forked from RepoMirrors/baritone
208 lines
11 KiB
Java
208 lines
11 KiB
Java
/*
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* This file is part of Baritone.
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*
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* Baritone is free software: you can redistribute it and/or modify
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* it under the terms of the GNU Lesser General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* Baritone is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU Lesser General Public License for more details.
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*
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* You should have received a copy of the GNU Lesser General Public License
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* along with Baritone. If not, see <https://www.gnu.org/licenses/>.
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*/
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package baritone.pathing.calc;
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import baritone.Baritone;
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import baritone.api.pathing.calc.IPath;
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import baritone.api.pathing.goals.Goal;
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import baritone.api.pathing.movement.ActionCosts;
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import baritone.api.utils.BetterBlockPos;
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import baritone.pathing.calc.openset.BinaryHeapOpenSet;
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import baritone.pathing.movement.CalculationContext;
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import baritone.pathing.movement.Moves;
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import baritone.utils.BlockStateInterface;
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import baritone.utils.Helper;
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import baritone.utils.pathing.BetterWorldBorder;
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import baritone.utils.pathing.MutableMoveResult;
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import java.util.HashSet;
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import java.util.Optional;
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/**
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* The actual A* pathfinding
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*
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* @author leijurv
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*/
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public final class AStarPathFinder extends AbstractNodeCostSearch implements Helper {
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private final Optional<HashSet<Long>> favoredPositions;
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public AStarPathFinder(int startX, int startY, int startZ, Goal goal, Optional<HashSet<Long>> favoredPositions) {
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super(startX, startY, startZ, goal);
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this.favoredPositions = favoredPositions;
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}
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@Override
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protected Optional<IPath> calculate0(long timeout) {
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startNode = getNodeAtPosition(startX, startY, startZ, BetterBlockPos.longHash(startX, startY, startZ));
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startNode.cost = 0;
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startNode.combinedCost = startNode.estimatedCostToGoal;
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BinaryHeapOpenSet openSet = new BinaryHeapOpenSet();
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openSet.insert(startNode);
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startNode.isOpen = true;
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bestSoFar = new PathNode[COEFFICIENTS.length];//keep track of the best node by the metric of (estimatedCostToGoal + cost / COEFFICIENTS[i])
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double[] bestHeuristicSoFar = new double[COEFFICIENTS.length];
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for (int i = 0; i < bestHeuristicSoFar.length; i++) {
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bestHeuristicSoFar[i] = startNode.estimatedCostToGoal;
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bestSoFar[i] = startNode;
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}
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CalculationContext calcContext = new CalculationContext();
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MutableMoveResult res = new MutableMoveResult();
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HashSet<Long> favored = favoredPositions.orElse(null);
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BetterWorldBorder worldBorder = new BetterWorldBorder(world().getWorldBorder());
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BlockStateInterface.clearCachedChunk();
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long startTime = System.nanoTime() / 1000000L;
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boolean slowPath = Baritone.settings().slowPath.get();
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if (slowPath) {
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logDebug("slowPath is on, path timeout will be " + Baritone.settings().slowPathTimeoutMS.<Long>get() + "ms instead of " + timeout + "ms");
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}
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long timeoutTime = startTime + (slowPath ? Baritone.settings().slowPathTimeoutMS.<Long>get() : timeout);
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//long lastPrintout = 0;
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int numNodes = 0;
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int numMovementsConsidered = 0;
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int numEmptyChunk = 0;
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boolean favoring = favoredPositions.isPresent();
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int pathingMaxChunkBorderFetch = Baritone.settings().pathingMaxChunkBorderFetch.get(); // grab all settings beforehand so that changing settings during pathing doesn't cause a crash or unpredictable behavior
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double favorCoeff = Baritone.settings().backtrackCostFavoringCoefficient.get();
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boolean minimumImprovementRepropagation = Baritone.settings().minimumImprovementRepropagation.get();
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loopBegin();
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while (!openSet.isEmpty() && numEmptyChunk < pathingMaxChunkBorderFetch && System.nanoTime() / 1000000L - timeoutTime < 0 && !cancelRequested) {
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if (slowPath) {
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try {
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Thread.sleep(Baritone.settings().slowPathTimeDelayMS.<Long>get());
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} catch (InterruptedException ex) {
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}
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}
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PathNode currentNode = openSet.removeLowest();
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currentNode.isOpen = false;
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mostRecentConsidered = currentNode;
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numNodes++;
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if (goal.isInGoal(currentNode.x, currentNode.y, currentNode.z)) {
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logDebug("Took " + (System.nanoTime() / 1000000L - startTime) + "ms, " + numMovementsConsidered + " movements considered");
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return Optional.of(new Path(startNode, currentNode, numNodes, goal));
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}
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for (Moves moves : Moves.values()) {
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int newX = currentNode.x + moves.xOffset;
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int newZ = currentNode.z + moves.zOffset;
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if ((newX >> 4 != currentNode.x >> 4 || newZ >> 4 != currentNode.z >> 4) && !BlockStateInterface.isLoaded(newX, newZ)) {
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// only need to check if the destination is a loaded chunk if it's in a different chunk than the start of the movement
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if (!moves.dynamicXZ) { // only increment the counter if the movement would have gone out of bounds guaranteed
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numEmptyChunk++;
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}
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continue;
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}
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if (!moves.dynamicXZ && !worldBorder.entirelyContains(newX, newZ)) {
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continue;
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}
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if (currentNode.y + moves.yOffset > 256 || currentNode.y + moves.yOffset < 0) {
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continue;
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}
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res.reset();
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moves.apply(calcContext, currentNode.x, currentNode.y, currentNode.z, res);
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numMovementsConsidered++;
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double actionCost = res.cost;
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if (actionCost >= ActionCosts.COST_INF) {
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continue;
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}
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if (actionCost <= 0) {
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throw new IllegalStateException(moves + " calculated implausible cost " + actionCost);
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}
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if (moves.dynamicXZ && !worldBorder.entirelyContains(res.x, res.z)) { // see issue #218
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continue;
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}
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// check destination after verifying it's not COST_INF -- some movements return a static IMPOSSIBLE object with COST_INF and destination being 0,0,0 to avoid allocating a new result for every failed calculation
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if (!moves.dynamicXZ && (res.x != newX || res.z != newZ)) {
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throw new IllegalStateException(moves + " " + res.x + " " + newX + " " + res.z + " " + newZ);
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}
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if (!moves.dynamicY && res.y != currentNode.y + moves.yOffset) {
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throw new IllegalStateException(moves + " " + res.x + " " + newX + " " + res.z + " " + newZ);
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}
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long hashCode = BetterBlockPos.longHash(res.x, res.y, res.z);
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if (favoring && favored.contains(hashCode)) {
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// see issue #18
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actionCost *= favorCoeff;
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}
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PathNode neighbor = getNodeAtPosition(res.x, res.y, res.z, hashCode);
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double tentativeCost = currentNode.cost + actionCost;
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if (tentativeCost < neighbor.cost) {
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if (tentativeCost < 0) {
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throw new IllegalStateException(moves + " overflowed into negative " + actionCost + " " + neighbor.cost + " " + tentativeCost);
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}
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double improvementBy = neighbor.cost - tentativeCost;
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// there are floating point errors caused by random combinations of traverse and diagonal over a flat area
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// that means that sometimes there's a cost improvement of like 10 ^ -16
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// it's not worth the time to update the costs, decrease-key the heap, potentially repropagate, etc
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if (improvementBy < 0.01 && minimumImprovementRepropagation) {
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// who cares about a hundredth of a tick? that's half a millisecond for crying out loud!
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continue;
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}
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neighbor.previous = currentNode;
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neighbor.cost = tentativeCost;
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neighbor.combinedCost = tentativeCost + neighbor.estimatedCostToGoal;
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if (neighbor.isOpen) {
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openSet.update(neighbor);
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} else {
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neighbor.isOpen = true;
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openSet.insert(neighbor);//dont double count, dont insert into open set if it's already there
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}
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for (int i = 0; i < bestSoFar.length; i++) {
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double heuristic = neighbor.estimatedCostToGoal + neighbor.cost / COEFFICIENTS[i];
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if (heuristic < bestHeuristicSoFar[i]) {
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if (bestHeuristicSoFar[i] - heuristic < 0.01 && minimumImprovementRepropagation) {
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continue;
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}
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bestHeuristicSoFar[i] = heuristic;
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bestSoFar[i] = neighbor;
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}
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}
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}
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}
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}
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if (cancelRequested) {
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return Optional.empty();
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}
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System.out.println(numMovementsConsidered + " movements considered");
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System.out.println("Open set size: " + openSet.size());
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System.out.println("PathNode map size: " + mapSize());
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System.out.println((int) (numNodes * 1.0 / ((System.nanoTime() / 1000000L - startTime) / 1000F)) + " nodes per second");
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double bestDist = 0;
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for (int i = 0; i < bestSoFar.length; i++) {
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if (bestSoFar[i] == null) {
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continue;
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}
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double dist = getDistFromStartSq(bestSoFar[i]);
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if (dist > bestDist) {
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bestDist = dist;
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}
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if (dist > MIN_DIST_PATH * MIN_DIST_PATH) { // square the comparison since distFromStartSq is squared
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logDebug("Took " + (System.nanoTime() / 1000000L - startTime) + "ms, A* cost coefficient " + COEFFICIENTS[i] + ", " + numMovementsConsidered + " movements considered");
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if (COEFFICIENTS[i] >= 3) {
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System.out.println("Warning: cost coefficient is greater than three! Probably means that");
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System.out.println("the path I found is pretty terrible (like sneak-bridging for dozens of blocks)");
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System.out.println("But I'm going to do it anyway, because yolo");
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}
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System.out.println("Path goes for " + Math.sqrt(dist) + " blocks");
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return Optional.of(new Path(startNode, bestSoFar[i], numNodes, goal));
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}
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}
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logDebug("Even with a cost coefficient of " + COEFFICIENTS[COEFFICIENTS.length - 1] + ", I couldn't get more than " + Math.sqrt(bestDist) + " blocks");
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logDebug("No path found =(");
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return Optional.empty();
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}
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}
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