public void GetJumpPoints_IntegrationTest_ThereIsNoPathToTarget_ReturnsTargetUnreachable()
{
/* Illustration:
* .......
###....
#s#t...
###....*/
int unityGridXSize = 20;
int unityGridYSize = 20;
var startPosition = new Position(1, 1);
var targetPosition = new Position(3, 1);
IRasterLineCreator bresenham = new BresenhamLineCreator();
IOsnowaContextManager contextManager = CreateContextManager(unityGridXSize, unityGridYSize);
contextManager.Current.PathfindingData.UpdateWalkability(new Position(0, 0), false);
contextManager.Current.PathfindingData.UpdateWalkability(new Position(0, 1), false);
contextManager.Current.PathfindingData.UpdateWalkability(new Position(0, 2), false);
contextManager.Current.PathfindingData.UpdateWalkability(new Position(1, 0), false);
contextManager.Current.PathfindingData.UpdateWalkability(new Position(1, 2), false);
contextManager.Current.PathfindingData.UpdateWalkability(new Position(2, 0), false);
contextManager.Current.PathfindingData.UpdateWalkability(new Position(2, 1), false);
contextManager.Current.PathfindingData.UpdateWalkability(new Position(2, 2), false);
var pathfinder = new Pathfinder(contextManager, new NaturalLineCalculator(bresenham), bresenham);
PathfindingResponse jpsResult = pathfinder.FindJumpPointsWithJps(startPosition, targetPosition);
jpsResult.Result.Should().Be(PathfindingResult.FailureTargetUnreachable);
jpsResult.Positions.Should().BeNull();
PathfindingResponse aStarResult = pathfinder.FindJumpPointsWithSpatialAstar(startPosition, targetPosition);
aStarResult.Result.Should().Be(PathfindingResult.FailureTargetUnreachable);
aStarResult.Positions.Should().BeNull();
}
public void GetJumpPoints_TargetNotInBounds_ReturnsTargetUnreachable()
{
/* Illustration:
*
* ...... t
* s.....
*
*/
int unityGridXSize = 6;
int unityGridYSize = 2;
var startPosition = new Position(0, 0);
var targetPosition = new Position(7, 1);
IRasterLineCreator bresenham = new BresenhamLineCreator();
var pathfinder = new Pathfinder(CreateContextManager(unityGridXSize, unityGridYSize), new NaturalLineCalculator(bresenham), bresenham);
PathfindingResponse jpsResult = pathfinder.FindJumpPointsWithJps(startPosition, targetPosition);
jpsResult.Result.Should().Be(PathfindingResult.FailureTargetUnreachable);
jpsResult.Positions.Should().BeNull();
PathfindingResponse aStarResult = pathfinder.FindJumpPointsWithSpatialAstar(startPosition, targetPosition);
aStarResult.Result.Should().Be(PathfindingResult.FailureTargetUnreachable);
aStarResult.Positions.Should().BeNull();
}
public virtual NavigationData GetNavigationData(Position startPosition, Position targetPosition)
{
if (!_grid.IsWalkable(targetPosition))
{
return(null);
}
var navigationData = new NavigationData
{
Destination = targetPosition,
RemainingStepsInCurrentSegment = new Stack <Position>(),
LastStep = startPosition
};
if (startPosition == targetPosition)
{
return(navigationData);
}
IList <Position> line = _rasterLineCreator.GetRasterLinePermissive(startPosition.x, startPosition.y, targetPosition.x,
targetPosition.y, _grid.IsWalkable);
bool rasterLineReachesTarget = line.Last() == targetPosition;
if (rasterLineReachesTarget)
{
_debugPathPresenter.PresentStraight(line);
// performance: if GetRasterLinePermissive returned a stack, we wouldn't need to allocate memory for the list
navigationData.RemainingNodes = new[] { targetPosition }.ToList();
return(navigationData);
}
PathfindingResponse result = _pathfinder.FindJumpPointsWithJps(startPosition, targetPosition);
if (result.Result != PathfindingResult.Success)
{
return(null);
}
IEnumerable <Position> naturalJumpPoints = _naturalLineCreator.GetNaturalJumpPoints(result.Positions).Skip(1);
navigationData.RemainingNodes = naturalJumpPoints.ToList();
_debugPathPresenter.PresentNonStraight(navigationData.RemainingNodes);
return(navigationData);
}
public List <Position> GetJumpPoints(Position startPosition, Position targetPosition)
{
var stopwatch = Stopwatch.StartNew();
PathfindingResponse result = _pathfinder.FindJumpPointsWithJps(startPosition, targetPosition);
if (result.Result != PathfindingResult.Success)
{
return(null);
}
List <Position> jumpPointsToTarget = result.Positions.Skip(1).ToList();
string logEntry = String.Format("Path from {0} to {1}: {2} steps, {3} ms.",
startPosition, targetPosition, jumpPointsToTarget.Count, stopwatch.ElapsedMilliseconds);
//_uiFacade.AddLogEntry(logEntry);
return(jumpPointsToTarget);
}
