public void ShouldFindStraightLine()
{
var surface = SurfaceFactory.CreateSurface(10, 10);
var astar = new AStarPathFinder(surface);
Path path = astar.FindPath(new Point(5, 5), new Point(7, 7));
Assert.AreEqual(3, path.Count);
}
public void TestAStarLinearPath()
{
var world = new TrueCraft.World.World("default", new FlatlandGenerator());
var astar = new AStarPathFinder();
var watch = new Stopwatch();
watch.Start();
var path = astar.FindPath(world, new BoundingBox(),
new Coordinates3D(0, 4, 0), new Coordinates3D(5, 4, 0));
watch.Stop();
DrawGrid(path, world);
Console.WriteLine(watch.ElapsedMilliseconds + "ms");
var expected = new[]
{
new Coordinates3D(0, 4, 0),
new Coordinates3D(1, 4, 0),
new Coordinates3D(2, 4, 0),
new Coordinates3D(3, 4, 0),
new Coordinates3D(4, 4, 0),
new Coordinates3D(5, 4, 0)
};
for (var i = 0; i < path.Waypoints.Count; i++)
{
Assert.AreEqual(expected[i], path.Waypoints[i]);
}
}
public void FindPath()
{
Stopwatch watch = Stopwatch.StartNew();
bool[,] boolMap = SearchHelpers.GetSearchBoolMap(theGameStatus.TheMap);
Point startLocation = new Point(100, 100);
Point endLocation = new Point(300, 300);
SearchParameters tempSearchParameters = new SearchParameters(startLocation, endLocation,
boolMap);
AStarPathFinder tempAStarPathFinder = new AStarPathFinder(tempSearchParameters);
List <Point> tempPath = tempAStarPathFinder.FindPath();
if (tempPath.Count == 0)
{
TheGameCore.RaiseMessage("No path found: " + startLocation + "-" + endLocation);
}
else
{
tempPath.Insert(0, startLocation);
Vector3[] tempVect3 = SearchHelpers.PathToVector3Array(theGameStatus.TheMap, tempPath, 0.1f);
RenderLayerBase.TheSceneManager.TheRenderLayerGame.AddPath(tempVect3);
}
watch.Stop();
TheGameCore.RaiseMessage("FindPath() took " + watch.ElapsedMilliseconds + "ms,: " + startLocation + "-" + endLocation);
}
public void ShouldAvoidPixel()
{
var surface = SurfaceFactory.CreateSurface(10, 10);
var astar = new AStarPathFinder(surface);
surface.SetPixel(5, 5, Color.Black);
var path = astar.FindPath(new Point(3, 3), new Point(7, 7));
Assert.AreEqual(8, path.Count);
}
private static void Main()
{
IPathFinder pathFinder = new AStarPathFinder(HeuristicFunc);
data = GetData1();
IEnumerable <IConnection> conns =
pathFinder.FindPath(data.Item1, 0, 5);
ShowPath(conns);
}
public void StartPathfinding()
{
if (_startNode == null || _endNode == null)
{
return;
}
var path = _pathFinder.FindPath(_startNode, _endNode);
PathfindingFinished(path);
}
public void ShouldGoAround()
{
var surface = SurfaceFactory.CreateSurface(10, 10);
surface.SetPixel(4, 4, Color.Black);
surface.SetPixel(5, 4, Color.Black);
surface.SetPixel(6, 4, Color.Black);
var astar = new AStarPathFinder(surface);
Path path = astar.FindPath(new Point(5, 7), new Point(5, 2));
Assert.AreEqual(9, path.Count);
}
public void ShouldGoAroundWithoutTwisting()
{
var surface = SurfaceFactory.CreateSurface(400, 400);
for (int y = 156; y <= 165; y++)
{
surface.SetPixel(174, y, Color.Black);
}
var astar = new AStarPathFinder(surface);
Path path = astar.FindPath(new Point(179, 161), new Point(169, 161));
Assert.AreEqual(15, path.Count);
}
public void GoesAroundObstacles()
{
var map = new MapContext(5, 3);
map.StartingPoint = new Point(0, 1);
map.TargetPoint = new Point(4, 1);
map.Obstacles.Add(new Point(2, 2));
map.Obstacles.Add(new Point(2, 1));
var subject = new AStarPathFinder();
var path = subject.FindPath(map);
Check.That(path.Steps).Not.Contains(new Point(2, 1));
}
// Если осталось мало противников, то может быть сложно их найти. Поэтому они сами нас найдут.
private IEnumerator UpdateRandomEnemyPath()
{
while (true)
{
yield return(new WaitForSecondsRealtime(10));
var activeEnemy = m_Enemies.First(x => x.activeInHierarchy)?.GetComponent <EnemyController>();
if (activeEnemy != null)
{
activeEnemy.Path = AStarPathFinder.FindPath(
activeEnemy.gameObject.transform.position,
m_Player.transform.position);
}
}
}
public void NoPathReturnsNull()
{
var map = new MapContext(5, 3);
map.StartingPoint = new Point(0, 0);
map.TargetPoint = new Point(4, 1);
map.AddObstacle(0, 1);
map.AddObstacle(1, 0);
map.AddObstacle(1, 1);
var subject = new AStarPathFinder();
var path = subject.FindPath(map);
Check.That(path).IsNull();
}
public static List <Pos> FindPath(this Actor a, Pos dst)
{
var path = new List <Pos>();
PathFinder.KeepInLayer = a.KeepInLayer;
var pts = PathFinder.FindPath(a.Pos.x, a.Pos.y, dst.x, dst.y);
Utils.For(pts.Length / 2, (n) =>
{
var x = pts[n * 2];
var y = pts[n * 2 + 1];
path.Add(new Pos(x, y));
});
return(path);
}
public void FindsStraightPath()
{
var map = new MapContext(5, 3);
map.StartingPoint = new Point(0, 1);
map.TargetPoint = new Point(4, 1);
var subject = new AStarPathFinder();
var path = subject.FindPath(map);
Check.That(path.Steps).ContainsExactly(
new Point(1, 1),
new Point(2, 1),
new Point(3, 1),
new Point(4, 1));
}
public override void Handle(IRemoteClient client, string alias, string[] arguments)
{
if (arguments.Length != 1)
{
Help(client, alias, arguments);
return;
}
int Id;
if (!int.TryParse(arguments[0], out Id))
{
Help(client, alias, arguments);
return;
}
var manager = client.Server.GetEntityManagerForWorld(client.World);
var entity = manager.GetEntityById(Id) as MobEntity;
if (entity == null)
{
client.SendMessage(ChatColor.Red + "An entity with that Id does not exist in this world.");
return;
}
Task.Factory.StartNew(() =>
{
var astar = new AStarPathFinder();
var path = astar.FindPath(client.World, entity.BoundingBox, (Coordinates3D)entity.Position,
(Coordinates3D)client.Entity.Position);
if (path == null)
{
client.SendMessage(ChatColor.Red + "It is impossible for this entity to reach you.");
}
else
{
client.SendMessage(string.Format(ChatColor.Blue
+ "Executing path with {0} waypoints", path.Waypoints.Count()));
entity.CurrentPath = path;
}
});
}
public void TestAStarDiagonalPath()
{
var world = new TrueCraft.World.World("default", new FlatlandGenerator());
var astar = new AStarPathFinder();
var start = new Coordinates3D(0, 4, 0);
var end = new Coordinates3D(5, 4, 5);
var watch = new Stopwatch();
watch.Start();
var path = astar.FindPath(world, new BoundingBox(), start, end);
watch.Stop();
DrawGrid(path, world);
Console.WriteLine(watch.ElapsedMilliseconds + "ms");
// Just test the start and end, the exact results need to be eyeballed
Assert.AreEqual(start, path.Waypoints[0]);
Assert.AreEqual(end, path.Waypoints[path.Waypoints.Count - 1]);
}
// ReSharper disable once UnusedParameter.Local
static void Main(string[] args)
{
ConsoleKeyInfo key;
do
{
Console.Clear();
var map = new MapContext(24, 12);
//SetUpSimpleTest(map);
SetUpRandomTest(map);
var searcher = new AStarPathFinder(diagonalMoves: false);
var path = searcher.FindPath(map);
DrawMap(map, path);
key = Console.ReadKey(intercept: true);
} while (key.Key != ConsoleKey.Q);
}
public void Simple()
{
var grid = new GridGenerator(false, 3, 2).GenerateGraph();
foreach (var node in grid.Nodes)
{
var coordinates = node.Name.Split(',');
int x = int.Parse(coordinates[0]);
int y = int.Parse(coordinates[1]);
node.UserData[LocationProperty] = new Point(x, y);
}
foreach (var edge in grid.Edges)
edge.UserData[DistanceProperty] = 1;
grid.Edges["0,0", "1,0"].UserData[DistanceProperty]
= grid.Edges["1,0", "2,0"].UserData[DistanceProperty]
= 3;
// Perfect heuristic should result in the best path.
var finder = new AStarPathFinder(DistanceProperty, DefaultHeuristic);
var path = finder.FindPath(grid.Nodes["0,0"], grid.Nodes["2,0"]).ToArray();
Assert.Equal(new[]
{
grid.Nodes["0,0"],
grid.Nodes["0,1"],
grid.Nodes["1,1"],
grid.Nodes["2,1"],
grid.Nodes["2,0"]
}, path);
// Over estimating the heuristic should result in the more costly path.
var finder2 = new AStarPathFinder(DistanceProperty, (node, node1) => 5*DefaultHeuristic(node, node1));
var path2 = finder2.FindPath(grid.Nodes["0,0"], grid.Nodes["2,0"]).ToArray();
Assert.Equal(new[]
{
grid.Nodes["0,0"],
grid.Nodes["1,0"],
grid.Nodes["2,0"]
}, path2);
}
public void TestAStarImpossible()
{
var world = new TrueCraft.World.World("default", new FlatlandGenerator());
var astar = new AStarPathFinder();
var start = new Coordinates3D(0, 4, 0);
var end = new Coordinates3D(5, 4, 0);
world.SetBlockId(start + Coordinates3D.East, 1);
world.SetBlockId(start + Coordinates3D.West, 1);
world.SetBlockId(start + Coordinates3D.North, 1);
world.SetBlockId(start + Coordinates3D.South, 1);
var watch = new Stopwatch();
watch.Start();
var path = astar.FindPath(world, new BoundingBox(), start, end);
watch.Stop();
Console.WriteLine(watch.ElapsedMilliseconds + "ms");
Assert.IsNull(path);
}
public void TestAStarAvoidRoom()
{
var world = new TrueCraft.World.World("default", new FlatlandGenerator());
var astar = new AStarPathFinder();
var start = new Coordinates3D(-5, 4, 0);
var end = new Coordinates3D(5, 4, 0);
// North wall
for (var x = -4; x < 4; x++)
{
world.SetBlockId(new Coordinates3D(x, 4, -4), 1);
}
// East wall
for (var z = -4; z < 4; z++)
{
world.SetBlockId(new Coordinates3D(3, 4, z), 1);
}
// South wall
for (var x = -4; x < 4; x++)
{
world.SetBlockId(new Coordinates3D(x, 4, 4), 1);
}
var watch = new Stopwatch();
watch.Start();
var path = astar.FindPath(world, new BoundingBox(), start, end);
watch.Stop();
DrawGrid(path, world);
Console.WriteLine(watch.ElapsedMilliseconds + "ms");
// Just test the start and end, the exact results need to be eyeballed
Assert.AreEqual(start, path.Waypoints[0]);
Assert.AreEqual(end, path.Waypoints[path.Waypoints.Count - 1]);
}
void findPath()
{
_path = AStarPathFinder.FindPath(_grid, _grid.grid[1, 1], _grid.grid[mazeSize.x - 2, mazeSize.y - 2], false);
}
