You've already forked godot
mirror of
https://github.com/godotengine/godot.git
synced 2025-11-11 13:10:58 +00:00
215 lines
6.9 KiB
C++
215 lines
6.9 KiB
C++
/**************************************************************************/
|
|
/* test_astar.h */
|
|
/**************************************************************************/
|
|
/* This file is part of: */
|
|
/* GODOT ENGINE */
|
|
/* https://godotengine.org */
|
|
/**************************************************************************/
|
|
/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */
|
|
/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */
|
|
/* */
|
|
/* Permission is hereby granted, free of charge, to any person obtaining */
|
|
/* a copy of this software and associated documentation files (the */
|
|
/* "Software"), to deal in the Software without restriction, including */
|
|
/* without limitation the rights to use, copy, modify, merge, publish, */
|
|
/* distribute, sublicense, and/or sell copies of the Software, and to */
|
|
/* permit persons to whom the Software is furnished to do so, subject to */
|
|
/* the following conditions: */
|
|
/* */
|
|
/* The above copyright notice and this permission notice shall be */
|
|
/* included in all copies or substantial portions of the Software. */
|
|
/* */
|
|
/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
|
|
/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
|
|
/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */
|
|
/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
|
|
/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
|
|
/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
|
|
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
|
|
/**************************************************************************/
|
|
|
|
#pragma once
|
|
|
|
#include "core/math/a_star.h"
|
|
|
|
#include "tests/test_macros.h"
|
|
|
|
namespace TestAStar {
|
|
|
|
class ABCX : public AStar3D {
|
|
public:
|
|
enum {
|
|
A,
|
|
B,
|
|
C,
|
|
X,
|
|
};
|
|
|
|
ABCX() {
|
|
add_point(A, Vector3(0, 0, 0));
|
|
add_point(B, Vector3(1, 0, 0));
|
|
add_point(C, Vector3(0, 1, 0));
|
|
add_point(X, Vector3(0, 0, 1));
|
|
connect_points(A, B);
|
|
connect_points(A, C);
|
|
connect_points(B, C);
|
|
connect_points(X, A);
|
|
}
|
|
|
|
// Disable heuristic completely.
|
|
real_t _compute_cost(int64_t p_from, int64_t p_to) {
|
|
if (p_from == A && p_to == C) {
|
|
return 1000;
|
|
}
|
|
return 100;
|
|
}
|
|
};
|
|
|
|
TEST_CASE("[AStar3D] ABC path") {
|
|
ABCX abcx;
|
|
Vector<int64_t> path = abcx.get_id_path(ABCX::A, ABCX::C);
|
|
REQUIRE(path.size() == 3);
|
|
CHECK(path[0] == ABCX::A);
|
|
CHECK(path[1] == ABCX::B);
|
|
CHECK(path[2] == ABCX::C);
|
|
}
|
|
|
|
TEST_CASE("[AStar3D] ABCX path") {
|
|
ABCX abcx;
|
|
Vector<int64_t> path = abcx.get_id_path(ABCX::X, ABCX::C);
|
|
REQUIRE(path.size() == 4);
|
|
CHECK(path[0] == ABCX::X);
|
|
CHECK(path[1] == ABCX::A);
|
|
CHECK(path[2] == ABCX::B);
|
|
CHECK(path[3] == ABCX::C);
|
|
}
|
|
|
|
TEST_CASE("[AStar3D] Add/Remove") {
|
|
AStar3D a;
|
|
|
|
// Manual tests.
|
|
a.add_point(1, Vector3(0, 0, 0));
|
|
a.add_point(2, Vector3(0, 1, 0));
|
|
a.add_point(3, Vector3(1, 1, 0));
|
|
a.add_point(4, Vector3(2, 0, 0));
|
|
a.connect_points(1, 2, true);
|
|
a.connect_points(1, 3, true);
|
|
a.connect_points(1, 4, false);
|
|
|
|
CHECK(a.are_points_connected(2, 1));
|
|
CHECK(a.are_points_connected(4, 1));
|
|
CHECK(a.are_points_connected(2, 1, false));
|
|
CHECK_FALSE(a.are_points_connected(4, 1, false));
|
|
|
|
a.disconnect_points(1, 2, true);
|
|
CHECK(a.get_point_connections(1).size() == 2); // 3, 4
|
|
CHECK(a.get_point_connections(2).size() == 0);
|
|
|
|
a.disconnect_points(4, 1, false);
|
|
CHECK(a.get_point_connections(1).size() == 2); // 3, 4
|
|
CHECK(a.get_point_connections(4).size() == 0);
|
|
|
|
a.disconnect_points(4, 1, true);
|
|
CHECK(a.get_point_connections(1).size() == 1); // 3
|
|
CHECK(a.get_point_connections(4).size() == 0);
|
|
|
|
a.connect_points(2, 3, false);
|
|
CHECK(a.get_point_connections(2).size() == 1); // 3
|
|
CHECK(a.get_point_connections(3).size() == 1); // 1
|
|
|
|
a.connect_points(2, 3, true);
|
|
CHECK(a.get_point_connections(2).size() == 1); // 3
|
|
CHECK(a.get_point_connections(3).size() == 2); // 1, 2
|
|
|
|
a.disconnect_points(2, 3, false);
|
|
CHECK(a.get_point_connections(2).size() == 0);
|
|
CHECK(a.get_point_connections(3).size() == 2); // 1, 2
|
|
|
|
a.connect_points(4, 3, true);
|
|
CHECK(a.get_point_connections(3).size() == 3); // 1, 2, 4
|
|
CHECK(a.get_point_connections(4).size() == 1); // 3
|
|
|
|
a.disconnect_points(3, 4, false);
|
|
CHECK(a.get_point_connections(3).size() == 2); // 1, 2
|
|
CHECK(a.get_point_connections(4).size() == 1); // 3
|
|
|
|
a.remove_point(3);
|
|
CHECK(a.get_point_connections(1).size() == 0);
|
|
CHECK(a.get_point_connections(2).size() == 0);
|
|
CHECK(a.get_point_connections(4).size() == 0);
|
|
|
|
a.add_point(0, Vector3(0, -1, 0));
|
|
a.add_point(3, Vector3(2, 1, 0));
|
|
// 0: (0, -1)
|
|
// 1: (0, 0)
|
|
// 2: (0, 1)
|
|
// 3: (2, 1)
|
|
// 4: (2, 0)
|
|
|
|
// Tests for get_closest_position_in_segment.
|
|
a.connect_points(2, 3);
|
|
CHECK(a.get_closest_position_in_segment(Vector3(0.5, 0.5, 0)) == Vector3(0.5, 1, 0));
|
|
|
|
a.connect_points(3, 4);
|
|
a.connect_points(0, 3);
|
|
a.connect_points(1, 4);
|
|
a.disconnect_points(1, 4, false);
|
|
a.disconnect_points(4, 3, false);
|
|
a.disconnect_points(3, 4, false);
|
|
// Remaining edges: <2, 3>, <0, 3>, <1, 4> (directed).
|
|
CHECK(a.get_closest_position_in_segment(Vector3(2, 0.5, 0)) == Vector3(1.75, 0.75, 0));
|
|
CHECK(a.get_closest_position_in_segment(Vector3(-1, 0.2, 0)) == Vector3(0, 0, 0));
|
|
CHECK(a.get_closest_position_in_segment(Vector3(3, 2, 0)) == Vector3(2, 1, 0));
|
|
|
|
Math::seed(0);
|
|
|
|
// Random tests for connectivity checks
|
|
for (int i = 0; i < 20000; i++) {
|
|
int u = Math::rand() % 5;
|
|
int v = Math::rand() % 4;
|
|
if (u == v) {
|
|
v = 4;
|
|
}
|
|
if (Math::rand() % 2 == 1) {
|
|
// Add a (possibly existing) directed edge and confirm connectivity.
|
|
a.connect_points(u, v, false);
|
|
CHECK(a.are_points_connected(u, v, false));
|
|
} else {
|
|
// Remove a (possibly nonexistent) directed edge and confirm disconnectivity.
|
|
a.disconnect_points(u, v, false);
|
|
CHECK_FALSE(a.are_points_connected(u, v, false));
|
|
}
|
|
}
|
|
|
|
// Random tests for point removal.
|
|
for (int i = 0; i < 20000; i++) {
|
|
a.clear();
|
|
for (int j = 0; j < 5; j++) {
|
|
a.add_point(j, Vector3(0, 0, 0));
|
|
}
|
|
|
|
// Add or remove random edges.
|
|
for (int j = 0; j < 10; j++) {
|
|
int u = Math::rand() % 5;
|
|
int v = Math::rand() % 4;
|
|
if (u == v) {
|
|
v = 4;
|
|
}
|
|
if (Math::rand() % 2 == 1) {
|
|
a.connect_points(u, v, false);
|
|
} else {
|
|
a.disconnect_points(u, v, false);
|
|
}
|
|
}
|
|
|
|
// Remove point 0.
|
|
a.remove_point(0);
|
|
// White box: this will check all edges remaining in the segments set.
|
|
for (int j = 1; j < 5; j++) {
|
|
CHECK_FALSE(a.are_points_connected(0, j, true));
|
|
}
|
|
}
|
|
// It's been great work, cheers. \(^ ^)/
|
|
}
|
|
} // namespace TestAStar
|