public void CompletePathTest()
{
var graph = new Algorithms.AStar <TestGraphElement> .LazyGraph();
Func <TestGraphElement, TestGraphElement, float> costFunc = (TestGraphElement lhs, TestGraphElement rhs) => { return(TestGraphElement.DistanceBetween(lhs, rhs)); };
IDictionary <Vector2, TestGraphElement> graphElements = new Dictionary <Vector2, TestGraphElement> ();
Func <Vector2, TestGraphElement> getGraphElementFunc = (Vector2 position) => {
if (!graphElements.ContainsKey(position))
{
graphElements[position] = TestGraphElement.At(position);
}
Assert.IsTrue(graphElements[position] != null && graphElements[position].position == position);
return(graphElements[position]);
};
graph.getElementsConnectedToElementFunc = (TestGraphElement testPos) => {
IList <TestGraphElement> connectedElems = new List <TestGraphElement> ();
connectedElems.Add(getGraphElementFunc(OffsetPos(testPos.position, Vector2.right)));
connectedElems.Add(getGraphElementFunc(OffsetPos(testPos.position, -Vector2.right)));
connectedElems.Add(getGraphElementFunc(OffsetPos(testPos.position, Vector2.up)));
connectedElems.Add(getGraphElementFunc(OffsetPos(testPos.position, -Vector2.up)));
return(connectedElems);
};
graph.getActualCostForMovementBetweenElementsFunc = costFunc;
graph.getLowestCostEstimateForMovementBetweenElementsFunc = costFunc;
Assert.IsTrue(graph.GetIsValid());
var aStarSearch = new Algorithms.AStar <TestGraphElement>(graph);
// Calculate a route...
Vector2 startPos = Vector2.zero;
Vector2 endPos = new Vector2(5, 0);
int xOffset = Mathf.RoundToInt(Mathf.Abs(startPos.x - endPos.x));
int yOffset = Mathf.RoundToInt(Mathf.Abs(startPos.y - endPos.y));
int shortestRouteNumElements = xOffset + yOffset + 1;
IList <TestGraphElement> route = aStarSearch.Calculate(getGraphElementFunc(startPos), getGraphElementFunc(endPos));
Assert.IsNotNull(route);
Assert.AreEqual(route.Count, shortestRouteNumElements);
Assert.AreEqual(route.First().position, startPos);
Assert.AreEqual(route.Last().position, endPos);
for (int currTestIndex = 1; currTestIndex < route.Count; ++currTestIndex)
{
TestGraphElement prevElem = route[currTestIndex - 1];
TestGraphElement currElem = route[currTestIndex];
Assert.IsTrue(TestGraphElement.AreAdjacent(prevElem, currElem));
}
}
public void TestStructGraphElement()
{
var graph = new Algorithms.AStar <Vector2> .LazyGraph();
Func <Vector2, Vector2, float> costFunc = (Vector2 lhs, Vector2 rhs) => {
return((rhs - lhs).magnitude);
};
graph.getActualCostForMovementBetweenElementsFunc = costFunc;
graph.getLowestCostEstimateForMovementBetweenElementsFunc = costFunc;
IList <Vector2> connectedOffsets = (new List <Vector2> {
Vector2.right, Vector2.left, Vector2.up, Vector2.down
}).AsReadOnly();
// Connect a grid of all integer positions in both axes up to 100.0f away from the origin.
graph.getElementsConnectedToElementFunc = (Vector2 startPos) => {
IList <Vector2> connectedPositions = new List <Vector2> ();
foreach (Vector2 currConnectedOffset in connectedOffsets)
{
Vector2 currConnectedPos = OffsetPos(startPos, currConnectedOffset);
if (currConnectedPos.magnitude < 10.0f)
{
connectedPositions.Add(currConnectedPos);
}
}
return(connectedPositions);
};
Assert.IsTrue(graph.GetIsValid());
var aStarSearch = new Algorithms.AStar <Vector2>(graph);
IList <Vector2> resultPath = aStarSearch.Calculate(new Vector2(-5.0f, 0.0f), new Vector2(5.0f, 0.0f));
// The expected path is a straight path along the y-axis from x = -5.0f to x = 5.0f.
IList <Vector2> expectedResultPath = new List <Vector2> ();
for (int i = -5; i <= 5; ++i)
{
expectedResultPath.Add(new Vector2((float)i, 0.0f));
}
Assert.IsTrue(resultPath.SequenceEqual(expectedResultPath));
}
public void GraphReuseTest()
{
var graph = new Algorithms.AStar <Vector2> .LazyGraph();
graph.getElementsConnectedToElementFunc = (Vector2 testPos) => {
return(new List <Vector2> {
testPos + Vector2.right,
testPos + Vector2.up,
testPos + Vector2.left,
testPos + Vector2.down
});
};
Func <Vector2, Vector2, float> costFunc = (Vector2 lhs, Vector2 rhs) => { return((rhs - lhs).magnitude); };
graph.getActualCostForMovementBetweenElementsFunc = costFunc;
graph.getLowestCostEstimateForMovementBetweenElementsFunc = costFunc;
Assert.IsTrue(graph.GetIsValid());
var aStarSearch = new Algorithms.AStar <Vector2>(graph);
// Try a search...
{
IList <Vector2> result = aStarSearch.Calculate(new Vector2(0, 0), new Vector2(2, 0));
Assert.IsTrue(Enumerable.SequenceEqual(result, new List <Vector2> {
new Vector2(0, 0), new Vector2(1, 0), new Vector2(2, 0)
}));
}
// Try a search with a different target...
{
IList <Vector2> result = aStarSearch.Calculate(new Vector2(-2, 0), new Vector2(2, 0));
Assert.IsTrue(Enumerable.SequenceEqual(result, new List <Vector2> {
new Vector2(-2, 0), new Vector2(-1, 0), new Vector2(0, 0), new Vector2(1, 0), new Vector2(2, 0)
}));
}
// Try a search with a different start point...
{
IList <Vector2> result = aStarSearch.Calculate(new Vector2(-2, 0), new Vector2(3, 0));
Assert.IsTrue(Enumerable.SequenceEqual(result, new List <Vector2> {
new Vector2(-2, 0), new Vector2(-1, 0), new Vector2(0, 0), new Vector2(1, 0), new Vector2(2, 0), new Vector2(3, 0)
}));
}
}
public void PartialPathTest()
{
var graph = new Algorithms.AStar <TestGraphElement> .LazyGraph();
Func <TestGraphElement, TestGraphElement, float> costFunc = (TestGraphElement lhs, TestGraphElement rhs) => {
return(TestGraphElement.DistanceBetween(lhs, rhs));
};
IDictionary <Vector2, TestGraphElement> graphElements = new Dictionary <Vector2, TestGraphElement> ();
Func <Vector2, TestGraphElement> getGraphElementFunc = (Vector2 position) => {
if (!graphElements.ContainsKey(position))
{
graphElements[position] = TestGraphElement.At(position);
}
Assert.IsTrue(graphElements[position] != null && graphElements[position].position == position);
return(graphElements[position]);
};
graph.getElementsConnectedToElementFunc = (TestGraphElement testPos) => {
// Add a gap in the graph between x=2 and x=3 so we cannot do a complete path.
float graphBreakXPos = 2.0f;
IList <TestGraphElement> connectedElems = new List <TestGraphElement> ();
if (testPos.position.x != graphBreakXPos)
{
connectedElems.Add(getGraphElementFunc(OffsetPos(testPos.position, Vector2.right)));
}
if (testPos.position.x != graphBreakXPos + 1.0f)
{
connectedElems.Add(getGraphElementFunc(OffsetPos(testPos.position, -Vector2.right)));
}
connectedElems.Add(getGraphElementFunc(OffsetPos(testPos.position, Vector2.up)));
connectedElems.Add(getGraphElementFunc(OffsetPos(testPos.position, -Vector2.up)));
return(connectedElems);
};
graph.getActualCostForMovementBetweenElementsFunc = costFunc;
graph.getLowestCostEstimateForMovementBetweenElementsFunc = costFunc;
Assert.IsTrue(graph.GetIsValid());
var aStarSearch = new Algorithms.AStar <TestGraphElement>(graph);
// Calculate a route...
Vector2 startPos = Vector2.zero;
Vector2 endPos = new Vector2(5, 0);
// Check that we can't find a complete route between the two points (as there is a break in the graph).
// Note: As we have an non-finite graph and there is no complete path, we MUST give a worst acceptable route cost as otherwise the
// calculation will never terminate (as it can never be sure there isn't a viable solution in the parts of the graph it hasn't reached yet).
IList <TestGraphElement> completeRoute = aStarSearch.Calculate(getGraphElementFunc(startPos), getGraphElementFunc(endPos), false, 100.0f);
Assert.IsNull(completeRoute);
IList <TestGraphElement> partialRoute = aStarSearch.Calculate(getGraphElementFunc(startPos), getGraphElementFunc(endPos), true, 100.0f);
Assert.IsNotNull(partialRoute);
// Check the best partial route we found is what we would expect...
Assert.AreEqual(partialRoute.Count, 3);
Assert.AreEqual(partialRoute[0].position, startPos);
Assert.AreEqual(partialRoute[1].position, new Vector2(1, 0));
Assert.AreEqual(partialRoute[2].position, new Vector2(2, 0));
}
