            auto current_it = get_perfect_node(open_list, end_vertex);
+            auto current = open_list.top().position;
+            open_list.pop();
+
+            if (closed_list.contains(current))
+                continue;
+
+            auto current_node_it = node_data.find(current);
+            if (current_node_it == node_data.end())
+                continue;
 
-            const auto current = current_it->first;
-            const auto current_node = current_it->second;
+            const auto current_node = current_node_it->second;
 
             if (current == end_vertex)
                 return reconstruct_final_path(closed_list, current);
 
             closed_list.emplace(current, current_node);
-            open_list.erase(current_it);
 
             for (const auto& neighbor: nav_mesh.get_neighbors(current))
             {
@@ -86,11 +99,14 @@ namespace omath::pathfinding
 
                 const float tentative_g_cost = current_node.g_cost + neighbor.distance_to(current);
 
-                // ReSharper disable once CppTooWideScopeInitStatement
-                const auto open_it = open_list.find(neighbor);
+                auto node_it = node_data.find(neighbor);
 
-                if (open_it == open_list.end() || tentative_g_cost < open_it->second.g_cost)
-                    open_list[neighbor] = PathNode{current, tentative_g_cost};
+                if (node_it == node_data.end() || tentative_g_cost < node_it->second.g_cost)
+                {
+                    node_data[neighbor] = PathNode{current, tentative_g_cost};
+                    const float f_cost = tentative_g_cost + neighbor.distance_to(end_vertex);
+                    open_list.push({neighbor, f_cost});
+                }
             }
         }
 

source/pathfinding/navigation_mesh.cpp

@@ -3,6 +3,8 @@
 //
 #include "omath/pathfinding/navigation_mesh.hpp"
 #include <algorithm>
+#include <cstring>
+#include <limits>
 #include <stdexcept>
 namespace omath::pathfinding
 {
@@ -30,55 +32,68 @@ namespace omath::pathfinding
 
     std::vector<uint8_t> NavigationMesh::serialize() const noexcept
     {
-        auto dump_to_vector = []<typename T>(const T& t, std::vector<uint8_t>& vec)
-        {
-            for (size_t i = 0; i < sizeof(t); i++)
-                vec.push_back(*(reinterpret_cast<const uint8_t*>(&t) + i));
-        };
-
-        std::vector<uint8_t> raw;
+        std::vector<std::uint8_t> raw;
 
-        for (const auto& [vertex, neighbors]: m_vertex_map)
+        // Pre-calculate total size for better performance
+        std::size_t total_size = 0;
+        for (const auto& [vertex, neighbors] : m_vertex_map)
         {
-            const auto neighbors_count = neighbors.size();
+            total_size += sizeof(vertex) + sizeof(std::uint16_t) + sizeof(Vector3<float>) * neighbors.size();
+        }
+        raw.reserve(total_size);
 
-            dump_to_vector(vertex, raw);
-            dump_to_vector(neighbors_count, raw);
+        auto dump_to_vector = [&raw]<typename T>(const T& t)
+        {
+            const auto* byte_ptr = reinterpret_cast<const std::uint8_t*>(&t);
+            raw.insert(raw.end(), byte_ptr, byte_ptr + sizeof(T));
+        };
 
-            for (const auto& neighbor: neighbors)
-                dump_to_vector(neighbor, raw);
+        for (const auto& [vertex, neighbors] : m_vertex_map)
+        {
+            // Clamp neighbors count to fit in uint16_t (prevents silent data corruption)
+            // NOTE: If neighbors.size() > 65535, only the first 65535 neighbors will be serialized.
+            // This is a limitation of the current serialization format using uint16_t for count.
+            const auto clamped_count =
+                    std::min<std::size_t>(neighbors.size(), std::numeric_limits<std::uint16_t>::max());
+            const auto neighbors_count = static_cast<std::uint16_t>(clamped_count);
+
+            dump_to_vector(vertex);
+            dump_to_vector(neighbors_count);
+
+            // Only serialize up to the clamped count
+            for (std::size_t i = 0; i < clamped_count; ++i)
+                dump_to_vector(neighbors[i]);
         }
         return raw;
     }
 
     void NavigationMesh::deserialize(const std::vector<uint8_t>& raw) noexcept
     {
-        auto load_from_vector = [](const std::vector<uint8_t>& vec, size_t& offset, auto& value)
+        auto load_from_vector = [](const std::vector<uint8_t>& vec, std::size_t& offset, auto& value)
         {
             if (offset + sizeof(value) > vec.size())
-            {
                 throw std::runtime_error("Deserialize: Invalid input data size.");
-            }
+
             std::copy_n(vec.data() + offset, sizeof(value), reinterpret_cast<uint8_t*>(&value));
             offset += sizeof(value);
         };
 
         m_vertex_map.clear();
 
-        size_t offset = 0;
+        std::size_t offset = 0;
 
         while (offset < raw.size())
         {
             Vector3<float> vertex;
             load_from_vector(raw, offset, vertex);
 
-            uint16_t neighbors_count;
+            std::uint16_t neighbors_count;
             load_from_vector(raw, offset, neighbors_count);
 
             std::vector<Vector3<float>> neighbors;
             neighbors.reserve(neighbors_count);
 
-            for (size_t i = 0; i < neighbors_count; ++i)
+            for (std::size_t i = 0; i < neighbors_count; ++i)
             {
                 Vector3<float> neighbor;
                 load_from_vector(raw, offset, neighbor);