initial attempt at pathfinding algorithm

common/buildcraft/core/utils/PathFinding.java

@@ -8,8 +8,9 @@
  */
 package buildcraft.core.utils;
 
+import java.util.ArrayList;
+import java.util.Collection;
 import java.util.HashMap;
-import java.util.LinkedList;
 
 import net.minecraft.world.IBlockAccess;
 
@@ -17,8 +18,8 @@ import buildcraft.core.BlockIndex;
 
 /**
  * This class implements a 3D path finding based on the A* algorithm, following
- * guidelines documented on
+ * guidelines documented on http://www.policyalmanac.org/games/aStarTutorial.htm
- * http://www.policyalmanac.org/games/aStarTutorial.htm.
+ * .
  */
 public class PathFinding {
 
@@ -29,31 +30,114 @@ public class PathFinding {
 	private HashMap<BlockIndex, Node> openList = new HashMap<BlockIndex, PathFinding.Node>();
 	private HashMap<BlockIndex, Node> closedList = new HashMap<BlockIndex, PathFinding.Node>();
 
+	private Node nextIteration;
+
+	private ArrayList<BlockIndex> result;
+
 	public PathFinding(IBlockAccess iWorld, BlockIndex iStart, BlockIndex iEnd) {
 		world = iWorld;
 		start = iStart;
 		end = iEnd;
+
+		Node startNode = new Node();
+		startNode.parent = null;
+		startNode.movementCost = 0;
+		startNode.destinationCost = distance(start, end);
+		startNode.totalWeight = startNode.movementCost + startNode.destinationCost;
+		closedList.put(start, startNode);
+		nextIteration = startNode;
 	}
 
 	public void iterate(int itNumber) {
+		if (nextIteration == null) {
+			return;
+		}
 
-	}
+		for (int i = 0; i < itNumber; ++i) {
-
+			if (nextIteration.index.equals(end)) {
-	public void iterate(BlockIndex from) {
+				while (nextIteration != null) {
-		for (int x = from.x - 1; x <= from.x + 1; ++x) {
+					result.add(nextIteration.index);
-			for (int y = from.y - 1; y <= from.y + 1; ++y) {
+					nextIteration = nextIteration.parent;
-				for (int z = from.z - 1; y <= from.z + 1; ++z) {
-					if (x == from.x && y == from.y && z == from.z) {
-						continue;
-					}
-
 				}
+			} else {
+				nextIteration = iterate(nextIteration);
 			}
 		}
 	}
 
-	public LinkedList<BlockIndex> getPath() {
+	public boolean isDone() {
-		return null;
+		return nextIteration == null;
+	}
+
+	public ArrayList<BlockIndex> getResult() {
+		if (result != null) {
+			return result;
+		} else {
+			return new ArrayList<BlockIndex>();
+		}
+	}
+
+	private Node iterate(Node from) {
+		openList.remove(from.index);
+		closedList.put(from.index, from);
+
+		ArrayList nodes = new ArrayList<Node>();
+
+		for (int x = from.index.x - 1; x <= from.index.x + 1; ++x) {
+			for (int y = from.index.y - 1; y <= from.index.y + 1; ++y) {
+				for (int z = from.index.z - 1; y <= from.index.z + 1; ++z) {
+					if (x == from.index.x && y == from.index.y && z == from.index.z) {
+						continue;
+					}
+
+					BlockIndex index = new BlockIndex(x, y, z);
+
+					Node nextNode = new Node();
+					nextNode.parent = from;
+					nextNode.movementCost = from.movementCost + distance(index, from.index);
+					nextNode.destinationCost = distance(index, end);
+					nextNode.totalWeight = nextNode.movementCost + nextNode.destinationCost;
+
+					if (closedList.containsKey(index)) {
+						continue;
+					} else if (openList.containsKey(index)) {
+						Node tentative = openList.get(index);
+
+						if (tentative.movementCost < nextNode.movementCost) {
+							nextNode = tentative;
+						} else {
+							openList.put(index, nextNode);
+						}
+					} else {
+						openList.put(index, nextNode);
+					}
+
+					nodes.add(nextNode);
+				}
+			}
+		}
+
+		Node bestMatch = findSmallerWeight(nodes);
+
+		if (bestMatch == null) {
+			bestMatch = findSmallerWeight(openList.values());
+		}
+
+		return bestMatch;
+	}
+
+	private Node findSmallerWeight(Collection<Node> collection) {
+		Node found = null;
+
+		for (Node n : collection) {
+			if (found == null) {
+				found = n;
+			} else if (found.totalWeight < n.totalWeight) {
+				found = n;
+			}
+		}
+
+		return found;
 	}
 
 	private static class Node {
@@ -61,6 +145,15 @@ public class PathFinding {
 		public double movementCost;
 		public double destinationCost;
 		public double totalWeight;
+		public BlockIndex index;
+	}
+
+	private static double distance(BlockIndex i1, BlockIndex i2) {
+		double dx = (double) i1.x - (double) i2.x;
+		double dy = (double) i1.y - (double) i2.y;
+		double dz = (double) i1.z - (double) i2.z;
+
+		return Math.sqrt(dx * dx + dy * dy + dz * dz);
 	}
 
 }