public void Pathfind_CantFind()
{
AStarWithMinBinary aStar = new AStarWithMinBinary(7, 7);
Vector2 startPosition = new Vector2(0, 0);
Vector2 endPosition = new Vector2(6, 6);
aStar.SetObstacle(new Vector2(0, 1));
aStar.SetObstacle(new Vector2(1, 1));
aStar.SetObstacle(new Vector2(2, 1));
aStar.SetObstacle(new Vector2(4, 1));
aStar.SetObstacle(new Vector2(4, 2));
aStar.SetObstacle(new Vector2(4, 3));
aStar.SetObstacle(new Vector2(5, 3));
aStar.SetObstacle(new Vector2(6, 3));
aStar.SetObstacle(new Vector2(1, 4));
aStar.SetObstacle(new Vector2(2, 4));
aStar.SetObstacle(new Vector2(3, 4));
aStar.SetObstacle(new Vector2(2, 5));
aStar.SetObstacle(new Vector2(0, 6));
aStar.SetObstacle(new Vector2(1, 6));
aStar.FindPath(startPosition, endPosition);
/*
* N N 0 0 0 0 E
*
* ↓ ← N 0 0 0 0
*
* ↓ N N N 0 0 0
*
* → → → ↓ N N N
*
* → → → ↓ N ↓ ←
*
* N N N ↓ N ↓ ←
*
* S ← ← ← ← ← ←
*/
AStarWithMinBinaryHeapNode[,] matrix = aStar.matrix;
AStarWithMinBinaryHeapNode[,] nextNodes = new AStarWithMinBinaryHeapNode[7, 7]
{
{ null, matrix[0, 0], matrix[1, 0], matrix[2, 0], matrix[3, 0], matrix[4, 0], matrix[5, 0] },
{ null, null, null, matrix[3, 0], null, matrix[5, 0], matrix[5, 1] },
{ matrix[1, 2], matrix[2, 2], matrix[3, 2], matrix[3, 1], null, matrix[5, 1], matrix[5, 2] },
{ matrix[1, 3], matrix[2, 3], matrix[3, 3], matrix[3, 2], null, null, null },
{ matrix[0, 3], null, null, null, null, null, null },
{ matrix[0, 4], matrix[0, 5], null, null, null, null, null },
{ null, null, null, null, null, null, null }
};
for (int x = 0; x < 7; x++)
{
for (int y = 0; y < 7; y++)
{
Assert.AreEqual(nextNodes[y, x], aStar.matrix[x, y].nextNode); //横y竖x，何等反人类，而且竟然严格符合了数组下标顺序：前面是第一层，后面是第二层
}
}
}
public void Pathfind_StartAndEndOutOfMatrix()
{
AStarWithMinBinary aStar = new AStarWithMinBinary(7, 7);
Vector2 startPosition = new Vector2(0, 7);
Vector2 endPosition = new Vector2(-1, 6);
aStar.FindPath(startPosition, endPosition);
foreach (AStarWithMinBinaryHeapNode node in aStar.matrix)
{
Assert.AreEqual(null, node.nextNode);
}
}
public void Pathfind_EndIsObstacle()
{
AStarWithMinBinary aStar = new AStarWithMinBinary(7, 7);
Vector2 startPosition = new Vector2(0, 0);
Vector2 endPosition = new Vector2(6, 6);
aStar.SetObstacle(new Vector2(6, 6));
aStar.FindPath(startPosition, endPosition);
foreach (AStarWithMinBinaryHeapNode node in aStar.matrix)
{
Assert.AreEqual(null, node.nextNode);
}
}
public void Pathfind_CanFind_NoObstacle()
{
AStarWithMinBinary aStar = new AStarWithMinBinary(7, 7);
Vector2 startPosition = new Vector2(0, 0);
Vector2 endPosition = new Vector2(6, 6);
aStar.FindPath(startPosition, endPosition);
/*
* ↓ ← ← ← ← ← E
*
* ↓ ← ↑ ↑ ↑ ↑ 0
*
* ↓ ← 0 0 0 0 0
*
* ↓ ← 0 0 0 0 0
*
* ↓ ← 0 0 0 0 0
*
* ↓ ← 0 0 0 0 0
*
* S ← 0 0 0 0 0
*/
AStarWithMinBinaryHeapNode[,] matrix = aStar.matrix;
AStarWithMinBinaryHeapNode[,] nextNodes = new AStarWithMinBinaryHeapNode[7, 7]
{
{ null, matrix[0, 0], null, null, null, null, null },
{ matrix[0, 0], matrix[0, 1], null, null, null, null, null },
{ matrix[0, 1], matrix[0, 2], null, null, null, null, null },
{ matrix[0, 2], matrix[0, 3], null, null, null, null, null },
{ matrix[0, 3], matrix[0, 4], null, null, null, null, null },
{ matrix[0, 4], matrix[0, 5], matrix[2, 6], matrix[3, 6], matrix[4, 6], matrix[5, 6], null },
{ matrix[0, 5], matrix[0, 6], matrix[1, 6], matrix[2, 6], matrix[3, 6], matrix[4, 6], matrix[5, 6] }
};
for (int x = 0; x < 7; x++)
{
for (int y = 0; y < 7; y++)
{
Assert.AreEqual(nextNodes[y, x], aStar.matrix[x, y].nextNode); //二维数组赋值是按照横竖x的方式进行的，也就是说上面的矩阵写错了，要转置，这就是一个用 [y, x] 一个用 [x, y] 的原因
}
}
}
void DoFindPath()
{
_aStar.FindPath(_startPosition, _endPosition);
DisplayPathfinding();
}