misc fixes to coefficients, descend, and pathexecutor

src/main/java/baritone/bot/pathing/calc/AbstractNodeCostSearch.java

@@ -57,7 +57,7 @@ public abstract class AbstractNodeCostSearch implements IPathFinder {
      *
      * @see <a href="https://docs.google.com/document/d/1WVHHXKXFdCR1Oz__KtK8sFqyvSwJN_H4lftkHFgmzlc/edit"></a>
      */
-    protected static final double[] COEFFICIENTS = {1.5, 2, 2.5, 3, 4, 5, 10};
+    protected static final double[] COEFFICIENTS = {1, 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.
      */

src/main/java/baritone/bot/pathing/goals/GoalXZ.java

@@ -23,6 +23,7 @@ import net.minecraft.util.math.Vec3d;
 
 /**
  * Useful for long-range goals that don't have a specific Y level.
+ *
  * @author leijurv
  */
 public class GoalXZ implements Goal {
@@ -97,7 +98,7 @@ public class GoalXZ implements Goal {
             diagonal = z;
         }
         diagonal *= SQRT_2;
-        return (diagonal + straight) * WALK_ONE_BLOCK_COST;
+        return (diagonal + straight) * 4;
     }
 
     public static GoalXZ fromDirection(Vec3d origin, float yaw, double distance) {

src/main/java/baritone/bot/pathing/movement/ActionCosts.java

@@ -22,13 +22,13 @@ public interface ActionCosts extends ActionCostsButOnlyTheOnesThatMakeMickeyDieI
     /**
      * These costs are measured roughly in ticks btw
      */
-    double WALK_ONE_BLOCK_COST = 20 / 4.317;
+    double WALK_ONE_BLOCK_COST = 20 / 4.317; // // 4.633
     double WALK_ONE_IN_WATER_COST = 20 / 2.2;
     double JUMP_ONE_BLOCK_COST = 5.72854;//see below calculation for fall. 1.25 blocks
     double LADDER_UP_ONE_COST = 20 / 2.35;
     double LADDER_DOWN_ONE_COST = 20 / 3.0;
     double SNEAK_ONE_BLOCK_COST = 20 / 1.3;
-    double SPRINT_ONE_BLOCK_COST = 20 / 5.612;
+    double SPRINT_ONE_BLOCK_COST = 20 / 5.612; // 3.564
     /**
      * To walk off an edge you need to walk 0.5 to the edge then 0.3 to start falling off
      */

src/main/java/baritone/bot/pathing/movement/movements/MovementDescend.java

@@ -68,10 +68,14 @@ public class MovementDescend extends Movement {
             case RUNNING:
                 BlockPos playerFeet = playerFeet();
 
-                if (playerFeet.equals(dest) && (BlockStateInterface.isLiquid(dest) || player().posY - playerFeet.getY() < 0.01)) {
+                if (playerFeet.equals(dest)) {
+                    if (BlockStateInterface.isLiquid(dest) || player().posY - playerFeet.getY() < 0.01) {
                         // Wait until we're actually on the ground before saying we're done because sometimes we continue to fall if the next action starts immediately
                         state.setStatus(MovementStatus.SUCCESS);
                         return state;
+                    } else {
+                        System.out.println(player().posY + " " + playerFeet.getY() + " " + (player().posY - playerFeet.getY()));
+                    }
                 }
                 double diffX = player().posX - (dest.getX() + 0.5);
                 double diffZ = player().posZ - (dest.getZ() + 0.5);
@@ -79,16 +83,20 @@ public class MovementDescend extends Movement {
                 double x = player().posX - (src.getX() + 0.5);
                 double z = player().posZ - (src.getZ() + 0.5);
                 double fromStart = Math.sqrt(x * x + z * z);
-                if (!playerFeet.equals(dest) || ab > 0.2) {
+                if (!playerFeet.equals(dest) || ab > 0.25) {
                     BlockPos fakeDest = new BlockPos(dest.getX() * 2 - src.getX(), dest.getY(), dest.getZ() * 2 - src.getZ());
                     double diffX2 = player().posX - (fakeDest.getX() + 0.5);
                     double diffZ2 = player().posZ - (fakeDest.getZ() + 0.5);
                     double d = Math.sqrt(diffX2 * diffX2 + diffZ2 * diffZ2);
+                    if (numTicks++ < 20) {
                         MovementHelper.moveTowards(state, fakeDest);
-                    if (fromStart > 1.2 && numTicks++ < 10) {
+                        if (fromStart > 1.25) {
                             state.setInput(InputOverrideHandler.Input.MOVE_FORWARD, false);
                             state.setInput(InputOverrideHandler.Input.MOVE_BACK, true);
                         }
+                    } else {
+                        MovementHelper.moveTowards(state, dest);
+                    }
                 }
                 return state;
             default:

src/main/java/baritone/bot/pathing/path/PathExecutor.java

@@ -91,6 +91,7 @@ public class PathExecutor implements Helper {
                     if (whereAmI.equals(path.positions().get(i))) {
                         displayChatMessageRaw("Skipping back " + (pathPosition - i) + " steps, to " + i);
                         pathPosition = Math.max(i - 1, 0); // previous step might not actually be done
+                        Baritone.INSTANCE.getInputOverrideHandler().clearAllKeys();
                         return false;
                     }
                 }
@@ -100,6 +101,7 @@ public class PathExecutor implements Helper {
                             displayChatMessageRaw("Skipping forward " + (i - pathPosition) + " steps, to " + i);
                         }
                         pathPosition = i - 1;
+                        Baritone.INSTANCE.getInputOverrideHandler().clearAllKeys();
                         return false;
                     }
                 }