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(); }