path

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

@@ -8,6 +8,9 @@ import net.minecraft.util.math.BlockPos;
 import java.util.Collection;
 import java.util.List;
 
+/**
+ * @author leijurv
+ */
 public interface IPath {
     /**
      * Ordered list of movements to carry out.

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

@@ -0,0 +1,70 @@
+package baritone.bot.pathing.calc;
+
+import baritone.bot.pathing.goals.Goal;
+import baritone.bot.pathing.movements.Movement;
+import net.minecraft.util.math.BlockPos;
+
+import java.util.ArrayList;
+import java.util.Collection;
+import java.util.LinkedList;
+import java.util.List;
+
+/**
+ * A node based implementation of IPath
+ *
+ * @author leijurv
+ */
+class Path implements IPath {
+    public final BlockPos start;
+    public final BlockPos end;
+    public final Goal goal;
+    /**
+     * The blocks on the path. Guaranteed that path.get(0) equals start and
+     * path.get(path.size()-1) equals end
+     */
+    public final ArrayList<BlockPos> path;
+    final ArrayList<Movement> movements;
+
+    Path(PathNode start, PathNode end, Goal goal) {
+        this.start = start.pos;
+        this.end = end.pos;
+        this.goal = goal;
+        this.path = new ArrayList<>();
+        this.movements = new ArrayList<>();
+        assemblePath(start, end);
+    }
+
+    private final void assemblePath(PathNode start, PathNode end) {
+        PathNode current = end;
+        LinkedList<BlockPos> tempPath = new LinkedList<>();//repeatedly inserting to the beginning of an arraylist is O(n^2)
+        LinkedList<Movement> tempMovements = new LinkedList<>();//instead, do it into a linked list, then convert at the end
+        while (!current.equals(start)) {
+            tempPath.addFirst(current.pos);
+            tempMovements.addFirst(current.previousMovement);
+            current = current.previous;
+        }
+        tempPath.addFirst(start.pos);
+        path.addAll(tempPath);
+        movements.addAll(tempMovements);
+    }
+
+    @Override
+    public List<Movement> movements() {
+        return movements;
+    }
+
+    @Override
+    public List<BlockPos> positions() {
+        return path;
+    }
+
+    @Override
+    public Collection<BlockPos> getBlocksToMine() {
+        return null;
+    }
+
+    @Override
+    public Collection<BlockPos> getBlocksToPlace() {
+        return null;
+    }
+}

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

@@ -0,0 +1,69 @@
+package baritone.bot.pathing.calc;
+
+import baritone.bot.pathing.goals.Goal;
+import baritone.bot.pathing.movements.Movement;
+import net.minecraft.util.math.BlockPos;
+
+import java.util.Objects;
+
+/**
+ * A node in the path, containing the cost and steps to get to it.
+ *
+ * @author leijurv
+ */
+class PathNode {
+    final BlockPos pos;
+    final Goal goal;
+    final double estimatedCostToGoal;
+
+    // These three fields are mutable and are changed by PathFinder
+    double cost;
+    PathNode previous;
+    Movement previousMovement;
+
+    /**
+     * Is this a member of the open set in A*? (only used during pathfinding)
+     */
+    boolean isOpen;
+    /**
+     * In the linked list of open nodes, which one is next? (only used during pathfinding)
+     */
+    PathNode nextOpen;
+
+    public PathNode(BlockPos pos, Goal goal) {
+        this.pos = pos;
+        this.previous = null;
+        this.cost = Short.MAX_VALUE;
+        this.goal = goal;
+        this.estimatedCostToGoal = goal.heuristic(pos);
+        this.previousMovement = null;
+        this.isOpen = false;
+    }
+
+
+    // TODO possibly reimplement hashCode and equals. They are necessary for this class to function but they could be done better
+    @Override
+    public int hashCode() {//this is some OG code right here
+        int hash = 3241;
+        hash = 3457689 * hash + this.pos.getX();
+        hash = 8734625 * hash + this.pos.getY();
+        hash = 2873465 * hash + this.pos.getZ();
+        hash = 3241543 * hash + Objects.hashCode(this.goal);
+        return hash;
+    }
+
+    @Override
+    public boolean equals(Object obj) {//autogenerated by netbeans. that's why it looks disgusting.
+        if (obj == null) {
+            return false;
+        }
+        if (getClass() != obj.getClass()) {
+            return false;
+        }
+        final PathNode other = (PathNode) obj;
+        if (!Objects.equals(this.pos, other.pos)) {
+            return false;
+        }
+        return Objects.equals(this.goal, other.goal);
+    }
+}