package baritone.bot.pathing.calc; import baritone.bot.pathing.calc.openset.BinaryHeapOpenSet; import baritone.bot.pathing.calc.openset.IOpenSet; import baritone.bot.pathing.goals.Goal; import baritone.bot.pathing.movement.ActionCosts; import baritone.bot.pathing.movement.Movement; import baritone.bot.pathing.movement.movements.MovementAscend; import baritone.bot.pathing.path.IPath; import baritone.bot.utils.ToolSet; import net.minecraft.client.Minecraft; import net.minecraft.util.math.BlockPos; import net.minecraft.world.chunk.EmptyChunk; import java.util.Random; /** * The actual A* pathfinding * * @author leijurv */ public class AStarPathFinder extends AbstractNodeCostSearch { public AStarPathFinder(BlockPos start, Goal goal) { super(start, goal); } @Override protected IPath calculate0() { startNode = getNodeAtPosition(start); startNode.cost = 0; startNode.combinedCost = startNode.estimatedCostToGoal; IOpenSet openSet = new BinaryHeapOpenSet(); startNode.isOpen = true; openSet.insert(startNode); bestSoFar = new PathNode[COEFFICIENTS.length];//keep track of the best node by the metric of (estimatedCostToGoal + cost / COEFFICIENTS[i]) double[] bestHeuristicSoFar = new double[COEFFICIENTS.length]; for (int i = 0; i < bestHeuristicSoFar.length; i++) { bestHeuristicSoFar[i] = Double.MAX_VALUE; } currentlyRunning = this; long startTime = System.currentTimeMillis(); long timeoutTime = startTime + /*(Baritone.slowPath ? 40000 : */4000/*)*/; long lastPrintout = 0; int numNodes = 0; ToolSet ts = new ToolSet(); int numEmptyChunk = 0; while (!openSet.isEmpty() && numEmptyChunk < 50 && System.currentTimeMillis() < timeoutTime) { /*if (Baritone.slowPath) { try { Thread.sleep(100); } catch (InterruptedException ex) { Logger.getLogger(AStarPathFinder.class.getName()).log(Level.SEVERE, null, ex); } }*/ PathNode currentNode = openSet.removeLowest(); currentNode.isOpen = false; mostRecentConsidered = currentNode; BlockPos currentNodePos = currentNode.pos; numNodes++; if (System.currentTimeMillis() > lastPrintout + 1000) {//print once a second System.out.println("searching... at " + currentNodePos + ", considered " + numNodes + " nodes so far"); lastPrintout = System.currentTimeMillis(); } if (goal.isInGoal(currentNodePos)) { currentlyRunning = null; return new Path(startNode, currentNode, goal); } //long constructStart = System.nanoTime(); Movement[] possibleMovements = getConnectedPositions(currentNodePos);//movement that we could take that start at myPos, in random order shuffle(possibleMovements); //long constructEnd = System.nanoTime(); //System.out.println(constructEnd - constructStart); for (Movement movementToGetToNeighbor : possibleMovements) { if (Minecraft.getMinecraft().world.getChunk(movementToGetToNeighbor.getDest()) instanceof EmptyChunk) { numEmptyChunk++; continue; } //long costStart = System.nanoTime(); // TODO cache cost double actionCost = movementToGetToNeighbor.calculateCost(ts); //long costEnd = System.nanoTime(); //System.out.println(movementToGetToNeighbor.getClass() + "" + (costEnd - costStart)); if (actionCost >= ActionCosts.COST_INF) { continue; } PathNode neighbor = getNodeAtPosition(movementToGetToNeighbor.getDest()); double tentativeCost = currentNode.cost + actionCost; if (tentativeCost < neighbor.cost) { neighbor.previous = currentNode; neighbor.previousMovement = movementToGetToNeighbor; neighbor.cost = tentativeCost; neighbor.combinedCost = tentativeCost + neighbor.estimatedCostToGoal; if (neighbor.isOpen) { openSet.update(neighbor); } else { openSet.insert(neighbor);//dont double count, dont insert into open set if it's already there neighbor.isOpen = true; } for (int i = 0; i < bestSoFar.length; i++) { double heuristic = neighbor.estimatedCostToGoal + neighbor.cost / COEFFICIENTS[i]; if (heuristic < bestHeuristicSoFar[i]) { bestHeuristicSoFar[i] = heuristic; bestSoFar[i] = neighbor; } } } } } double bestDist = 0; for (int i = 0; i < bestSoFar.length; i++) { if (bestSoFar[i] == null) { continue; } double dist = getDistFromStartSq(bestSoFar[i]); if (dist > bestDist) { bestDist = dist; } if (dist > MIN_DIST_PATH * MIN_DIST_PATH) { // square the comparison since distFromStartSq is squared System.out.println("A* cost coefficient " + COEFFICIENTS[i]); if (COEFFICIENTS[i] >= 3) { System.out.println("Warning: cost coefficient is greater than three! Probably means that"); System.out.println("the path I found is pretty terrible (like sneak-bridging for dozens of blocks)"); System.out.println("But I'm going to do it anyway, because yolo"); } System.out.println("Path goes for " + dist + " blocks"); currentlyRunning = null; return new Path(startNode, bestSoFar[i], goal); } } System.out.println("Even with a cost coefficient of " + COEFFICIENTS[COEFFICIENTS.length - 1] + ", I couldn't get more than " + bestDist + " blocks =("); System.out.println("No path found =("); currentlyRunning = null; return null; } private static Movement[] getConnectedPositions(BlockPos pos) { int x = pos.getX(); int y = pos.getY(); int z = pos.getZ(); Movement[] movements = new Movement[8]; movements[0] = new MovementAscend(pos, new BlockPos(x + 1, y, z)); movements[1] = new MovementAscend(pos, new BlockPos(x - 1, y, z)); movements[2] = new MovementAscend(pos, new BlockPos(x, y, z + 1)); movements[3] = new MovementAscend(pos, new BlockPos(x, y, z - 1)); movements[4] = new MovementAscend(pos, new BlockPos(x + 1, y + 1, z)); movements[5] = new MovementAscend(pos, new BlockPos(x - 1, y + 1, z)); movements[6] = new MovementAscend(pos, new BlockPos(x, y + 1, z + 1)); movements[7] = new MovementAscend(pos, new BlockPos(x, y + 1, z - 1)); /*Action[] actions = new Action[26]; actions[0] = new ActionPillar(pos); actions[1] = new ActionBridge(pos, new BlockPos(x + 1, y, z)); actions[2] = new ActionBridge(pos, new BlockPos(x - 1, y, z)); actions[3] = new ActionBridge(pos, new BlockPos(x, y, z + 1)); actions[4] = new ActionBridge(pos, new BlockPos(x, y, z - 1)); actions[5] = new ActionClimb(pos, new BlockPos(x + 1, y + 1, z)); actions[6] = new ActionClimb(pos, new BlockPos(x - 1, y + 1, z)); actions[7] = new ActionClimb(pos, new BlockPos(x, y + 1, z + 1)); actions[8] = new ActionClimb(pos, new BlockPos(x, y + 1, z - 1)); actions[9] = new ActionDescend(pos, new BlockPos(x, y - 1, z - 1)); actions[10] = new ActionDescend(pos, new BlockPos(x, y - 1, z + 1)); actions[11] = new ActionDescend(pos, new BlockPos(x - 1, y - 1, z)); actions[12] = new ActionDescend(pos, new BlockPos(x + 1, y - 1, z)); actions[13] = new ActionFall(pos); actions[14] = new ActionDescendTwo(pos, new BlockPos(x, y - 2, z - 1)); actions[15] = new ActionDescendTwo(pos, new BlockPos(x, y - 2, z + 1)); actions[16] = new ActionDescendTwo(pos, new BlockPos(x - 1, y - 2, z)); actions[17] = new ActionDescendTwo(pos, new BlockPos(x + 1, y - 2, z)); actions[18] = new ActionDescendThree(pos, new BlockPos(x, y - 3, z - 1)); actions[19] = new ActionDescendThree(pos, new BlockPos(x, y - 3, z + 1)); actions[20] = new ActionDescendThree(pos, new BlockPos(x - 1, y - 3, z)); actions[21] = new ActionDescendThree(pos, new BlockPos(x + 1, y - 3, z)); actions[22] = new ActionWalkDiagonal(pos, EnumFacing.NORTH, EnumFacing.WEST); actions[23] = new ActionWalkDiagonal(pos, EnumFacing.NORTH, EnumFacing.EAST); actions[24] = new ActionWalkDiagonal(pos, EnumFacing.SOUTH, EnumFacing.WEST); actions[25] = new ActionWalkDiagonal(pos, EnumFacing.SOUTH, EnumFacing.EAST); return actions;*/ return movements; } private final Random random = new Random(); private void shuffle(T[] list) { int len = list.length; for (int i = 0; i < len; i++) { int j = random.nextInt(len); T t = list[j]; list[j] = list[i]; list[i] = t; } } }