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much needed pathing overhaul

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Leijurv 2019-01-30 15:49:37 -08:00
parent 22bd5be5a9
commit 272dd79426
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2 changed files with 57 additions and 57 deletions
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58
src/main/java/baritone/pathing/calc/AStarPathFinder.java
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@ -25,7 +25,6 @@ import baritone.api.utils.BetterBlockPos;
import baritone.pathing.calc.openset.BinaryHeapOpenSet;
import baritone.pathing.movement.CalculationContext;
import baritone.pathing.movement.Moves;
import baritone.utils.Helper;
import baritone.utils.pathing.BetterWorldBorder;
import baritone.utils.pathing.Favoring;
import baritone.utils.pathing.MutableMoveResult;
@ -37,7 +36,7 @@ import java.util.Optional;
*
* @author leijurv
*/
public final class AStarPathFinder extends AbstractNodeCostSearch implements Helper {
public final class AStarPathFinder extends AbstractNodeCostSearch {
private final Favoring favoring;
private final CalculationContext calcContext;
@ -55,14 +54,12 @@ public final class AStarPathFinder extends AbstractNodeCostSearch implements Hel
startNode.combinedCost = startNode.estimatedCostToGoal;
BinaryHeapOpenSet openSet = new BinaryHeapOpenSet();
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];
double[] bestHeuristicSoFar = new double[COEFFICIENTS.length];//keep track of the best node by the metric of (estimatedCostToGoal + cost / COEFFICIENTS[i])
for (int i = 0; i < bestHeuristicSoFar.length; i++) {
bestHeuristicSoFar[i] = startNode.estimatedCostToGoal;
bestSoFar[i] = startNode;
}
MutableMoveResult res = new MutableMoveResult();
Favoring favored = favoring;
BetterWorldBorder worldBorder = new BetterWorldBorder(calcContext.world.getWorldBorder());
long startTime = System.currentTimeMillis();
boolean slowPath = Baritone.settings().slowPath.get();
@ -75,10 +72,10 @@ public final class AStarPathFinder extends AbstractNodeCostSearch implements Hel
int numNodes = 0;
int numMovementsConsidered = 0;
int numEmptyChunk = 0;
boolean favoring = !favored.isEmpty();
boolean isFavoring = !favoring.isEmpty();
int timeCheckInterval = 1 << 6;
int pathingMaxChunkBorderFetch = Baritone.settings().pathingMaxChunkBorderFetch.get(); // grab all settings beforehand so that changing settings during pathing doesn't cause a crash or unpredictable behavior
boolean minimumImprovementRepropagation = Baritone.settings().minimumImprovementRepropagation.get();
double minimumImprovement = Baritone.settings().minimumImprovementRepropagation.get() ? MIN_IMPROVEMENT : 0;
while (!openSet.isEmpty() && numEmptyChunk < pathingMaxChunkBorderFetch && !cancelRequested) {
if ((numNodes & (timeCheckInterval - 1)) == 0) { // only call this once every 64 nodes (about half a millisecond)
long now = System.currentTimeMillis(); // since nanoTime is slow on windows (takes many microseconds)
@ -136,21 +133,13 @@ public final class AStarPathFinder extends AbstractNodeCostSearch implements Hel
throw new IllegalStateException(moves + " " + res.y + " " + (currentNode.y + moves.yOffset));
}
long hashCode = BetterBlockPos.longHash(res.x, res.y, res.z);
if (favoring) {
if (isFavoring) {
// see issue #18
actionCost *= favored.calculate(hashCode);
actionCost *= favoring.calculate(hashCode);
}
PathNode neighbor = getNodeAtPosition(res.x, res.y, res.z, hashCode);
double tentativeCost = currentNode.cost + actionCost;
if (tentativeCost < neighbor.cost) {
double improvementBy = neighbor.cost - tentativeCost;
// there are floating point errors caused by random combinations of traverse and diagonal over a flat area
// that means that sometimes there's a cost improvement of like 10 ^ -16
// it's not worth the time to update the costs, decrease-key the heap, potentially repropagate, etc
if (improvementBy < 0.01 && minimumImprovementRepropagation) {
// who cares about a hundredth of a tick? that's half a millisecond for crying out loud!
continue;
}
if (neighbor.cost - tentativeCost > minimumImprovement) {
neighbor.previous = currentNode;
neighbor.cost = tentativeCost;
neighbor.combinedCost = tentativeCost + neighbor.estimatedCostToGoal;
@ -159,12 +148,9 @@ public final class AStarPathFinder extends AbstractNodeCostSearch implements Hel
} else {
openSet.insert(neighbor);//dont double count, dont insert into open set if it's already there
}
for (int i = 0; i < bestSoFar.length; i++) {
for (int i = 0; i < COEFFICIENTS.length; i++) {
double heuristic = neighbor.estimatedCostToGoal + neighbor.cost / COEFFICIENTS[i];
if (heuristic < bestHeuristicSoFar[i]) {
if (bestHeuristicSoFar[i] - heuristic < 0.01 && minimumImprovementRepropagation) {
continue;
}
if (bestHeuristicSoFar[i] - heuristic > minimumImprovement) {
bestHeuristicSoFar[i] = heuristic;
bestSoFar[i] = neighbor;
if (getDistFromStartSq(neighbor) > MIN_DIST_PATH * MIN_DIST_PATH) {
@ -182,28 +168,10 @@ public final class AStarPathFinder extends AbstractNodeCostSearch implements Hel
System.out.println("Open set size: " + openSet.size());
System.out.println("PathNode map size: " + mapSize());
System.out.println((int) (numNodes * 1.0 / ((System.currentTimeMillis() - startTime) / 1000F)) + " nodes per second");
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
logDebug("Took " + (System.currentTimeMillis() - startTime) + "ms, A* cost coefficient " + COEFFICIENTS[i] + ", " + numMovementsConsidered + " movements considered");
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 " + Math.sqrt(dist) + " blocks");
return Optional.of(new Path(startNode, bestSoFar[i], numNodes, goal, calcContext));
}
Optional<IPath> result = bestSoFar(true, numNodes);
if (result.isPresent()) {
logDebug("Took " + (System.currentTimeMillis() - startTime) + "ms, " + numMovementsConsidered + " movements considered");
}
logDebug("Even with a cost coefficient of " + COEFFICIENTS[COEFFICIENTS.length - 1] + ", I couldn't get more than " + Math.sqrt(bestDist) + " blocks");
logDebug("No path found =(");
return Optional.empty();
return result;
}
}

56
src/main/java/baritone/pathing/calc/AbstractNodeCostSearch.java
View File

@ -34,7 +34,7 @@ import java.util.Optional;
*
* @author leijurv
*/
public abstract class AbstractNodeCostSearch implements IPathFinder {
public abstract class AbstractNodeCostSearch implements IPathFinder, Helper {
protected final int startX;
protected final int startY;
@ -53,7 +53,7 @@ public abstract class AbstractNodeCostSearch implements IPathFinder {
protected PathNode mostRecentConsidered;
protected PathNode[] bestSoFar;
protected final PathNode[] bestSoFar = new PathNode[COEFFICIENTS.length];
private volatile boolean isFinished;
@ -63,13 +63,23 @@ public abstract class AbstractNodeCostSearch implements IPathFinder {
* This is really complicated and hard to explain. I wrote a comment in the old version of MineBot but it was so
* long it was easier as a Google Doc (because I could insert charts).
*
* @see <a href="https://docs.google.com/document/d/1WVHHXKXFdCR1Oz__KtK8sFqyvSwJN_H4lftkHFgmzlc/edit"></a>
* @see <a href="https://docs.google.com/document/d/1WVHHXKXFdCR1Oz__KtK8sFqyvSwJN_H4lftkHFgmzlc/edit">here</a>
*/
protected static final double[] COEFFICIENTS = {1.5, 2, 2.5, 3, 4, 5, 10}; // big TODO tune
protected static final double[] COEFFICIENTS = {1.5, 2, 2.5, 3, 4, 5, 10};
/**
* If a path goes less than 5 blocks and doesn't make it to its goal, it's not worth considering.
*/
protected final static double MIN_DIST_PATH = 5;
protected static final double MIN_DIST_PATH = 5;
/**
* there are floating point errors caused by random combinations of traverse and diagonal over a flat area
* that means that sometimes there's a cost improvement of like 10 ^ -16
* it's not worth the time to update the costs, decrease-key the heap, potentially repropagate, etc
* <p>
* who cares about a hundredth of a tick? that's half a millisecond for crying out loud!
*/
protected static final double MIN_IMPROVEMENT = 0.01;
AbstractNodeCostSearch(int startX, int startY, int startZ, Goal goal, CalculationContext context) {
this.startX = startX;
@ -170,25 +180,43 @@ public abstract class AbstractNodeCostSearch implements IPathFinder {
return Optional.ofNullable(mostRecentConsidered).map(node -> new Path(startNode, node, 0, goal, context));
}
protected int mapSize() {
return map.size();
@Override
public Optional<IPath> bestPathSoFar() {
return bestSoFar(false, 0);
}
@Override
public Optional<IPath> bestPathSoFar() { // TODO cleanup code duplication between here and AStarPathFinder
protected Optional<IPath> bestSoFar(boolean logInfo, int numNodes) {
if (startNode == null || bestSoFar == null) {
return Optional.empty();
}
for (int i = 0; i < bestSoFar.length; i++) {
double bestDist = 0;
for (int i = 0; i < COEFFICIENTS.length; i++) {
if (bestSoFar[i] == null) {
continue;
}
if (getDistFromStartSq(bestSoFar[i]) > MIN_DIST_PATH * MIN_DIST_PATH) { // square the comparison since distFromStartSq is squared
return Optional.of(new Path(startNode, bestSoFar[i], 0, goal, context));
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
if (logInfo) {
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 " + Math.sqrt(dist) + " blocks");
logDebug("A* cost coefficient " + COEFFICIENTS[i]);
}
return Optional.of(new Path(startNode, bestSoFar[i], numNodes, goal, context));
}
}
// instead of returning bestSoFar[0], be less misleading
// if it actually won't find any path, don't make them think it will by rendering a dark blue that will never actually happen
if (logInfo) {
logDebug("Even with a cost coefficient of " + COEFFICIENTS[COEFFICIENTS.length - 1] + ", I couldn't get more than " + Math.sqrt(bestDist) + " blocks");
logDebug("No path found =(");
}
return Optional.empty();
}
@ -205,4 +233,8 @@ public abstract class AbstractNodeCostSearch implements IPathFinder {
public BetterBlockPos getStart() {
return new BetterBlockPos(startX, startY, startZ);
}
protected int mapSize() {
return map.size();
}
}