diff --git a/rts/Sim/Path/HAPFS/PathDataTypes.h b/rts/Sim/Path/HAPFS/PathDataTypes.h index b108106aa7..cf83b119c6 100644 --- a/rts/Sim/Path/HAPFS/PathDataTypes.h +++ b/rts/Sim/Path/HAPFS/PathDataTypes.h @@ -37,9 +37,13 @@ struct PathNode { /// functor to define node priority +/// This needs to guarantee that the sorting is stable. struct lessCost { - inline bool operator() (const PathNode* x, const PathNode* y) const { - return (x->fCost == y->fCost) ? (x->gCost < y->gCost) : (x->fCost > y->fCost); + inline bool operator() (const PathNode* lhs, const PathNode* rhs) const { + // fCost == gCost + hCost. + // When fCosts are the same, prioritize the node closest the goal. Since we don't have hCost to hand, we know + // that hCost == fCost - gCost. This is why we invert the left/right side for the gCost comparison. + return std::tie(lhs->fCost, rhs->gCost, lhs->nodeNum) > std::tie(rhs->fCost, lhs->gCost, rhs->nodeNum); } }; diff --git a/rts/Sim/Path/QTPFS/PathThreads.h b/rts/Sim/Path/QTPFS/PathThreads.h index 62b4bdc212..9c6be8b543 100644 --- a/rts/Sim/Path/QTPFS/PathThreads.h +++ b/rts/Sim/Path/QTPFS/PathThreads.h @@ -90,12 +90,6 @@ namespace QTPFS { }; struct SearchQueueNode { - bool operator < (const SearchQueueNode& n) const { return (heapPriority < n.heapPriority); } - bool operator > (const SearchQueueNode& n) const { return (heapPriority > n.heapPriority); } - bool operator == (const SearchQueueNode& n) const { return (heapPriority == n.heapPriority); } - bool operator <= (const SearchQueueNode& n) const { return (heapPriority <= n.heapPriority); } - bool operator >= (const SearchQueueNode& n) const { return (heapPriority >= n.heapPriority); } - SearchQueueNode(int index, float newPriorty) : heapPriority(newPriorty) , nodeIndex(index) @@ -105,9 +99,18 @@ namespace QTPFS { int nodeIndex; }; + /// Functor to define node priority. + /// Needs to guarantee stable ordering, even if the sorting algorithm itself is not stable. + struct ShouldMoveTowardsBottomOfPriorityQueue { + inline bool operator() (const SearchQueueNode& lhs, const SearchQueueNode& rhs) const { + return std::tie(lhs.heapPriority, lhs.nodeIndex) > std::tie(rhs.heapPriority, rhs.nodeIndex); + } + }; + + // Reminder that std::priority does comparisons to push element back to the bottom. So using - // std::greater here means the smallest value will be top() - typedef std::priority_queue, std::greater> SearchPriorityQueue; + // ShouldMoveTowardsBottomOfPriorityQueue here means the smallest value will be top() + typedef std::priority_queue, ShouldMoveTowardsBottomOfPriorityQueue> SearchPriorityQueue; struct SearchThreadData {