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path finding

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Leijurv 2018-08-03 09:55:17 -04:00
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commit b6d40785a1
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8 changed files with 740 additions and 4 deletions
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180
src/main/java/baritone/bot/pathing/calc/AStarPathFinder.java Normal file
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@ -0,0 +1,180 @@
package baritone.bot.pathing.calc;
import baritone.Baritone;
import baritone.bot.pathing.goals.Goal;
import baritone.bot.pathing.movement.ActionCosts;
import baritone.bot.pathing.movement.Movement;
import baritone.bot.utils.ToolSet;
import net.minecraft.client.Minecraft;
import net.minecraft.util.math.BlockPos;
import net.minecraft.world.chunk.EmptyChunk;
import java.util.Random;
import java.util.logging.Level;
import java.util.logging.Logger;
/**
* The actual A* pathfinding
*
* @author leijurv
*/
public class AStarPathFinder extends AbstractNodeCostSearch {
public AStarPathFinder(BlockPos start, Goal goal) {
super(start, goal);
}
@Override
protected IPath calculate0() {
startNode = getNodeAtPosition(start);
startNode.cost = 0;
IOpenSet openSet = new LinkedListOpenSet();
startNode.isOpen = true;
openSet.insert(startNode);
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];
for (int i = 0; i < bestHeuristicSoFar.length; i++) {
bestHeuristicSoFar[i] = Double.MAX_VALUE;
}
currentlyRunning = this;
long startTime = System.currentTimeMillis();
long timeoutTime = startTime + (Baritone.slowPath ? 40000 : 4000);
long lastPrintout = 0;
int numNodes = 0;
ToolSet ts = new ToolSet();
int numEmptyChunk = 0;
while (!openSet.isEmpty() && numEmptyChunk < 50 && System.currentTimeMillis() < timeoutTime) {
if (Baritone.slowPath) {
try {
Thread.sleep(100);
} catch (InterruptedException ex) {
Logger.getLogger(AStarPathFinder.class.getName()).log(Level.SEVERE, null, ex);
}
}
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
System.out.println("searching... at " + currentNodePos + ", considered " + numNodes + " nodes so far");
lastPrintout = System.currentTimeMillis();
}
if (goal.isInGoal(currentNodePos)) {
currentlyRunning = null;
return new Path(startNode, currentNode, goal);
}
//long constructStart = System.nanoTime();
Movement[] possibleMovements = getConnectedPositions(currentNodePos);//movement that we could take that start at myPos, in random order
shuffle(possibleMovements);
//long constructEnd = System.nanoTime();
//System.out.println(constructEnd - constructStart);
for (Movement movementToGetToNeighbor : possibleMovements) {
//long costStart = System.nanoTime();
// TODO cache cost
double actionCost = movementToGetToNeighbor.calculateCost(ts);
//long costEnd = System.nanoTime();
//System.out.println(movementToGetToNeighbor.getClass() + "" + (costEnd - costStart));
if (actionCost >= ActionCosts.COST_INF) {
continue;
}
if (Minecraft.getMinecraft().world.getChunk(movementToGetToNeighbor.getDest()) instanceof EmptyChunk) {
numEmptyChunk++;
continue;
}
PathNode neighbor = getNodeAtPosition(movementToGetToNeighbor.getDest());
double tentativeCost = currentNode.cost + actionCost;
if (tentativeCost < neighbor.cost) {
neighbor.previous = currentNode;
neighbor.previousMovement = movementToGetToNeighbor;
neighbor.cost = tentativeCost;
if (!neighbor.isOpen) {
openSet.insert(neighbor);//dont double count, dont insert into open set if it's already there
neighbor.isOpen = true;
}
for (int i = 0; i < bestSoFar.length; i++) {
double heuristic = neighbor.estimatedCostToGoal + neighbor.cost / COEFFICIENTS[i];
if (heuristic < bestHeuristicSoFar[i]) {
bestHeuristicSoFar[i] = heuristic;
bestSoFar[i] = neighbor;
}
}
}
}
}
double bestDist = 0;
for (int i = 0; i < bestSoFar.length; i++) {
if (bestSoFar[i] == null) {
continue;
}
double dist = getDistFromStartSq(bestSoFar[i]);
if (dist > bestDist) {
bestDist = dist;
}
if (dist > MIN_DIST_PATH * MIN_DIST_PATH) { // square the comparison since distFromStartSq is squared
System.out.println("A* cost coefficient " + COEFFICIENTS[i]);
if (COEFFICIENTS[i] >= 3) {
System.out.println("Warning: cost coefficient is greater than three! Probably means that");
System.out.println("the path I found is pretty terrible (like sneak-bridging for dozens of blocks)");
System.out.println("But I'm going to do it anyway, because yolo");
}
System.out.println("Path goes for " + dist + " blocks");
currentlyRunning = null;
return new Path(startNode, bestSoFar[i], goal);
}
}
System.out.println("Even with a cost coefficient of " + COEFFICIENTS[COEFFICIENTS.length - 1] + ", I couldn't get more than " + bestDist + " blocks =(");
System.out.println("No path found =(");
currentlyRunning = null;
return null;
}
private static Movement[] getConnectedPositions(BlockPos pos) {
int x = pos.getX();
int y = pos.getY();
int z = pos.getZ();
/*Action[] actions = new Action[26];
actions[0] = new ActionPillar(pos);
actions[1] = new ActionBridge(pos, new BlockPos(x + 1, y, z));
actions[2] = new ActionBridge(pos, new BlockPos(x - 1, y, z));
actions[3] = new ActionBridge(pos, new BlockPos(x, y, z + 1));
actions[4] = new ActionBridge(pos, new BlockPos(x, y, z - 1));
actions[5] = new ActionClimb(pos, new BlockPos(x + 1, y + 1, z));
actions[6] = new ActionClimb(pos, new BlockPos(x - 1, y + 1, z));
actions[7] = new ActionClimb(pos, new BlockPos(x, y + 1, z + 1));
actions[8] = new ActionClimb(pos, new BlockPos(x, y + 1, z - 1));
actions[9] = new ActionDescend(pos, new BlockPos(x, y - 1, z - 1));
actions[10] = new ActionDescend(pos, new BlockPos(x, y - 1, z + 1));
actions[11] = new ActionDescend(pos, new BlockPos(x - 1, y - 1, z));
actions[12] = new ActionDescend(pos, new BlockPos(x + 1, y - 1, z));
actions[13] = new ActionFall(pos);
actions[14] = new ActionDescendTwo(pos, new BlockPos(x, y - 2, z - 1));
actions[15] = new ActionDescendTwo(pos, new BlockPos(x, y - 2, z + 1));
actions[16] = new ActionDescendTwo(pos, new BlockPos(x - 1, y - 2, z));
actions[17] = new ActionDescendTwo(pos, new BlockPos(x + 1, y - 2, z));
actions[18] = new ActionDescendThree(pos, new BlockPos(x, y - 3, z - 1));
actions[19] = new ActionDescendThree(pos, new BlockPos(x, y - 3, z + 1));
actions[20] = new ActionDescendThree(pos, new BlockPos(x - 1, y - 3, z));
actions[21] = new ActionDescendThree(pos, new BlockPos(x + 1, y - 3, z));
actions[22] = new ActionWalkDiagonal(pos, EnumFacing.NORTH, EnumFacing.WEST);
actions[23] = new ActionWalkDiagonal(pos, EnumFacing.NORTH, EnumFacing.EAST);
actions[24] = new ActionWalkDiagonal(pos, EnumFacing.SOUTH, EnumFacing.WEST);
actions[25] = new ActionWalkDiagonal(pos, EnumFacing.SOUTH, EnumFacing.EAST);
return actions;*/
return null;
}
private final Random random = new Random();
private <T> void shuffle(T[] list) {
int len = list.length;
for (int i = 0; i < len; i++) {
int j = random.nextInt(len);
T t = list[j];
list[j] = list[i];
list[i] = t;
}
}
}

10
src/main/java/baritone/bot/pathing/calc/AbstractNodeCostSearch.java
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@ -6,11 +6,16 @@ import net.minecraft.util.math.BlockPos;
import java.util.HashMap;
import java.util.Map;
/**
* Any pathfinding algorithm that keeps track of nodes recursively by their cost (e.g. A*, dijkstra)
*
* @author leijurv
*/
public abstract class AbstractNodeCostSearch implements IPathFinder {
/**
* The currently running search task
*
* <p>
* TODO: This shouldn't be necessary, investigate old purpose of this field and determine necessity.
*/
public static AbstractNodeCostSearch currentlyRunning = null;
@ -63,10 +68,9 @@ public abstract class AbstractNodeCostSearch implements IPathFinder {
* node. Intended for use in distance comparison, rather than anything that
* considers the real distance value, hence the "sq".
*
* @see AbstractNodeCostSearch#getDistFromStart(PathNode)
*
* @param n A node
* @return The distance, squared
* @see AbstractNodeCostSearch#getDistFromStart(PathNode)
*/
protected double getDistFromStartSq(PathNode n) {
int xDiff = n.pos.getX() - start.getX();

465
src/main/java/baritone/bot/pathing/calc/FibonacciHeap.java Normal file
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@ -0,0 +1,465 @@
//Source: https://github.com/nlfiedler/graphmaker/blob/master/core/src/com/bluemarsh/graphmaker/core/util/FibonacciHeap.java
package baritone.bot.pathing.calc;
/*
* The contents of this file are subject to the terms of the Common Development
* and Distribution License (the License). You may not use this file except in
* compliance with the License.
*
* You can obtain a copy of the License at http://www.netbeans.org/cddl.html
* or http://www.netbeans.org/cddl.txt.
*
* When distributing Covered Code, include this CDDL Header Notice in each file
* and include the License file at http://www.netbeans.org/cddl.txt.
* If applicable, add the following below the CDDL Header, with the fields
* enclosed by brackets [] replaced by your own identifying information:
* "Portions Copyrighted [year] [name of copyright owner]"
*
* The Original Software is GraphMaker. The Initial Developer of the Original
* Software is Nathan L. Fiedler. Portions created by Nathan L. Fiedler
* are Copyright (C) 1999-2008. All Rights Reserved.
*
* Contributor(s): Nathan L. Fiedler.
*
* $Id$
*/
//package com.bluemarsh.graphmaker.core.util;
/**
* This class implements a Fibonacci heap data structure. Much of the
* code in this class is based on the algorithms in Chapter 21 of the
* "Introduction to Algorithms" by Cormen, Leiserson, Rivest, and Stein.
* The amortized running time of most of these methods is O(1), making
* it a very fast data structure. Several have an actual running time
* of O(1). removeMin() and delete() have O(log n) amortized running
* times because they do the heap consolidation.
*
* <p><strong>Note that this implementation is not synchronized.</strong>
* If multiple threads access a set concurrently, and at least one of the
* threads modifies the set, it <em>must</em> be synchronized externally.
* This is typically accomplished by synchronizing on some object that
* naturally encapsulates the set.</p>
*
* @author Nathan Fiedler
*/
public class FibonacciHeap {
/**
* Points to the minimum node in the heap.
*/
private Node min;
/**
* Number of nodes in the heap. If the type is ever widened,
* (e.g. changed to long) then recalcuate the maximum degree
* value used in the consolidate() method.
*/
private int n;
/**
* Joins two Fibonacci heaps into a new one. No heap consolidation is
* performed at this time. The two root lists are simply joined together.
*
* <p><em>Running time: O(1)</em></p>
*
* @param H1 first heap
* @param H2 second heap
* @return new heap containing H1 and H2
*/
public static FibonacciHeap union(FibonacciHeap H1, FibonacciHeap H2) {
FibonacciHeap H = new FibonacciHeap();
if (H1 != null && H2 != null) {
H.min = H1.min;
if (H.min != null) {
if (H2.min != null) {
H.min.right.left = H2.min.left;
H2.min.left.right = H.min.right;
H.min.right = H2.min;
H2.min.left = H.min;
if (H2.min.key < H1.min.key) {
H.min = H2.min;
}
}
} else {
H.min = H2.min;
}
H.n = H1.n + H2.n;
}
return H;
}
/**
* Removes all elements from this heap.
*
* <p><em>Running time: O(1)</em></p>
*/
public void clear() {
min = null;
n = 0;
}
/**
* Consolidates the trees in the heap by joining trees of equal
* degree until there are no more trees of equal degree in the
* root list.
*
* <p><em>Running time: O(log n) amortized</em></p>
*/
private void consolidate() {
// The magic 45 comes from log base phi of Integer.MAX_VALUE,
// which is the most elements we will ever hold, and log base
// phi represents the largest degree of any root list node.
Node[] A = new Node[45];
// For each root list node look for others of the same degree.
Node start = min;
Node w = min;
do {
Node x = w;
// Because x might be moved, save its sibling now.
Node nextW = w.right;
int d = x.degree;
while (A[d] != null) {
// Make one of the nodes a child of the other.
Node y = A[d];
if (x.key > y.key) {
Node temp = y;
y = x;
x = temp;
}
if (y == start) {
// Because removeMin() arbitrarily assigned the min
// reference, we have to ensure we do not miss the
// end of the root node list.
start = start.right;
}
if (y == nextW) {
// If we wrapped around we need to check for this case.
nextW = nextW.right;
}
// Node y disappears from root list.
y.link(x);
// We've handled this degree, go to next one.
A[d] = null;
d++;
}
// Save this node for later when we might encounter another
// of the same degree.
A[d] = x;
// Move forward through list.
w = nextW;
} while (w != start);
// The node considered to be min may have been changed above.
min = start;
// Find the minimum key again.
for (Node a : A) {
if (a != null && a.key < min.key) {
min = a;
}
}
}
/**
* Decreases the key value for a heap node, given the new value
* to take on. The structure of the heap may be changed, but will
* not be consolidated.
*
* <p><em>Running time: O(1) amortized</em></p>
*
* @param x node to decrease the key of
* @param k new key value for node x
* @throws IllegalArgumentException if k is larger than x.key value.
*/
public void decreaseKey(Node x, double k) {
decreaseKey(x, k, false);
}
/**
* Decrease the key value of a node, or simply bubble it up to the
* top of the heap in preparation for a delete operation.
*
* @param x node to decrease the key of.
* @param k new key value for node x.
* @param delete true if deleting node (in which case, k is ignored).
*/
private void decreaseKey(Node x, double k, boolean delete) {
if (!delete && k > x.key) {
throw new IllegalArgumentException("cannot increase key value");
}
x.key = k;
Node y = x.parent;
if (y != null && (delete || k < y.key)) {
y.cut(x, min);
y.cascadingCut(min);
}
if (delete || k < min.key) {
min = x;
}
}
/**
* Deletes a node from the heap given the reference to the node.
* The trees in the heap will be consolidated, if necessary.
*
* <p><em>Running time: O(log n) amortized</em></p>
*
* @param x node to remove from heap.
*/
public void delete(Node x) {
// make x as small as possible
decreaseKey(x, 0, true);
// remove the smallest, which decreases n also
removeMin();
}
/**
* Tests if the Fibonacci heap is empty or not. Returns true if
* the heap is empty, false otherwise.
*
* <p><em>Running time: O(1)</em></p>
*
* @return true if the heap is empty, false otherwise.
*/
public boolean isEmpty() {
return min == null;
}
/**
* Inserts a new data element into the heap. No heap consolidation
* is performed at this time, the new node is simply inserted into
* the root list of this heap.
*
* <p><em>Running time: O(1)</em></p>
*
* @param x data object to insert into heap.
* @param key key value associated with data object.
* @return newly created heap node.
*/
public Node insert(Object x, double key) {
Node node = new Node(x, key);
// concatenate node into min list
if (min != null) {
node.right = min;
node.left = min.left;
min.left = node;
node.left.right = node;
if (key < min.key) {
min = node;
}
} else {
min = node;
}
n++;
return node;
}
/**
* Returns the smallest element in the heap. This smallest element
* is the one with the minimum key value.
*
* <p><em>Running time: O(1)</em></p>
*
* @return heap node with the smallest key, or null if empty.
*/
public Node min() {
return min;
}
/**
* Removes the smallest element from the heap. This will cause
* the trees in the heap to be consolidated, if necessary.
*
* <p><em>Running time: O(log n) amortized</em></p>
*
* @return data object with the smallest key.
*/
public Object removeMin() {
Node z = min;
if (z == null) {
return null;
}
if (z.child != null) {
z.child.parent = null;
// for each child of z do...
for (Node x = z.child.right; x != z.child; x = x.right) {
// set parent[x] to null
x.parent = null;
}
// merge the children into root list
Node minleft = min.left;
Node zchildleft = z.child.left;
min.left = zchildleft;
zchildleft.right = min;
z.child.left = minleft;
minleft.right = z.child;
}
// remove z from root list of heap
z.left.right = z.right;
z.right.left = z.left;
if (z == z.right) {
min = null;
} else {
min = z.right;
consolidate();
}
// decrement size of heap
n--;
return z.data;
}
/**
* Returns the size of the heap which is measured in the
* number of elements contained in the heap.
*
* <p><em>Running time: O(1)</em></p>
*
* @return number of elements in the heap.
*/
public int size() {
return n;
}
/**
* Implements a node of the Fibonacci heap. It holds the information
* necessary for maintaining the structure of the heap. It acts as
* an opaque handle for the data element, and serves as the key to
* retrieving the data from the heap.
*
* @author Nathan Fiedler
*/
public static class Node {
/**
* Data object for this node, holds the key value.
*/
private Object data;
/**
* Key value for this node.
*/
private double key;
/**
* Parent node.
*/
private Node parent;
/**
* First child node.
*/
private Node child;
/**
* Right sibling node.
*/
private Node right;
/**
* Left sibling node.
*/
private Node left;
/**
* Number of children of this node.
*/
private int degree;
/**
* True if this node has had a child removed since this node was
* added to its parent.
*/
private boolean mark;
/**
* Two-arg constructor which sets the data and key fields to the
* passed arguments. It also initializes the right and left pointers,
* making this a circular doubly-linked list.
*
* @param data data object to associate with this node
* @param key key value for this data object
*/
public Node(Object data, double key) {
this.data = data;
this.key = key;
right = this;
left = this;
}
/**
* Performs a cascading cut operation. Cuts this from its parent
* and then does the same for its parent, and so on up the tree.
*
* <p><em>Running time: O(log n)</em></p>
*
* @param min the minimum heap node, to which nodes will be added.
*/
public void cascadingCut(Node min) {
Node z = parent;
// if there's a parent...
if (z != null) {
if (mark) {
// it's marked, cut it from parent
z.cut(this, min);
// cut its parent as well
z.cascadingCut(min);
} else {
// if y is unmarked, set it marked
mark = true;
}
}
}
/**
* The reverse of the link operation: removes x from the child
* list of this node.
*
* <p><em>Running time: O(1)</em></p>
*
* @param x child to be removed from this node's child list
* @param min the minimum heap node, to which x is added.
*/
public void cut(Node x, Node min) {
// remove x from childlist and decrement degree
x.left.right = x.right;
x.right.left = x.left;
degree--;
// reset child if necessary
if (degree == 0) {
child = null;
} else if (child == x) {
child = x.right;
}
// add x to root list of heap
x.right = min;
x.left = min.left;
min.left = x;
x.left.right = x;
// set parent[x] to nil
x.parent = null;
// set mark[x] to false
x.mark = false;
}
/**
* Make this node a child of the given parent node. All linkages
* are updated, the degree of the parent is incremented, and
* mark is set to false.
*
* @param parent the new parent node.
*/
public void link(Node parent) {
// Note: putting this code here in Node makes it 7x faster
// because it doesn't have to use generated accessor methods,
// which add a lot of time when called millions of times.
// remove this from its circular list
left.right = right;
right.left = left;
// make this a child of x
this.parent = parent;
if (parent.child == null) {
parent.child = this;
right = this;
left = this;
} else {
left = parent.child;
right = parent.child.right;
parent.child.right = this;
right.left = this;
}
// increase degree[x]
parent.degree++;
// set mark false
mark = false;
}
}
}

19
src/main/java/baritone/bot/pathing/calc/FibonacciHeapOpenSet.java Normal file
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@ -0,0 +1,19 @@
package baritone.bot.pathing.calc;
/**
* Wrapper adapter between FibonacciHeap and OpenSet
*
* @author leijurv
*/
public class FibonacciHeapOpenSet extends FibonacciHeap implements IOpenSet {
//isEmpty is already defined in FibonacciHeap
@Override
public void insert(PathNode node) {
super.insert(node, node.estimatedCostToGoal + node.cost);
}
@Override
public PathNode removeLowest() {
return (PathNode) super.removeMin();
}
}

14
src/main/java/baritone/bot/pathing/calc/IOpenSet.java Normal file
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@ -0,0 +1,14 @@
package baritone.bot.pathing.calc;
/**
* An open set for A* or similar graph search algorithm
*
* @author leijurv
*/
public interface IOpenSet {
boolean isEmpty();
void insert(PathNode node);
PathNode removeLowest();
}

5
src/main/java/baritone/bot/pathing/calc/IPathFinder.java
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@ -3,6 +3,11 @@ package baritone.bot.pathing.calc;
import baritone.bot.pathing.goals.Goal;
import net.minecraft.util.math.BlockPos;
/**
* Generic path finder interface
*
* @author leijurv
*/
public interface IPathFinder {
BlockPos getStart();

49
src/main/java/baritone/bot/pathing/calc/LinkedListOpenSet.java Normal file
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@ -0,0 +1,49 @@
package baritone.bot.pathing.calc;
/**
*
*/
public class LinkedListOpenSet implements IOpenSet {
private PathNode first = null;
public boolean isEmpty() {
return first == null;
}
public void insert(PathNode node) {
node.nextOpen = first;
first = node;
}
public PathNode removeLowest() {
if (first == null) {
return null;
}
PathNode current = first.nextOpen;
if (current == null) {
PathNode n = first;
first = null;
return n;
}
PathNode previous = first;
double bestValue = first.estimatedCostToGoal + first.cost;
PathNode bestNode = first;
PathNode beforeBest = null;
while (current != null) {
double comp = current.estimatedCostToGoal + current.cost;
if (comp < bestValue) {
bestValue = comp;
bestNode = current;
beforeBest = previous;
}
previous = current;
current = current.nextOpen;
}
if (beforeBest == null) {
first = first.nextOpen;
return bestNode;
}
beforeBest.nextOpen = bestNode.nextOpen;
return bestNode;
}
}

2
src/main/java/baritone/bot/pathing/calc/PathNode.java
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@ -1,7 +1,7 @@
package baritone.bot.pathing.calc;
import baritone.bot.pathing.movement.Movement;
import baritone.bot.pathing.goals.Goal;
import baritone.bot.pathing.movement.Movement;
import net.minecraft.util.math.BlockPos;
import java.util.Objects;