public void CustomMaze1()
{
// Arrange
var maze = new List <string>()
{
"xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx",
"A.....x........x..............x",
"x..x..x..xxxx..x..xxxxxxx..xxxx",
"x..x..x.....x..x.....x........x",
"x..x..xxxxxxx..xxxxxxx..xxxx..x",
"x..x..x.....x..x.....x.....x..x",
"x..x..x..x..x..x..x..xxxxxxx..x",
"x..x..x..x..x.....x...........x",
"x..x..x..x..x..xxxxxxxxxx..xxxx",
"x..x..x..x.....x..............x",
"x..x..x..xxxxxxxxxxxxxxxx..x..x",
"x..x.....x........x..x.....x..x",
"x..xxxxxxx..xxxx..x..x..xxxx..x",
"x.....x.....x.....x.....x.....x",
"xxxx..xxxx..xxxxxxxxxxxxx..x..x",
"x..x.....x........x..x.....x..x",
"x..xxxx..xxxxxxx..x..x..xxxx..x",
"x..x.....x........x.....x.....x",
"x..x..x..x..xxxxxxxxxxxxx..xxxx",
"x.....x.................x.....B",
"xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx"
};
var expected = "Maze Directions from Start(A) to End(B): EEEESSSSSSSSSSEEEENNNNNNEESSSSEEEENNEEENNEESSEEEEEESSEEESSSSSSSSWWSSEEEE";
// Assert
var actual = AStarAlgorithm.AStarSearch(maze);
Assert.AreEqual(expected, actual);
}
public void EmptyMaze()
{
// Arrange
var maze = new List <string>();
var expected = "\nThe maze provided is empty, please input a valid Maze.\n";
// Assert
var actual = AStarAlgorithm.AStarSearch(maze);
Assert.AreEqual(expected, actual);
}
public void MazeNoEndPointMaze()
{
// Arrange
var maze = new List <string>()
{
"xxxxxxx",
"xA....x",
"xxxxxxx"
};
var expected = "\nThe maze provided is not valid, please input a valid Maze.\n";
// Assert
var actual = AStarAlgorithm.AStarSearch(maze);
Assert.AreEqual(expected, actual);
}
public void ImpossibleMaze()
{
// Arrange
var maze = new List <string>()
{
"xxxxxxx",
"xA.x.Bx",
"xxxxxxx"
};
var expected = "\nThis maze cannot be escaped from...\n";
// Assert
var actual = AStarAlgorithm.AStarSearch(maze);
Assert.AreEqual(expected, actual);
}
public void Navigate(ShipRuntime targetShip, Vector2Int globalStartPos, Vector2Int globalEndPos)
{
Init();
this.targetShip = targetShip;
if (globalStartPos == globalEndPos)
{
StartCoroutine("DelaySearch");
return;
}
nextIndex = 1;
CellTemplate startCell = targetShip.GetCellByGlobalPos(globalStartPos);
CellTemplate endCell = targetShip.GetCellByGlobalPos(globalEndPos);
// Invalid path supplied
if (startCell == null || endCell == null || startCell.CellState == 0 || endCell.CellState == 0)
{
return;
}
ShipPiece startPiece = targetShip.GetPieceByGlobalCellPos(globalStartPos);
ShipPiece endPiece = targetShip.GetPieceByGlobalCellPos(globalEndPos);
NavGrid startGrid = new NavGrid(startPiece);
startGrid.Generate();
NavGrid goalGrid = startGrid;
if (startPiece != endPiece)
{
goalGrid = new NavGrid(endPiece);
goalGrid.Generate();
}
AStarAlgorithm aStarAlgorithm = new AStarAlgorithm(startGrid, goalGrid, globalStartPos, globalEndPos);
int newTTmp = 0;
curPath = aStarAlgorithm.AStarSearch(ref newTTmp);
wiggleTimer = Random.Range(0, 6.28318f);
}
public bool Navigate(ShipRuntime targetShip, Vector2Int globalStartPos, Vector2Int globalEndPos)
{
if (globalStartPos == globalEndPos)
{
return(false);
}
NavCell[] overrideStart = null;
// Cur, prev and T evaluation
if (curPath != null)
{
if (nextIndex < curPath.Length)
{
overrideStart = new NavCell[2];
// Store C0 and C1
overrideStart[0] = curPath[nextIndex - 1];
overrideStart[1] = curPath[nextIndex];
}
}
nextIndex = 1;
CellTemplate startCell = targetShip.GetCellByGlobalPos(globalStartPos);
CellTemplate endCell = targetShip.GetCellByGlobalPos(globalEndPos);
// Invalid path supplied
if (startCell == null || endCell == null || startCell.CellState == 0 || endCell.CellState == 0)
{
return(false);
}
ShipPiece startPiece = targetShip.GetPieceByGlobalCellPos(globalStartPos);
ShipPiece endPiece = targetShip.GetPieceByGlobalCellPos(globalEndPos);
NavGrid startGrid = new NavGrid(startPiece);
startGrid.Generate();
NavGrid goalGrid = startGrid;
if (startPiece != endPiece)
{
goalGrid = new NavGrid(endPiece);
goalGrid.Generate();
}
AStarAlgorithm aStarAlgorithm = new AStarAlgorithm(startGrid, goalGrid, globalStartPos, globalEndPos);
int newTState = -1;
curPath = aStarAlgorithm.AStarSearch(ref newTState, overrideStart);
// Either reset, invert or leave move timer
switch (newTState)
{
case -1:
moveTimer = 0;
break;
case 1:
moveTimer = 1 - moveTimer;
break;
}
pathTracer.SetPositions(GetNavArray());
return(curPath != null);
}
