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added some pathfinding tests, as well as some minor code improvements

This commit is contained in:
Ell 2021-11-23 21:42:18 +01:00
parent a6c06ad980
commit f37179486c
4 changed files with 80 additions and 6 deletions

View file

@ -36,14 +36,14 @@ namespace Demos {
// Create a cost function, which determines how expensive (or difficult) it should be to move from a given position
// to the next, adjacent position. In our case, the only restriction should be walls and out-of-bounds positions, which
// both have a cost of float.MaxValue, meaning they are completely unwalkable.
// both have a cost of AStar2.InfiniteCost, meaning they are completely unwalkable.
// If your game contains harder-to-move-on areas like, say, a muddy pit, you can return a higher cost value for those
// locations. If you want to scale your cost function differently, you can specify a different default cost in your
// pathfinder's constructor
float Cost(Point pos, Point nextPos) {
if (nextPos.X < 0 || nextPos.Y < 0 || nextPos.X >= 50 || nextPos.Y >= 50)
return float.MaxValue;
return this.world[nextPos.X, nextPos.Y] ? 1 : float.MaxValue;
return AStar2.InfiniteCost;
return this.world[nextPos.X, nextPos.Y] ? 1 : AStar2.InfiniteCost;
}
// Actually initialize the pathfinder with the cost function, as well as specify if moving diagonally between tiles should be

View file

@ -82,7 +82,7 @@ namespace MLEM.Pathfinding {
/// <param name="defaultCost">The default cost for each path point</param>
/// <param name="maxTries">The maximum amount of tries before path finding is aborted</param>
/// <param name="allowDiagonals">If diagonals should be looked at for path finding</param>
/// <returns>A stack of path points, where the top item is the first point to go to.</returns>
/// <returns>A stack of path points, where the top item is the first point to go to, or null if no path was found.</returns>
public Stack<T> FindPath(T start, T goal, GetCost costFunction = null, float? defaultCost = null, int? maxTries = null, bool? allowDiagonals = null) {
var stopwatch = Stopwatch.StartNew();
@ -118,7 +118,7 @@ namespace MLEM.Pathfinding {
foreach (var dir in dirsUsed) {
var neighborPos = this.AddPositions(current.Pos, dir);
var cost = getCost(current.Pos, neighborPos);
if (!float.IsInfinity(cost) && cost < float.MaxValue && !closed.ContainsKey(neighborPos)) {
if (!float.IsPositiveInfinity(cost) && cost < float.MaxValue && !closed.ContainsKey(neighborPos)) {
var neighbor = new PathPoint<T>(neighborPos, this.GetManhattanDistance(neighborPos, goal), current, cost, defCost);
// check if we already have a waypoint at this location with a worse path
if (open.TryGetValue(neighborPos, out var alreadyNeighbor)) {

View file

@ -43,7 +43,7 @@ namespace Tests {
}
[Test]
public void TestMatrixOps([Range(0.5F, 2, 1)] float scale, [Range(-0.5F, 0.5F, 1)] float rotationX, [Range(-0.5F, 0.5F, 1)] float rotationY, [Range(-0.5F, 0.5F, 0.5F)] float rotationZ) {
public void TestMatrixOps([Range(0.5F, 2, 0.5F)] float scale, [Range(-0.5F, 0.5F, 1)] float rotationX, [Range(-0.5F, 0.5F, 1)] float rotationY, [Range(-0.5F, 0.5F, 1)] float rotationZ) {
var rotation = Matrix.CreateRotationX(rotationX) * Matrix.CreateRotationY(rotationY) * Matrix.CreateRotationZ(rotationZ);
var matrix = rotation * Matrix.CreateScale(scale, scale, scale);
Assert.IsTrue(matrix.Scale().Equals(new Vector3(scale), 0.001F), $"{matrix.Scale()} does not equal {new Vector2(scale)}");

74
Tests/PathfindingTests.cs Normal file
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@ -0,0 +1,74 @@
using System.Collections.Generic;
using System.Linq;
using Microsoft.Xna.Framework;
using MLEM.Pathfinding;
using NUnit.Framework;
namespace Tests {
public class PathfindingTests {
[Test]
public void TestConsistency() {
var area = new[] {
"XXXX",
"X X",
"X X",
"XXXX"
};
var noDiagonals = FindPathInArea(new Point(1, 1), new Point(2, 2), area, false).ToArray();
Assert.AreEqual(noDiagonals.Length, 3);
Assert.AreEqual(noDiagonals[0], new Point(1, 1));
Assert.AreEqual(noDiagonals[2], new Point(2, 2));
var diagonals = FindPathInArea(new Point(1, 1), new Point(2, 2), area, true).ToArray();
Assert.AreEqual(diagonals.Length, 2);
Assert.AreEqual(diagonals[0], new Point(1, 1));
Assert.AreEqual(diagonals[1], new Point(2, 2));
}
[Test]
public void TestPathCost() {
var area = new[] {
"XXXXXXXX",
"X 5 X",
"X 5 X",
"XXXXXXXX"
};
var firstPath = FindPathInArea(new Point(1, 1), new Point(3, 1), area, false).ToArray();
var firstExpected = new[] {new Point(1, 1), new Point(1, 2), new Point(2, 2), new Point(3, 2), new Point(3, 1)};
Assert.AreEqual(firstPath, firstExpected);
var secondPath = FindPathInArea(new Point(1, 1), new Point(5, 2), area, false).ToArray();
var secondExpected = firstExpected.Concat(new[] {new Point(4, 1), new Point(5, 1), new Point(5, 2)}).ToArray();
Assert.AreEqual(secondPath, secondExpected);
}
[Test]
public void TestBlocked() {
var area = new[] {
"XXXX",
"X XX",
"XX X",
"X X",
"XXXX"
};
// non-diagonal pathfinding should get stuck in the corner
Assert.IsNull(FindPathInArea(new Point(1, 1), new Point(2, 3), area, false));
// diagonal pathfinding should be able to cross the diagonal gap
Assert.IsNotNull(FindPathInArea(new Point(1, 1), new Point(2, 3), area, true));
}
private static Stack<Point> FindPathInArea(Point start, Point end, IEnumerable<string> area, bool allowDiagonals) {
var costs = area.Select(s => s.Select(c => c switch {
' ' => 1,
'X' => AStar2.InfiniteCost,
_ => (float) char.GetNumericValue(c)
}).ToArray()).ToArray();
var pathFinder = new AStar2((p1, p2) => costs[p2.Y][p2.X], allowDiagonals);
return pathFinder.FindPath(start, end);
}
}
}