private void SetupWorld(int width, int height)
{
_world = WorldBuilder.CreateEmptyWorld(width, height);
_costCalc = new BooleanMapCostCalculator(_world);
_heuristicCalc = new TargetedHeuristic(new Coordinate(0, 0));
_explorer = new PathfinderEngine(_world.Width, _world.Height, _costCalc, _heuristicCalc);
}
public void EnsureHorizontalAndVerticalMovementCostFunctionsCorrectly()
{
var world = new World <bool>(2, 1, true);
var costCalculator = new BooleanMapCostCalculator(world);
costCalculator.HorizontalAndVerticalMovementCost = 10;
Assert.AreEqual(10, costCalculator.CalculateCost(0, 0, 1, 0, 1, 0));
Assert.AreEqual(10, costCalculator.CalculateCost(0, 0, -1, 0, -1, 0));
Assert.AreEqual(10, costCalculator.CalculateCost(0, 0, 0, 1, 0, 1));
Assert.AreEqual(10, costCalculator.CalculateCost(0, 0, 0, -1, 0, -1));
}
public void EnsureDiagonalMovementCostFunctionsCorrectly()
{
var world = new World <bool>(2, 2, true);
var costCalculator = new BooleanMapCostCalculator(world);
costCalculator.DiagonalMovementCost = 14;
Assert.AreEqual(14, costCalculator.CalculateCost(0, 0, 1, 1, 1, 1));
Assert.AreEqual(14, costCalculator.CalculateCost(0, 0, 1, -1, 1, -1));
Assert.AreEqual(14, costCalculator.CalculateCost(0, 0, -1, 1, -1, 1));
Assert.AreEqual(14, costCalculator.CalculateCost(0, 0, -1, -1, -1, -1));
}
public void CheckICanIdentifyOpenAndClosedCells()
{
var world = new World <bool>(1, 1, true);
var costCalculator = new BooleanMapCostCalculator(world);
// Open State
world[0, 0] = true;
var open = costCalculator.OpenCheck(0, 0);
Assert.AreEqual(open, true);
// Closed State
world[0, 0] = false;
open = costCalculator.OpenCheck(0, 0);
Assert.AreEqual(open, false);
}
private void ExploreFrom(Coordinate from)
{
// Set Pins
_mapHost.ShowBluePin(from);
// Setup
var costCalculator = new BooleanMapCostCalculator(_world)
{
BlockPartialDiagonals = BlockPartialDiagonals,
HorizontalAndVerticalMovementCost = EdgeMovementCost,
DiagonalMovementCost = DiagonalMovementCost
};
var heuristic = new EmptyHeuristicCalculator();
var pathfinder = new PathfinderEngine(_world.Width, _world.Height, costCalculator, heuristic, _movementMode);
PerformExplore(pathfinder, from);
}
public void Execute(object parameter)
{
// Set Pins
_mapHost.ShowBluePin(_from);
_mapHost.ShowGreenPin(_to);
// Setup
var costCalculator = new BooleanMapCostCalculator(_world)
{
BlockPartialDiagonals = _blockPartialDiagonals
};
var heuristic = new TargetedHeuristic(_to);
var pathfinder = new PathfinderEngine(_world.Width, _world.Height, costCalculator, heuristic, _moveMode);
_mapHost.ClearMap();
pathfinder.ExploreFrom(_from);
// TODO: Load Pathfinder into host
// TODO: Reset WorkQueue
}
