better falling costs
This commit is contained in:
Leijurv
parent
84d9a9bf35
commit
d3a2238493
@ -3,6 +3,7 @@ package baritone.bot.behavior;
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import baritone.bot.pathing.calc.IPath;
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import baritone.bot.pathing.movement.ActionCosts;
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import baritone.bot.pathing.movement.Movement;
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import baritone.bot.pathing.movement.MovementState;
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import baritone.bot.utils.BlockStateInterface;
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import baritone.bot.utils.ToolSet;
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import net.minecraft.client.entity.EntityPlayerSP;
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@ -10,6 +11,8 @@ import net.minecraft.init.Blocks;
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import net.minecraft.util.Tuple;
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import net.minecraft.util.math.BlockPos;
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import static baritone.bot.pathing.movement.MovementState.MovementStatus.*;
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/**
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* Behavior to execute a precomputed path. Does not (yet) deal with path segmentation or stitching
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* or cutting (jumping onto the next path if it starts with a backtrack of this path's ending)
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@ -116,8 +119,14 @@ public class PathExecution extends Behavior {
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failed = true;
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return;
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}
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movement.onTick();
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if (movement.isFinished()) {
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MovementState.MovementStatus movementStatus = movement.update();
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if (movementStatus == UNREACHABLE || movementStatus == FAILED) {
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System.out.println("Movement returns status " + movementStatus);
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pathPosition = path.length() + 3;
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failed = true;
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return;
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}
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if (movementStatus == SUCCESS) {
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System.out.println("Movement done, next path");
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pathPosition++;
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ticksOnCurrent = 0;
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@ -4,6 +4,7 @@ import net.minecraft.util.math.BlockPos;
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/**
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* A specific BlockPos goal
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*
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* @author leijurv
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*/
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public class GoalBlock implements Goal {
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@ -38,7 +39,7 @@ public class GoalBlock implements Goal {
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double zDiff = pos.getZ() - this.z;
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return calculate(xDiff, yDiff, zDiff);
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}
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@Override
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public String toString() {
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return "Goal{x=" + x + ",y=" + y + ",z=" + z + "}";
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@ -47,14 +48,14 @@ public class GoalBlock implements Goal {
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public static double calculate(double xDiff, double yDiff, double zDiff) {
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double pythaDist = Math.sqrt(xDiff * xDiff + zDiff * zDiff);
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double heuristic = 0;
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double baseline = (PLACE_ONE_BLOCK_COST + FALL_ONE_BLOCK_COST) * 32;
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double baseline = (PLACE_ONE_BLOCK_COST + FALL_N_BLOCKS_COST[1]) * 32;
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if (pythaDist < MAX) {//if we are more than MAX away, ignore the Y coordinate. It really doesn't matter how far away your Y coordinate is if you X coordinate is 1000 blocks away.
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//as we get closer, slowly reintroduce the Y coordinate as a heuristic cost
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double multiplier = pythaDist < MIN ? 1 : 1 - (pythaDist - MIN) / (MAX - MIN);
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if (yDiff < 0) {//pos.getY()-this.y<0 therefore pos.getY()<this.y, so target is above current
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heuristic -= yDiff * (PLACE_ONE_BLOCK_COST * 0.7 + JUMP_ONE_BLOCK_COST);//target above current
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} else {
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heuristic += yDiff * (10 + FALL_ONE_BLOCK_COST);//target below current
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heuristic += yDiff * (10 + FALL_N_BLOCKS_COST[1]);//target below current
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}
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heuristic *= multiplier;
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heuristic += (1 - multiplier) * baseline;
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@ -1,11 +1,9 @@
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package baritone.bot.pathing.movement;
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public interface ActionCosts {
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public interface ActionCosts extends ActionCostsButOnlyTheOnesThatMakeMickeyDieInside {
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/**
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* These costs are measured roughly in ticks btw
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* Blocks/Tick: 0.2806167m / tick
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* Tick/Block: 3.563579787t
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*/
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double WALK_ONE_BLOCK_COST = 20 / 4.317;
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double WALK_ONE_IN_WATER_COST = 20 / 2.2;
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@ -18,19 +16,10 @@ public interface ActionCosts {
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* To walk off an edge you need to walk 0.5 to the edge then 0.3 to start falling off
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*/
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double WALK_OFF_BLOCK_COST = WALK_ONE_BLOCK_COST * 0.8;
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/**
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* Doesn't include walking forwards, just the falling
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* <p>
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* Based on a sketchy formula from minecraftwiki
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* <p>
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* d(t) = 3.92 × (99 - 49.50×(0.98^t+1) - t)
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* <p>
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* Solved in mathematica
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* To walk the rest of the way to be centered on the new block
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*/
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double FALL_ONE_BLOCK_COST = 5.11354;
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double FALL_TWO_BLOCK_COST = 7.28283;
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double FALL_THREE_BLOCK_COST = 8.96862;
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double CENTER_AFTER_FALL_COST = WALK_ONE_BLOCK_COST - WALK_OFF_BLOCK_COST;
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/**
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* It doesn't actually take ten ticks to place a block, this cost is so high
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@ -0,0 +1,272 @@
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package baritone.bot.pathing.movement;
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public interface ActionCostsButOnlyTheOnesThatMakeMickeyDieInside {
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/**
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* Doesn't include walking forwards, just the falling
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* <p>
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* Based on a sketchy formula from minecraftwiki
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* <p>
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* d(t) = 3.92 × (99 - 49.50×(0.98^t+1) - t)
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* <p>
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* Solved in mathematica
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*/
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double[] FALL_N_BLOCKS_COST = {
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0,
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5.113536276700843,
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7.2828323066872045,
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8.968618232732705,
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10.404365959100446,
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11.680480623396742,
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12.843313631721617,
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13.920391760441351,
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14.929645007107348,
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15.883523984254479,
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16.79109129057836,
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17.65918648560504,
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18.49312169856919,
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19.297120173295674,
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20.07460511655106,
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20.8283969319279,
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21.560852030800998,
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22.273963072907762,
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22.969432977622052,
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23.648730635504094,
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24.313133563454144,
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24.96376105880576,
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25.601600317276624,
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26.22752725784882,
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26.84232330924579,
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27.446689075671973,
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28.04125556279362,
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28.62659347601145,
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29.203220980727895,
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29.771610224502076,
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30.332192854241576,
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30.885364711409714,
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31.431489850114986,
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31.970903993712962,
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32.50391752291778,
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33.03081807074975,
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33.551872785739214,
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34.067330313780815,
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34.57742254022905,
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35.082366126750486,
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35.58236387172606,
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36.077605918342215,
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36.56827083070201,
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37.05452655515648,
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37.536531281468676,
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38.01443421627468,
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38.488376279513304,
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38.95849073299524,
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39.424903749019556,
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39.88773492587905,
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40.347097756192305,
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40.80310005323151,
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41.25584433975873,
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41.70542820332173,
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42.15194462147737,
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42.59548225999495,
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43.03612574673234,
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43.473955923566265,
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43.90905007848757,
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44.34148215973641,
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44.771322973646555,
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45.19864036768775,
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45.6234994000367,
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46.045962496868576,
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46.46608959843794,
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46.88393829491001,
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47.299563952807276,
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47.71301983285154,
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48.12435719990593,
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48.53362542565443,
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48.94087208459637,
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49.34614304388003,
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49.74948254745144,
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50.15093329495179,
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50.55053651575828,
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50.94833203852857,
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51.344358356577956,
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51.7386526893903,
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52.131251040538295,
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52.5221882522659,
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52.911498056964746,
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53.29921312575791,
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53.68536511438698,
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54.06998470658305,
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54.45310165508815,
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54.83474482048066,
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55.214942207946656,
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55.59372100212837,
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55.97110760017104,
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56.34712764308082,
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56.7218060454978,
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57.09516702398098,
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57.467234123894954,
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57.83803024498192,
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58.20757766569654,
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58.57589806637605,
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58.943012551313004,
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59.30894166979339,
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59.67370543615876,
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60.03732334894715,
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60.39981440916383,
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60.76119713772981,
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61.12148959215276,
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61.480709382462294,
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61.83887368644886,
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62.19599926424302,
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62.5521024722697,
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62.90719927660977,
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63.26130526579944,
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63.61443566309607,
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63.96660533823729,
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64.31782881871884,
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64.6681203006148,
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65.01749365896293,
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65.36596245773595,
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65.71353995941902,
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66.0602391342122,
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66.40607266887541,
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66.75105297523314,
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67.09519219835428,
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67.43850222442256,
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67.78099468831131,
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68.1226809808764,
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68.46357225597976,
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68.80367943725574,
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69.14301322463155,
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69.4815841006127,
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69.81940233634366,
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70.15647799745355,
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70.49282094969598,
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70.82844086439191,
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71.16334722368377,
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71.49754932560899,
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71.83105628900007,
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72.16387705821887,
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72.49602040773145,
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72.82749494653027,
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73.15830912240982,
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73.48847122610157,
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73.81798939527378,
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74.14687161840179,
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74.47512573851341,
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74.80275945681478,
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75.12978033620105,
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75.45619580465629,
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75.78201315854709,
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76.10723956581364,
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76.43188206906233,
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76.75594758856334,
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77.07944292515718,
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77.40237476307294,
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77.72474967266207,
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78.04657411305035,
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78.36785443471128,
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78.68859688196352,
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79.00880759539531,
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79.3284926142182,
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79.64765787855289,
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79.9663092316492,
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80.28445242204289,
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80.60209310565104,
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80.91923684780862,
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81.23588912524778,
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81.55205532802215,
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81.86774076137777,
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82.18295064757277,
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82.49769012764693,
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82.81196426314357,
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83.12577803778456,
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83.43913635910059,
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83.75204406001774,
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84.0645059004021,
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84.37652656856343,
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84.68811068271964,
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84.99926279242277,
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85.30998737994823,
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85.62028886164805,
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85.93017158926958,
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86.23963985124041,
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86.54869787392082,
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86.85734982282462,
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87.16559980380936,
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87.47345186423686,
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87.78090999410504,
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88.08797812715169,
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88.39466014193125,
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88.70095986286539,
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89.00688106126789,
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89.31242745634496,
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89.61760271617149,
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89.92241045864394,
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90.22685425241062,
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90.53093761778003,
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90.83466402760772,
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91.1380369081625,
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91.44105963997252,
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91.74373555865165,
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92.04606795570685,
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92.34806007932717,
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92.64971513515455,
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92.95103628703731,
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93.2520266577665,
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93.55268932979581,
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93.85302734594525,
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94.15304371008936,
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94.45274138783006,
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94.75212330715466,
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95.05119235907955,
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95.34995139827977,
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95.6484032437049,
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95.94655067918174,
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96.24439645400388,
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96.54194328350879,
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96.83919384964254,
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97.13615080151253,
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97.43281675592864,
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97.7291942979329,
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98.02528598131825,
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98.32109432913622,
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98.6166218341944,
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98.9118709595435,
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99.20684413895441,
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99.50154377738548,
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99.79597225144039,
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100.09013190981668,
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100.38402507374525,
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100.67765403742101,
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100.97102106842496,
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101.26412840813789,
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101.55697827214576,
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101.84957285063727,
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102.14191430879345,
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102.43400478716974,
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102.72584640207059,
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103.01744124591679,
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103.30879138760572,
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103.59989887286467,
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103.89076572459741,
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104.18139394322415,
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104.471785507015,
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104.7619423724172,
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105.05186647437611,
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105.34155972665033,
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105.6310240221207,
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105.92026123309378,
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106.2092732115996,
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106.49806178968389,
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106.78662877969508,
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107.07497597456587,
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107.36310514808983,
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107.65101805519288,
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107.93871643219987,
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108.22620199709642,
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108.51347644978608,
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108.80054147234273,
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109.08739872925868,
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109.37404986768833
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};
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}
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@ -0,0 +1,19 @@
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package baritone.bot.pathing.movement;
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import org.junit.Test;
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import static baritone.bot.pathing.movement.ActionCostsButOnlyTheOnesThatMakeMickeyDieInside.FALL_N_BLOCKS_COST;
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import static org.junit.Assert.assertEquals;
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public class ActionCostsButOnlyTheOnesThatMakeMickeyDieInsideTest {
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@Test
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public void testFallNBlocksCost() {
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assertEquals(FALL_N_BLOCKS_COST.length, 257); // Fall 0 blocks through fall 256 blocks
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for (int i = 0; i < 256; i++) {
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double t = FALL_N_BLOCKS_COST[i];
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double fallDistance = 3.92 * (99 - 49.50 * (Math.pow(0.98, t) + 1) - t);
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assertEquals(fallDistance, -i, 0.000000000001); // If you add another 0 the test fails at i=43 LOL
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}
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}
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}
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