D* cut off timeout

Author: Avanatiker

common/src/main/kotlin/com/lambda/module/modules/movement/Pathfinder.kt

@@ -206,12 +206,12 @@ object Pathfinder : Module(
     }
 
     private fun SafeContext.updateDStar() {
+        calculating = true
         runConcurrent {
-            calculating = true
             val long: Path
             val dStar = measureTimeMillis {
 //                        if (start dist dstar.start > 3) dstar.updateStart(start)
-                dStar.computeShortestPath()
+                dStar.computeShortestPath(pathing.cutoffTimeout)
                 val nodes = dStar.getPath().map { TraverseMove(it, 0.0, NodeType.OPEN, 0.0, 0.0) }
                 long = Path(ArrayDeque(nodes))
             }

common/src/main/kotlin/com/lambda/pathing/dstar/DStarLite.kt

@@ -112,8 +112,10 @@ class DStarLite(
      *   While the queue top is "less" than calculateKey(start)
      *   or g(start) < rhs(start), pop and process.
      */
-    fun computeShortestPath() {
-        while ((U.topKey() < calculateKey(start)) || (g(start) < rhs(start))) {
+    fun computeShortestPath(cutoffTimeout: Long = 500L) {
+        val startTime = System.currentTimeMillis()
+
+        while ((U.topKey() < calculateKey(start)) || (g(start) < rhs(start)) && (System.currentTimeMillis() - startTime) < cutoffTimeout) {
             val u = U.top() ?: break
             val oldKey = U.topKey()
             val newKey = calculateKey(u)
@@ -169,6 +171,9 @@ class DStarLite(
      */
     fun getPath(): List<FastVector> {
         val path = mutableListOf<FastVector>()
+
+        if (!graph.contains(start)) return path.toList()
+
         var current = start
         path.add(current)
         while (current != goal) {

common/src/main/kotlin/com/lambda/pathing/move/MoveFinder.kt

@@ -81,17 +81,18 @@ object MoveFinder {
                 checkingBlockPos.y < originBlockPos.y -> Box.enclosing(originBlockPos.up(), checkingBlockPos.up())
                 else -> Box.enclosing(originBlockPos.up(2), checkingBlockPos)
             }
-            traversable(checkingBlockPos) && world.isSpaceEmpty(enclose)
+            traversable(checkingBlockPos) && world.isSpaceEmpty(enclose.contract(0.01))
         } else {
             traversable(checkingBlockPos)
         }
+        if (!clear) return null
 
         val hCost = heuristic(checkingPos) /** nodeType.penalty*/
-        val cost = if (clear) offset.length() else Double.POSITIVE_INFINITY
+        val cost = offset.length()
         val currentFeetY = getFeetY(checkingBlockPos)
 
         return when {
-            cost == Double.POSITIVE_INFINITY -> BreakMove(checkingPos, hCost, nodeType, currentFeetY, cost)
+//            cost == Double.POSITIVE_INFINITY -> BreakMove(checkingPos, hCost, nodeType, currentFeetY, cost)
 //            (currentFeetY - origin.feetY) > player.stepHeight -> ParkourMove(checkingPos, hCost, nodeType, currentFeetY, cost)
             else -> TraverseMove(checkingPos, hCost, nodeType, currentFeetY, cost)
         }