ascend cost

src/main/java/baritone/bot/pathing/calc/AStarPathFinder.java

@@ -77,7 +77,7 @@ public class AStarPathFinder extends AbstractNodeCostSearch {
                 }
                 //long costStart = System.nanoTime();
                 // TODO cache cost
-                double actionCost = movementToGetToNeighbor.calculateCost(ts);
+                double actionCost = movementToGetToNeighbor.getCost(ts);
                 //long costEnd = System.nanoTime();
                 //System.out.println(movementToGetToNeighbor.getClass() + "" + (costEnd - costStart));
                 if (actionCost >= ActionCosts.COST_INF) {

src/main/java/baritone/bot/pathing/movement/Movement.java

@@ -29,6 +29,8 @@ public abstract class Movement implements Helper, MovementHelper {
      */
     public final BlockPos[] positionsToPlace;
 
+    private Double cost;
+
     protected Movement(BlockPos src, BlockPos dest, BlockPos[] toBreak, BlockPos[] toPlace) {
         this.src = src;
         this.dest = dest;
@@ -43,7 +45,61 @@ public abstract class Movement implements Helper, MovementHelper {
 //                .setStatus(MovementStatus.WAITING);
     }
 
-    public abstract double calculateCost(ToolSet ts); // TODO pass in information like whether it's allowed to place throwaway blocks
+    public double getCost(ToolSet ts) {
+        if (cost == null) {
+            if (ts == null) {
+                ts = new ToolSet();
+            }
+            cost = calculateCost(ts);
+        }
+        return cost;
+    }
+
+    public double getTotalHardnessOfBlocksToBreak(ToolSet ts) {
+        /*
+        double sum = 0;
+        HashSet<BlockPos> toBreak = new HashSet();
+        for (BlockPos positionsToBreak1 : positionsToBreak) {
+            toBreak.add(positionsToBreak1);
+            if (this instanceof ActionFall) {//if we are digging straight down, assume we have already broken the sand above us
+                continue;
+            }
+            BlockPos tmp = positionsToBreak1.up();
+            while (canFall(tmp)) {
+                toBreak.add(tmp);
+                tmp = tmp.up();
+            }
+        }
+        for (BlockPos pos : toBreak) {
+            sum += getHardness(ts, Baritone.get(pos), pos);
+            if (sum >= COST_INF) {
+                return COST_INF;
+            }
+        }
+        if (!Baritone.allowBreakOrPlace || !Baritone.hasThrowaway) {
+            for (int i = 0; i < blocksToPlace.length; i++) {
+                if (!canWalkOn(positionsToPlace[i])) {
+                    return COST_INF;
+                }
+            }
+        }*/
+        //^ the above implementation properly deals with falling blocks, TODO integrate
+        double sum = 0;
+        for (BlockPos pos : positionsToBreak) {
+            sum += MovementHelper.getMiningDurationTicks(ts, BlockStateInterface.get(pos), pos);
+            if (sum >= COST_INF) {
+                return COST_INF;
+            }
+        }
+        return sum;
+    }
+
+    protected abstract double calculateCost(ToolSet ts); // TODO pass in information like whether it's allowed to place throwaway blocks
+
+    public double recalculateCost() {
+        cost = null;
+        return getCost(null);
+    }
 
     /**
      * Handles the execution of the latest Movement

src/main/java/baritone/bot/pathing/movement/MovementHelper.java

@@ -207,4 +207,8 @@ public interface MovementHelper extends ActionCosts, Helper {
         Minecraft.getMinecraft().player.inventory.currentItem = ts.getBestSlot(b);
     }
 
+    static boolean isAir(BlockPos pos) {
+        return BlockStateInterface.get(pos).getBlock().equals(Blocks.AIR);
+    }
+
 }

src/main/java/baritone/bot/pathing/movement/movements/MovementAscend.java

@@ -2,20 +2,60 @@ package baritone.bot.pathing.movement.movements;
 
 import baritone.bot.InputOverrideHandler;
 import baritone.bot.pathing.movement.Movement;
+import baritone.bot.pathing.movement.MovementHelper;
 import baritone.bot.pathing.movement.MovementState;
 import baritone.bot.pathing.movement.MovementState.MovementStatus;
+import baritone.bot.utils.BlockStateInterface;
 import baritone.bot.utils.ToolSet;
+import net.minecraft.block.BlockFalling;
 import net.minecraft.util.math.BlockPos;
 
 public class MovementAscend extends Movement {
+    BlockPos[] against = new BlockPos[3];
 
     public MovementAscend(BlockPos src, BlockPos dest) {
         super(src, dest, new BlockPos[]{dest, src.up(2), dest.up()}, new BlockPos[]{dest.down()});
+
+        BlockPos placementLocation = positionsToPlace[0];//end.down()
+        int i = 0;
+        if (!placementLocation.north().equals(src)) {
+            against[i] = placementLocation.north();
+            i++;
+        }
+        if (!placementLocation.south().equals(src)) {
+            against[i] = placementLocation.south();
+            i++;
+        }
+        if (!placementLocation.east().equals(src)) {
+            against[i] = placementLocation.east();
+            i++;
+        }
+        if (!placementLocation.west().equals(src)) {
+            against[i] = placementLocation.west();
+            i++;
+        }
+        //TODO: add ability to place against .down() as well as the cardinal directions
+        //useful for when you are starting a staircase without anything to place against
+        // Counterpoint to the above TODO ^ you should move then pillar instead of ascend
     }
 
     @Override
-    public double calculateCost(ToolSet ts) {
-        return 1;
+    protected double calculateCost(ToolSet ts) {
+        if (!MovementHelper.canWalkOn(positionsToPlace[0])) {
+            if (!MovementHelper.isAir(positionsToPlace[0]) && !MovementHelper.isWater(positionsToPlace[0])) {
+                return COST_INF;
+            }
+            for (BlockPos against1 : against) {
+                if (BlockStateInterface.get(against1).isBlockNormalCube()) {
+                    return JUMP_ONE_BLOCK_COST + WALK_ONE_BLOCK_COST + PLACE_ONE_BLOCK_COST + getTotalHardnessOfBlocksToBreak(ts);
+                }
+            }
+            return COST_INF;
+        }
+        if (BlockStateInterface.get(src.up(3)).getBlock() instanceof BlockFalling) {//it would fall on us and possibly suffocate us
+            return COST_INF;
+        }
+        return WALK_ONE_BLOCK_COST / 2 + Math.max(JUMP_ONE_BLOCK_COST, WALK_ONE_BLOCK_COST / 2) + getTotalHardnessOfBlocksToBreak(ts);//we walk half the block to get to the edge, then we walk the other half while simultaneously jumping (math.max because of how it's in parallel)
     }
 
     @Override

src/main/java/baritone/bot/pathing/path/PathExecutor.java

@@ -6,7 +6,6 @@ import baritone.bot.pathing.movement.ActionCosts;
 import baritone.bot.pathing.movement.Movement;
 import baritone.bot.pathing.movement.MovementState;
 import baritone.bot.utils.BlockStateInterface;
-import baritone.bot.utils.ToolSet;
 import net.minecraft.client.entity.EntityPlayerSP;
 import net.minecraft.init.Blocks;
 import net.minecraft.util.Tuple;
@@ -115,7 +114,7 @@ public class PathExecutor extends Behavior {
             }
         }*/
         Movement movement = path.movements().get(pathPosition);
-        if (movement.calculateCost(new ToolSet()) >= ActionCosts.COST_INF) {
+        if (movement.recalculateCost() >= ActionCosts.COST_INF) {
             System.out.println("Something has changed in the world and this movement has become impossible. Cancelling.");
             pathPosition = path.length() + 3;
             failed = true;
@@ -134,8 +133,8 @@ public class PathExecutor extends Behavior {
             ticksOnCurrent = 0;
         } else {
             ticksOnCurrent++;
-            if (ticksOnCurrent > movement.calculateCost(new ToolSet()) + 100) {
-                System.out.println("This movement has taken too long (" + ticksOnCurrent + " ticks, expected " + movement.calculateCost(new ToolSet()) + "). Cancelling.");
+            if (ticksOnCurrent > movement.recalculateCost() + 100) {
+                System.out.println("This movement has taken too long (" + ticksOnCurrent + " ticks, expected " + movement.getCost(null) + "). Cancelling.");
                 pathPosition = path.length() + 3;
                 failed = true;
                 return;