/**************************************************************************/
/* test_astar.cpp */
/**************************************************************************/
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/* GODOT ENGINE */
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/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */
/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */
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#include "tests/test_macros.h"
TEST_FORCE_LINK(test_astar)
#include "core/math/a_star.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));
}
}
}
TEST_CASE("[AStar3D] Path from disabled point is empty") {
AStar3D a;
Vector3 p1(0, 0, 0);
Vector3 p2(0, 1, 0);
a.add_point(1, p1);
a.add_point(2, p2);
a.connect_points(1, 2);
CHECK_EQ(a.get_id_path(1, 1), Vector<int64_t>{ 1 });
CHECK_EQ(a.get_id_path(1, 2), Vector<int64_t>{ 1, 2 });
CHECK_EQ(a.get_point_path(1, 1), Vector<Vector3>{ p1 });
CHECK_EQ(a.get_point_path(1, 2), Vector<Vector3>{ p1, p2 });
a.set_point_disabled(1, true);
CHECK(a.get_id_path(1, 1).is_empty());
CHECK(a.get_id_path(1, 2).is_empty());
CHECK(a.get_point_path(1, 1).is_empty());
CHECK(a.get_point_path(1, 2).is_empty());
}
} // namespace TestAStar