public void GetAdjacentNodesAllPossible()
{
var nodes = new Node[4, 3];
nodes[0, 0] = new Node(5, 5);
nodes[0, 1] = new Node(5, 10);
nodes[0, 2] = new Node(5, 15);
nodes[1, 0] = new Node(10, 5);
nodes[1, 1] = new Node(10, 10);
nodes[1, 2] = new Node(10, 15);
nodes[2, 0] = new Node(15, 5);
nodes[2, 1] = new Node(15, 10);
nodes[2, 2] = new Node(15, 15);
nodes[3, 0] = new Node(20, 5);
nodes[3, 1] = new Node(20, 10);
nodes[3, 2] = new Node(20, 15);
var network = new NavigationNetwork(nodes);
var actual = network.GetAdjacentNodes(nodes, 1, 1);
Assert.IsTrue(actual.Count == 8);
var expected = new List <Node>()
{
nodes[0, 0], nodes[1, 0], nodes[2, 0],
nodes[0, 1], nodes[2, 1],
nodes[0, 2], nodes[1, 2], nodes[2, 2],
};
CollectionAssert.AreEquivalent(expected, actual);
}
public void GetShortestPathWithObstacleBigger()
{
var nodes = new Node[3, 3];
nodes[0, 0] = new Node(5, 5);
nodes[0, 2] = new Node(5, 15);
nodes[1, 0] = new Node(10, 5);
nodes[1, 2] = new Node(10, 15);
nodes[2, 0] = new Node(15, 5);
nodes[2, 1] = new Node(15, 10);
nodes[2, 2] = new Node(15, 15);
nodes[0, 0].AddConnection(nodes[1, 0]);
nodes[1, 0].AddConnection(nodes[2, 0]);
nodes[1, 0].AddConnection(nodes[2, 1]);
nodes[2, 0].AddConnection(nodes[2, 1]);
nodes[2, 1].AddConnection(nodes[2, 2]);
nodes[2, 1].AddConnection(nodes[1, 2]);
nodes[1, 2].AddConnection(nodes[0, 2]);
var network = new NavigationNetwork(nodes, 5);
var actual = network.GetShortestPath(nodes[0, 0], nodes[0, 2]);
var expected = new Stack <Node>();
expected.Push(nodes[0, 2]);
expected.Push(nodes[1, 2]);
expected.Push(nodes[2, 1]);
expected.Push(nodes[1, 0]);
expected.Push(nodes[0, 0]);
CollectionAssert.AreEqual(expected, actual.ToPreviousNodesStack());
}
public void GenerateNodesSimple()
{
byte[] fullMap = new byte[] {
0x00,
0x05,
};
int bytesPerRow = 1;
var network = new NavigationNetwork(fullMap, bytesPerRow, 1);
Assert.AreEqual((2, 2), network.NodesArraySize);
Assert.AreEqual((1, 1), network.Nodes[1, 1]?.Position);
}
public void GetClosestNodeSimple()
{
var nodes = new Node[1, 2];
nodes[0, 0] = new Node(5, 5);
nodes[0, 1] = new Node(5, 10);
var network = new NavigationNetwork(nodes, 5);
var actual = network.GetClosestNode((5, 5));
Assert.AreEqual(nodes[0, 0], actual);
}
public void GetClosestNodeMissingNodes()
{
var nodes = new Node[1, 3];
nodes[0, 0] = new Node(5, 5);
nodes[0, 1] = new Node(100, 100);
nodes[0, 2] = new Node(200, 200);
var network = new NavigationNetwork(nodes, 5);
var actual = network.GetClosestNode((70, 70));
Assert.AreEqual(nodes[0, 1], actual);
}
public void GetAdjacentNodesSimple()
{
var nodes = new Node[2, 1];
nodes[0, 0] = new Node(5, 5);
nodes[1, 0] = new Node(10, 5);
var network = new NavigationNetwork(nodes);
var actual = network.GetAdjacentNodes(nodes, 0, 0);
Assert.IsTrue(actual.Count == 1);
Assert.AreEqual(actual.First(), nodes[1, 0]);
}
public void GenerateNodesSimpleNonWalkable()
{
byte[] fullMap = new byte[] {
0x00,
0x00,
};
int bytesPerRow = 1;
var network = new NavigationNetwork(fullMap, bytesPerRow, 1);
Assert.AreEqual((2, 2), network.NodesArraySize);
Assert.AreEqual(null, network.Nodes[0, 0]);
Assert.AreEqual(null, network.Nodes[0, 1]);
Assert.AreEqual(null, network.Nodes[1, 0]);
Assert.AreEqual(null, network.Nodes[1, 1]);
}
public void GetClosestNodeLongDistance()
{
var nodes = new Node[2, 3];
nodes[0, 0] = new Node(5, 5);
nodes[0, 1] = new Node(5, 10);
nodes[0, 2] = new Node(5, 15);
nodes[1, 0] = new Node(10, 5);
nodes[1, 1] = new Node(10, 10);
nodes[1, 2] = new Node(10, 15);
var network = new NavigationNetwork(nodes, 5);
var actual = network.GetClosestNode((500, 500));
Assert.AreEqual(nodes[1, 2], actual);
}
public void GenerateNodes()
{
byte[] fullMap = new byte[] {
0x55, 0x55, 0x55,
0x55, 0x55, 0x55,
0x55, 0x55, 0x55,
0x55, 0x55, 0x55,
0x55, 0x55, 0x55,
};
int bytesPerRow = 3;
var network = new NavigationNetwork(fullMap, bytesPerRow, 2);
Assert.AreEqual((3, 3), network.NodesArraySize);
Assert.AreEqual((0, 0), network.Nodes[0, 0].Position);
Assert.AreEqual((0, 2), network.Nodes[0, 1].Position);
Assert.AreEqual((0, 4), network.Nodes[0, 2].Position);
Assert.AreEqual((2, 0), network.Nodes[1, 0].Position);
Assert.AreEqual((2, 2), network.Nodes[1, 1].Position);
Assert.AreEqual((2, 4), network.Nodes[1, 2].Position);
Assert.AreEqual((4, 0), network.Nodes[2, 0].Position);
Assert.AreEqual((4, 2), network.Nodes[2, 1].Position);
Assert.AreEqual((4, 4), network.Nodes[2, 2].Position);
}
