//tested method]_[expected input]_[expected behavior]
public void GetPath_BetweenTwoPoints_ShouldReturnCorrectPath(IntVector2 startPoint, IntVector2 endPoint, List <IntVector2> expectedPath)
{
// Arrange
IGrid grid = CreateZigzagGrid();
IPathFinderController pathFinderController = new PathFinderController(grid);
// Act
var actualPath = pathFinderController.GetPath(startPoint, endPoint, null);
// Assert
Assert.True(expectedPath.SequenceEqual(actualPath));
}
public static IEnumerator Init(float pStepSize, Vector2 pTopLeft, Vector2 pBotRight)
{
//Debug.Log($"Init");
playerSize = Game.Instance.PlayerManager.PLAYER_SIZE;
stepSize = pStepSize;
grid = new List <List <Node> >();
Vector2 botLeft = new Vector2(pTopLeft.x, pBotRight.y);
Vector2 topRight = new Vector2(pBotRight.x, pTopLeft.y);
positionShift = -botLeft;
yield return(new WaitForEndOfFrame()); //without this some MapObjects are ignored
const int max_steps_per_frame = 100;
int steps = 0;
for (float x = botLeft.x; x < topRight.x; x += pStepSize)
{
grid.Add(new List <Node>());
for (float y = botLeft.y; y < topRight.y; y += pStepSize)
{
Vector2 nodePos = new Vector2(x, y);
bool isWalkable = !PathFinderController.OverlapsWithMapObject(nodePos);
if (debug_draw_grid)
{
Utils.DebugDrawCross(nodePos, isWalkable ? Color.green : Color.red, 1);
}
SVector2 nodePosScaled = GetScaledVector(nodePos);
Node node = new Node(nodePosScaled, isWalkable);
grid.Last().Add(node);
//do only X steps per frame to avoid big lag
steps++;
if (steps % max_steps_per_frame == 0)
{
//Debug.Log($"Steps: {steps}");
yield return(new WaitForEndOfFrame());
}
}
}
//astar = new Astar(grid);
Debug_DrawGrid();
isInited = true;
OnInited?.Invoke();
//Debug.Log($"Astar init");
}
/// <summary>
/// Adds the pPoint to the pCollection if it does not overlap with
/// any map object and is not in pIgnorePoints.
/// Returns true if added.
/// </summary>
private static bool TryAddPointToCollection(Vector2 pCenter, List <Vector2> pIgnorePoints, List <Vector2> pCollection, Vector2 pPoint)
{
//note: IsReachable method does not work well when player is touching
//a map object (always unreachable)
//if(!Utils.ContainsPoint(pIgnorePoints, pPoint) && IsReachable(pCenter, pPoint))
if (!Utils.ContainsPoint(pIgnorePoints, pPoint) && !PathFinderController.OverlapsWithMapObject(pPoint))
{
pCollection.Add(pPoint);
return(true);
}
return(false);
}
public void GetPath_BetweenTwoPoints_ShouldReturnDestinationPointBusy(IntVector2 startPoint, IntVector2 endPoint)
{
// Arrange
bool destinationBusyCalled = false;
IGrid grid = CreateWallGrid();
IPathFinderController pathFinderController = new PathFinderController(grid);
pathFinderController.DestinationPointIsNotEmpty += v => destinationBusyCalled = true;
// Act
pathFinderController.GetPath(startPoint, endPoint, null);
// Assert
Assert.True(destinationBusyCalled);
}
public void GetPath_BetweenTwoPoints_ShouldReturnNoWayToPoint(IntVector2 startPoint, IntVector2 endPoint)
{
// Arrange
bool noWayCalled = false;
IGrid grid = CreateWallGrid();
IPathFinderController pathFinderController = new PathFinderController(grid);
pathFinderController.NoWayToDestinationPoint += v => noWayCalled = true;
// Act
pathFinderController.GetPath(startPoint, endPoint, null);
// Assert
Assert.True(noWayCalled);
}
private PathFinderController aPathFinder; // This stores a reference to the PathFinderController script
/**
* We start we an awake function to initalize all variables that need initialized
*/
void Awake()
{
path = new List <Vector3>();
goalPos = new Vector3(); //If this is not done goalPos remains null
goalFound = false;
onNode = true;
stop = false;
elapsedTime = 0;
reScanTime = 0;
GameObject myObject = GameObject.FindGameObjectWithTag("PathFinder"); //Empty object where we store all nodes
aPathFinder = myObject.GetComponent <PathFinderController>(); //a Reference to our pathfinding script
}
public void GetPath_BetweenTwoPointsRepeatedly_ShouldReturnCorrectPath()
{
// Arrange
int findPathCorrectXTimes = 0;
int XTimes = 5;
var expectedPath = PathFinderTestData.GetList0_0_5_5();
IGrid grid = CreateZigzagGrid();
IPathFinderController pathFinderController = new PathFinderController(grid);
// Act
for (int i = 0; i < XTimes; i++)
{
var actualPath = pathFinderController.GetPath(GetPoint(0, 0), GetPoint(5, 5), null);
if (expectedPath.SequenceEqual(actualPath))
{
findPathCorrectXTimes++;
}
}
// Assert
Assert.Equal(findPathCorrectXTimes, XTimes);
}
/// <summary>
/// Check if the last 4 nodes are in zig-zag shape.
/// If so, try to replace one node with new one making the pPath more straight.
/// X X - X
/// | |
/// X - X => X
/// | |
/// X X
/// </summary>
private static void TryStraightenThePath(List <Vector2> pPath, float pStepSize, bool pDebug)
{
if (pPath.Count < 4)
{
return;
}
if (!IsZigZag(pPath.GetRange(pPath.Count - 4, 4), pStepSize))
{
return;
}
Vector2 p1 = pPath[pPath.Count - 4];
Vector2 p2 = pPath[pPath.Count - 3];
Vector2 p3 = pPath[pPath.Count - 2];
Vector2 p4 = pPath[pPath.Count - 1];
Utils.DebugDrawPath(new List <Vector2>()
{
p1, p2, p3, p4
}, Color.red);
Vector2 newPoint = p1 + (p2 - p1) * 2;
if (!PathFinderController.OverlapsWithMapObject(newPoint))
{
pPath.RemoveAt(pPath.Count - 2);
pPath.Insert(pPath.Count - 1, newPoint);
return;
}
newPoint = p4 + (p3 - p4) * 2;
if (!PathFinderController.OverlapsWithMapObject(newPoint))
{
pPath.RemoveAt(pPath.Count - 3);
pPath.Insert(pPath.Count - 2, newPoint);
return;
}
}
private void Awake()
{
pathFinderController = GetComponent <PathFinderController>();
}
