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epicly fast

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Leijurv 2018-12-19 12:59:07 -08:00
parent 0ef3386ebf
commit d41aa5f9ae
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GPG Key ID: 44A3EA646EADAC6A
2 changed files with 6 additions and 11 deletions
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5
src/main/java/baritone/pathing/calc/AStarPathFinder.java
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@ -55,7 +55,6 @@ public final class AStarPathFinder extends AbstractNodeCostSearch implements Hel
startNode.combinedCost = startNode.estimatedCostToGoal; startNode.combinedCost = startNode.estimatedCostToGoal;
BinaryHeapOpenSet openSet = new BinaryHeapOpenSet(); BinaryHeapOpenSet openSet = new BinaryHeapOpenSet();
openSet.insert(startNode); openSet.insert(startNode);
startNode.isOpen = true;
bestSoFar = new PathNode[COEFFICIENTS.length];//keep track of the best node by the metric of (estimatedCostToGoal + cost / COEFFICIENTS[i]) 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];
for (int i = 0; i < bestHeuristicSoFar.length; i++) { for (int i = 0; i < bestHeuristicSoFar.length; i++) {
@ -94,7 +93,6 @@ public final class AStarPathFinder extends AbstractNodeCostSearch implements Hel
} }
} }
PathNode currentNode = openSet.removeLowest(); PathNode currentNode = openSet.removeLowest();
currentNode.isOpen = false;
mostRecentConsidered = currentNode; mostRecentConsidered = currentNode;
numNodes++; numNodes++;
if (goal.isInGoal(currentNode.x, currentNode.y, currentNode.z)) { if (goal.isInGoal(currentNode.x, currentNode.y, currentNode.z)) {
@ -156,10 +154,9 @@ public final class AStarPathFinder extends AbstractNodeCostSearch implements Hel
neighbor.previous = currentNode; neighbor.previous = currentNode;
neighbor.cost = tentativeCost; neighbor.cost = tentativeCost;
neighbor.combinedCost = tentativeCost + neighbor.estimatedCostToGoal; neighbor.combinedCost = tentativeCost + neighbor.estimatedCostToGoal;
if (neighbor.isOpen) { if (neighbor.isOpen()) {
openSet.update(neighbor); openSet.update(neighbor);
} else { } else {
neighbor.isOpen = true;
openSet.insert(neighbor);//dont double count, dont insert into open set if it's already there 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 < bestSoFar.length; i++) {

12
src/main/java/baritone/pathing/calc/PathNode.java
View File

@ -58,12 +58,6 @@ public final class PathNode {
*/ */
public PathNode previous; public PathNode previous;
/**
* 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.
*/
public boolean isOpen;
/** /**
* Where is this node in the array flattenization of the binary heap? Needed for decrease-key operations. * Where is this node in the array flattenization of the binary heap? Needed for decrease-key operations.
*/ */
@ -76,12 +70,16 @@ public final class PathNode {
if (Double.isNaN(estimatedCostToGoal)) { if (Double.isNaN(estimatedCostToGoal)) {
throw new IllegalStateException(goal + " calculated implausible heuristic"); throw new IllegalStateException(goal + " calculated implausible heuristic");
} }
this.isOpen = false; this.heapPosition = -1;
this.x = x; this.x = x;
this.y = y; this.y = y;
this.z = z; this.z = z;
} }
public boolean isOpen() {
return heapPosition != -1;
}
/** /**
* TODO: Possibly reimplement hashCode and equals. They are necessary for this class to function but they could be done better * TODO: Possibly reimplement hashCode and equals. They are necessary for this class to function but they could be done better
* *