private NodePath RunAstar(DefinitionNodeGrid definitionNodeGrid, Point2 gridStart, Point2 gridEnd, out bool succes)
{
var aStarAlgorithm = new AStarAlgorithm(definitionNodeGrid.NodeCount, new EuclideanDistance());
var start = definitionNodeGrid.NodeGrid.ToIndex(gridStart.X, gridStart.Y);
var end = definitionNodeGrid.NodeGrid.ToIndex(gridEnd.X, gridEnd.Y);
var pathfindingNetwork = new AstarNodeNetwork(definitionNodeGrid, new BrushfireClearanceGenerator(definitionNodeGrid, 5));
var pathRequest = PathRequest.Create(Substitute.For <IPathfinder <IPath> >(), start, end, PathfindaxCollisionCategory.Cat1);
return(aStarAlgorithm.FindPath(pathfindingNetwork, pathRequest, out succes));
}
public void FindPath_InitializedNodegrid_PathLengthIsNot0(DefinitionNodeGrid definitionNodeGrid, int x1, int y1, int x2, int y2)
{
var aStarAlgorithm = new AStarAlgorithm();
var start = definitionNodeGrid.NodeGrid[x1, y1];
var end = definitionNodeGrid.NodeGrid[x1, y1];
var pathfindingNetwork = new AstarNodeNetwork(definitionNodeGrid, new GridClearanceGenerator(definitionNodeGrid, 5));
var pathRequest = new PathRequest <IPath>(start, end);
var path = aStarAlgorithm.FindPath(pathfindingNetwork, pathRequest, out var _);
Assert.AreEqual(path.Path.Length > 0, true);
}
public void Setup()
{
var factory = new DefinitionNodeGridFactory();
var nodeGrid = factory.GeneratePreFilledArray(GenerateNodeGridConnections.All, 320, 200);
_definitionNodeGrid = new DefinitionNodeGrid(nodeGrid, new Vector2(1, 1));
_astarNodeNetwork = new AstarNodeNetwork(_definitionNodeGrid, new BrushfireClearanceGenerator(_definitionNodeGrid, 1));
_algorithm = new AStarAlgorithm(_definitionNodeGrid.NodeCount, new ManhattanDistance());
_longPathRequest = PathRequest.Create(Substitute.For <IPathfinder <IPath> >(), _definitionNodeGrid.NodeGrid.ToIndex(0, 0), _definitionNodeGrid.NodeGrid.ToIndex(319, 199));
_shortPathRequest = PathRequest.Create(Substitute.For <IPathfinder <IPath> >(), _definitionNodeGrid.NodeGrid.ToIndex(0, 0), _definitionNodeGrid.NodeGrid.ToIndex(20, 20));
_veryShortPathRequest = PathRequest.Create(Substitute.For <IPathfinder <IPath> >(), _definitionNodeGrid.NodeGrid.ToIndex(0, 0), _definitionNodeGrid.NodeGrid.ToIndex(1, 0));
_zeroLengthPathRequest = PathRequest.Create(Substitute.For <IPathfinder <IPath> >(), _definitionNodeGrid.NodeGrid.ToIndex(0, 0), _definitionNodeGrid.NodeGrid.ToIndex(0, 0));
}
public static IPathfinder <IDefinitionNodeNetwork, IPathfindNodeNetwork <AstarNode>, WaypointPath> CreateAstarPathfinder(this IPathfindaxManager pathfindaxManager, IDefinitionNodeNetwork nodeNetwork, IDistanceHeuristic _heuristic, int maxClearance = -1, int amountOfThreads = 1)
{
var pathfinder = pathfindaxManager.CreatePathfinder(nodeNetwork, new AStarAlgorithm(nodeNetwork.NodeCount, _heuristic), (definitionNodeNetwork, algorithm, cache) =>
{
var nodeGenerators = new List <IPathfindNodeGenerator <AstarNode> >();
if (definitionNodeNetwork is IDefinitionNodeGrid sourceNodeGrid)
{
nodeGenerators.Add(new BrushfireClearanceGenerator(sourceNodeGrid, maxClearance));
}
var astarNodeNetwork = new AstarNodeNetwork(definitionNodeNetwork, nodeGenerators.ToArray());
return(CreateRequestProcesser(astarNodeNetwork, algorithm, cache));
}, null, amountOfThreads);
pathfinder.Start();
return(pathfinder);
}
public void CalculateGridNodeClearances_FilledNodeGrid_Passes()
{
const int width = 4;
const int height = 4;
var sourceNodeGrid = new DefinitionNodeGrid(GenerateNodeGridConnections.All, width, height, new Vector2(1, 1));
var astarNodeNetwork = new AstarNodeNetwork(sourceNodeGrid, new GridClearanceGenerator(sourceNodeGrid, 5));
var sourceNodeNetworkCat1 = new Array2D <AstarNode>(astarNodeNetwork.GetCollisionLayerNetwork(PathfindaxCollisionCategory.Cat1), width, height);
Assert.AreEqual(4, sourceNodeNetworkCat1[0, 0].Clearance);
Assert.AreEqual(3, sourceNodeNetworkCat1[1, 0].Clearance);
Assert.AreEqual(2, sourceNodeNetworkCat1[2, 0].Clearance);
Assert.AreEqual(1, sourceNodeNetworkCat1[3, 0].Clearance);
Assert.AreEqual(3, sourceNodeNetworkCat1[0, 1].Clearance);
Assert.AreEqual(3, sourceNodeNetworkCat1[1, 1].Clearance);
Assert.AreEqual(2, sourceNodeNetworkCat1[2, 1].Clearance);
Assert.AreEqual(1, sourceNodeNetworkCat1[3, 1].Clearance);
}