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optimized

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This commit is contained in:
Leijurv 2018-08-05 12:03:36 -04:00
parent a858882f02
commit d74660f7e5
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GPG Key ID: 44A3EA646EADAC6A
1 changed files with 26 additions and 33 deletions
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59
src/main/java/baritone/bot/pathing/calc/openset/BinaryHeapOpenSet.java
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@ -36,10 +36,9 @@ public class BinaryHeapOpenSet implements IOpenSet {
array = Arrays.copyOf(array, array.length * 2);
}
size++;
int index = size;
value.heapPosition = index;
array[index] = value;
upHeap(index);
value.heapPosition = size;
array[size] = value;
upHeap(size);
}
public void update(PathNode node) {
@ -67,21 +66,28 @@ public class BinaryHeapOpenSet implements IOpenSet {
}
int index = 1;
int smallerChild = 2;
double cost = array[index].combinedCost;
PathNode val = array[index];
double cost = val.combinedCost;
do {
int right = smallerChild + 1;
double smallerChildCost = array[smallerChild].combinedCost;
PathNode smallerChildNode = array[smallerChild];
double smallerChildCost = smallerChildNode.combinedCost;
if (right <= size) {
double rightChildCost = array[right].combinedCost;
PathNode rightChildNode = array[right];
double rightChildCost = rightChildNode.combinedCost;
if (smallerChildCost > rightChildCost) {
smallerChild = right;
smallerChildCost = rightChildCost;
smallerChildNode = rightChildNode;
}
}
if (cost <= smallerChildCost) {
break;
}
swap(index, smallerChild);
array[index] = smallerChildNode;
array[smallerChild] = val;
val.heapPosition = smallerChild;
smallerChildNode.heapPosition = index;
index = smallerChild;
smallerChild = index << 1;
} while (smallerChild <= size);
@ -89,31 +95,18 @@ public class BinaryHeapOpenSet implements IOpenSet {
}
private void upHeap(int index) {
int parent = index >>> 1;
double cost = array[index].combinedCost;
while (index > 1 && array[parent].combinedCost > cost) {
swap(index, parent);
index = parent;
parent = index >>> 1;
int parentInd = index >>> 1;
PathNode val = array[index];
double cost = val.combinedCost;
PathNode parentNode = array[parentInd];
while (index > 1 && parentNode.combinedCost > cost) {
array[index] = parentNode;
array[parentInd] = val;
val.heapPosition = parentInd;
parentNode.heapPosition = index;
index = parentInd;
parentInd = index >>> 1;
parentNode = array[parentInd];
}
}
/**
* Swaps the elements at the specified indices.
*
* @param index1 The first index
* @param index2 The second index
*/
protected void swap(int index1, int index2) {
//sanity checks, disabled because of performance hit
//if (array[index1].heapPosition != index1) throw new IllegalStateException();
//if (array[index2].heapPosition != index2) throw new IllegalStateException();
PathNode tmp = array[index1];
array[index1] = array[index2];
array[index2] = tmp;
tmp.heapPosition = index2;
array[index1].heapPosition = index1;
}
}