fix the PathFindingSearch algorithm pathfinding multiple times the same block

common/buildcraft/core/utils/concurrency/PathFinding.java

@@ -34,6 +34,7 @@ public class PathFinding implements IIterableAlgorithm {
 	private IBlockFilter pathFound;
 	private IZone zone;
 	private double maxDistanceToEnd = 0;
+	private float maxTotalDistance = 0;
 
 	private HashMap<BlockIndex, Node> openList = new HashMap<BlockIndex, PathFinding.Node>();
 	private HashMap<BlockIndex, Node> closedList = new HashMap<BlockIndex, PathFinding.Node>();
@@ -65,6 +66,13 @@ public class PathFinding implements IIterableAlgorithm {
 		maxDistanceToEnd = iMaxDistanceToEnd;
 	}
 
+	public PathFinding(World iWorld, BlockIndex iStart, BlockIndex iEnd, double iMaxDistanceToEnd,
+			float iMaxTotalDistance) {
+		this(iWorld, iStart, iEnd, iMaxDistanceToEnd);
+
+		maxTotalDistance = iMaxTotalDistance;
+	}
+
 	@Override
 	public void iterate() {
 		iterate(PATH_ITERATIONS);
@@ -147,6 +155,12 @@ public class PathFinding implements IIterableAlgorithm {
 
 					nextNode.totalWeight = nextNode.movementCost + nextNode.destinationCost;
 
+					if (maxTotalDistance > 0 && nextNode.totalWeight > maxTotalDistance) {
+						if (!closedList.containsKey(nextNode.index)) {
+							closedList.put(nextNode.index, nextNode);
+						}
+						continue;
+					}
 					if (closedList.containsKey(nextNode.index)) {
 						continue;
 					} else if (openList.containsKey(nextNode.index)) {

common/buildcraft/core/utils/concurrency/PathFindingSearch.java

@@ -32,6 +32,7 @@ public class PathFindingSearch implements IIterableAlgorithm {
 	private List<PathFinding> pathFinders;
 	private IBlockFilter pathFound;
 	private IZone zone;
+	private float maxDistance;
 
 	private int searchRadius;
 	private int searchX;
@@ -39,11 +40,14 @@ public class PathFindingSearch implements IIterableAlgorithm {
 	private int searchZ;
 	private int searchHeight;
 
+
 	public PathFindingSearch(World iWorld, BlockIndex iStart, IBlockFilter iPathFound, float iMaxDistance, IZone iZone) {
 		world = iWorld;
 		start = iStart;
 		pathFound = iPathFound;
 
+		maxDistance = iMaxDistance;
+
 		pathFinders = new LinkedList<PathFinding>();
 		searchRadius = 1;
 		searchX = -1;
@@ -67,32 +71,51 @@ public class PathFindingSearch implements IIterableAlgorithm {
 			int currZ = start.z + searchZ;
 			if (0 <= currY && currY <= searchHeight) {
 				if (isTarget(currX, currY, currZ)) {
-					pathFinders.add(new PathFinding(world, start, new BlockIndex(currX, currY, currZ)));
+					pathFinders.add(new PathFinding(world, start, new BlockIndex(currX, currY, currZ), 0, maxDistance));
 				}
 			}
 
-			searchY += 1;
+			nextSearchStep();
-			if (searchY > searchRadius) {
+
-				searchY = -searchRadius;
-				searchZ += 1;
-				if (searchZ > searchRadius) {
-					searchZ = -searchRadius;
-					searchX += 1;
-					if (searchX > searchRadius) {
-						searchRadius += 1;
-						searchX = -searchRadius;
-						searchY = -searchRadius;
-						searchZ = -searchRadius;
-					}
-				}
-				searchHeight = getSearchHeight(start.x + searchX, start.z + searchZ);
-			}
 			if (pathFinders.size() >= 5) {
 				return;
 			}
 		}
 	}
 
+	private void nextSearchStep() {
+		// Step through each block in a hollow cube of size (searchRadius * 2 -1), if done
+		// add 1 to the radius and start over.
+
+		// Step to the next Y
+		if (Math.abs(searchX) == searchRadius || Math.abs(searchZ) == searchRadius) {
+			searchY += 1;
+		} else {
+			searchY += searchRadius * 2;
+		}
+
+		if (searchY > searchRadius) {
+			// Step to the next Z
+			searchY = -searchRadius;
+			searchZ += 1;
+
+			if (searchZ > searchRadius) {
+				// Step to the next X
+				searchZ = -searchRadius;
+				searchX += 1;
+
+				if (searchX > searchRadius) {
+					// Step to the next radius
+					searchRadius += 1;
+					searchX = -searchRadius;
+					searchY = -searchRadius;
+					searchZ = -searchRadius;
+				}
+			}
+			searchHeight = getSearchHeight(start.x + searchX, start.z + searchZ);
+		}
+	}
+
 	private boolean isTarget(int x, int y, int z) {
 		if (zone != null && !zone.contains(x, y, z)) {
 			return false;

common/buildcraft/robots/ai/AIRobotSearchBlock.java

@@ -39,7 +39,7 @@ public class AIRobotSearchBlock extends AIRobot {
 
 	@Override
 	public void start() {
-		blockScanner = new PathFindingSearch(robot.worldObj, new BlockIndex(robot), pathFound, 64, robot.getZoneToWork());
+		blockScanner = new PathFindingSearch(robot.worldObj, new BlockIndex(robot), pathFound, 96, robot.getZoneToWork());
 		blockScannerJob = new IterableAlgorithmRunner(blockScanner, 40000);
 		blockScannerJob.start();
 	}