From d382de2b52ff79965d36099d7526a91eced39d0a Mon Sep 17 00:00:00 2001
From: Leijurv <leijurv@gmail.com>
Date: Fri, 3 Aug 2018 12:50:09 -0400
Subject: [PATCH] moving away from linked list, so remove nextOpen from
 PathNode

---
 .../bot/pathing/calc/AStarPathFinder.java     |  1 -
 .../bot/pathing/calc/LinkedListOpenSet.java   | 33 ++++++++++++-------
 .../baritone/bot/pathing/calc/PathNode.java   |  6 +---
 3 files changed, 22 insertions(+), 18 deletions(-)

diff --git a/src/main/java/baritone/bot/pathing/calc/AStarPathFinder.java b/src/main/java/baritone/bot/pathing/calc/AStarPathFinder.java
index 2d6b1c1e..638e0bb4 100644
--- a/src/main/java/baritone/bot/pathing/calc/AStarPathFinder.java
+++ b/src/main/java/baritone/bot/pathing/calc/AStarPathFinder.java
@@ -54,7 +54,6 @@ public class AStarPathFinder extends AbstractNodeCostSearch {
             PathNode currentNode = openSet.removeLowest();
             mostRecentConsidered = currentNode;
             currentNode.isOpen = false;
-            currentNode.nextOpen = null;
             BlockPos currentNodePos = currentNode.pos;
             numNodes++;
             if (System.currentTimeMillis() > lastPrintout + 1000) {//print once a second
diff --git a/src/main/java/baritone/bot/pathing/calc/LinkedListOpenSet.java b/src/main/java/baritone/bot/pathing/calc/LinkedListOpenSet.java
index b4a74e13..006662e6 100644
--- a/src/main/java/baritone/bot/pathing/calc/LinkedListOpenSet.java
+++ b/src/main/java/baritone/bot/pathing/calc/LinkedListOpenSet.java
@@ -5,13 +5,15 @@ package baritone.bot.pathing.calc;
  * It has incredbly fast insert performance, at the cost of O(n) removeLowest.
  */
 public class LinkedListOpenSet implements IOpenSet {
-    private PathNode first = null;
+    private Node first = null;
 
     public boolean isEmpty() {
         return first == null;
     }
 
-    public void insert(PathNode node) {
+    public void insert(PathNode pathNode) {
+        Node node = new Node();
+        node.val = pathNode;
         node.nextOpen = first;
         first = node;
     }
@@ -20,18 +22,18 @@ public class LinkedListOpenSet implements IOpenSet {
         if (first == null) {
             return null;
         }
-        PathNode current = first.nextOpen;
+        Node current = first.nextOpen;
         if (current == null) {
-            PathNode n = first;
+            Node n = first;
             first = null;
-            return n;
+            return n.val;
         }
-        PathNode previous = first;
-        double bestValue = first.combinedCost;
-        PathNode bestNode = first;
-        PathNode beforeBest = null;
+        Node previous = first;
+        double bestValue = first.val.combinedCost;
+        Node bestNode = first;
+        Node beforeBest = null;
         while (current != null) {
-            double comp = current.combinedCost;
+            double comp = current.val.combinedCost;
             if (comp < bestValue) {
                 bestValue = comp;
                 bestNode = current;
@@ -42,9 +44,16 @@ public class LinkedListOpenSet implements IOpenSet {
         }
         if (beforeBest == null) {
             first = first.nextOpen;
-            return bestNode;
+            bestNode.nextOpen = null;
+            return bestNode.val;
         }
         beforeBest.nextOpen = bestNode.nextOpen;
-        return bestNode;
+        bestNode.nextOpen = null;
+        return bestNode.val;
+    }
+
+    public static class Node { //wrapper with next
+        Node nextOpen;
+        PathNode val;
     }
 }
diff --git a/src/main/java/baritone/bot/pathing/calc/PathNode.java b/src/main/java/baritone/bot/pathing/calc/PathNode.java
index 8e27c1c8..9ee0dcb7 100644
--- a/src/main/java/baritone/bot/pathing/calc/PathNode.java
+++ b/src/main/java/baritone/bot/pathing/calc/PathNode.java
@@ -30,14 +30,10 @@ class PathNode {
 
     /**
      * Is this a member of the open set in A*? (only used during pathfinding)
+     * Instead of doing a costly member check in the open set, cache membership in each node individually too.
      */
     boolean isOpen;
 
-    /**
-     * In the linked list of open nodes, which one is next? (only used during pathfinding)
-     */
-    PathNode nextOpen;
-
     public PathNode(BlockPos pos, Goal goal) {
         this.pos = pos;
         this.previous = null;