Messed with some data types and added goalNode as a parameter to the earlyExit callback.

Author: BigZaphod

AStar.c

@@ -225,19 +225,21 @@ static inline Node GetNode(VisitedNodes nodes, void *nodeKey)
     }
 
     // looks it up in the index, if it's not found it inserts a new record in the sorted index and the nodeRecords array and returns a reference to it
-    int first = 0;
+    size_t first = 0;
 
     if (nodes->nodeRecordsCount > 0) {
-        int last = nodes->nodeRecordsCount-1;
+        size_t last = nodes->nodeRecordsCount-1;
 
         while (first <= last) {
-            const int mid = (first + last) / 2;
+            const size_t mid = (first + last) / 2;
             const int comp = NodeKeyCompare(NodeMake(nodes, nodes->nodeRecordsIndex[mid]), nodeKey);
 
             if (comp < 0) {
                 first = mid + 1;
-            } else if (comp > 0) {
+            } else if (comp > 0 && mid > 0) {
                 last = mid - 1;
+            } else if (comp > 0) {
+                break;
             } else {
                 return NodeMake(nodes, nodes->nodeRecordsIndex[mid]);
             }
@@ -427,7 +429,7 @@ ASPath ASPathCreate(const ASPathNodeSource *source, void *context, void *startNo
     // perform the A* algorithm
     while (HasOpenNode(visitedNodes) && !NodeIsGoal((current = GetOpenNode(visitedNodes)))) {
         if (source->earlyExit) {
-            const int shouldExit = source->earlyExit(visitedNodes->nodeRecordsCount, GetNodeKey(current), context);
+            const int shouldExit = source->earlyExit(visitedNodes->nodeRecordsCount, GetNodeKey(current), goalNodeKey, context);
 
             if (shouldExit > 0) {
                 SetNodeIsGoal(current);

AStar.h

@@ -36,11 +36,11 @@ typedef struct __ASNeighborList *ASNeighborList;
 typedef struct __ASPath *ASPath;
 
 typedef struct {
-    size_t  nodeSize;                                                               // the size of the structure being used for the nodes - important since nodes are copied into the resulting path
-    void    (*nodeNeighbors)(ASNeighborList neighbors, void *node, void *context);  // add nodes to the neighbor list if they are connected to this node
-    float   (*pathCostHeuristic)(void *fromNode, void *toNode, void *context);      // estimated cost to transition from the first node to the second node -- optional, uses 0 if not specified
-    int     (*earlyExit)(size_t visitedCount, void *visitingNode, void *context);   // early termination, return 1 for success, -1 for failure, 0 to continue searching -- optional
-    int     (*nodeComparator)(void *node1, void *node2, void *context);             // must return a sort order for the nodes (-1, 0, 1) -- optional, uses memcmp if not specified
+    size_t  nodeSize;                                                                               // the size of the structure being used for the nodes - important since nodes are copied into the resulting path
+    void    (*nodeNeighbors)(ASNeighborList neighbors, void *node, void *context);                  // add nodes to the neighbor list if they are connected to this node
+    float   (*pathCostHeuristic)(void *fromNode, void *toNode, void *context);                      // estimated cost to transition from the first node to the second node -- optional, uses 0 if not specified
+    int     (*earlyExit)(size_t visitedCount, void *visitingNode, void *goalNode, void *context);   // early termination, return 1 for success, -1 for failure, 0 to continue searching -- optional
+    int     (*nodeComparator)(void *node1, void *node2, void *context);                             // must return a sort order for the nodes (-1, 0, 1) -- optional, uses memcmp if not specified
 } ASPathNodeSource;
 
 // use in the nodeNeighbors callback to return neighbors