public void TracerTest2()
{
var binary = MapTests.GenerateCleanMap2D(5, 5);
binary[2, 1] = false;
binary[2, 2] = false;
binary[2, 3] = false;
var start = new Vector3(0, 2, 0);
var finish = new Vector3(4, 2, 0);
var map = new GridMap(binary);
var queue = new PriorityQueue <Wave>(new PriorityByEstimatedPathLength <Wave>(finish));
var builder = new Base <Wave> .Builder();
var initial = new InitializeX <Wave>(map, builder, start);
var propagation = new PropagateX <Wave>(map, builder);
builder.PropagationStrategy = propagation;
builder.AcceptanceCondition = new AreaCondition(finish);
var tracer = new Tracer <Wave> {
DefaultMap = map
};
var wave = tracer.Search(initial, map, queue).FirstOrDefault();
Assert.NotNull(wave);
var path = wave.FullPath;
Assert.Equal(path.Length, 5);
Assert.Equal(path[0], start);
Assert.Equal(path[4], finish);
Assert.True(path.All(p => binary[(int)p.X, (int)p.Y] == true));
}
/// <summary>
/// Searches for the shortest path between two points.
/// </summary>
/// <typeparam name="TWave">Type of waves to use (e.g. <see cref="Wave"/>).</typeparam>
/// <param name="tracer">Tracer to search with.</param>
/// <param name="from">Location to start from.</param>
/// <param name="to">Location to reach.</param>
/// <param name="map">Map to navigate (e.g. <see cref="GridMap"/>); if left null, <see cref="Tracer{TWave}.DefaultMap"/> will be used.</param>
/// <param name="custom">Wave builder to create waves with (e.g. <see cref="Waves.Base{TWave}.Builder"/>).</param>
/// <returns>List of waypoints.</returns>
/// <exception cref="ArgumentNullException">Thrown if both <paramref name="map"/> parameter and <see cref="Tracer{TWave}.DefaultMap"/> field are null.</exception>
public static IReadOnlyList <Vector3> FindShortestPath <TWave>(
this Tracer <TWave> tracer, Vector3 from, Vector3 to, IMap <TWave> map = null, IWaveBuilder <TWave> custom = null)
where TWave : Base <TWave>, new()
{
if (map == null && tracer.DefaultMap == null)
{
throw new ArgumentNullException(nameof(map), "ECHO: Either [map] parameter or [Tracer.DefaultMap] field must not be null.");
}
map = map ?? tracer.DefaultMap;
var guide = map as IDirectionsProvider;
var builder = new Base <TWave> .Builder {
NestedBuilder = custom
};
IInitializationStrategy <TWave> initial;
IPropagationStrategy <TWave> propagation;
if (guide == null)
{
initial = new Initialize26x3D <TWave>(builder, from);
propagation = new Propagate16x3D <TWave>(builder);
}
else
{
initial = new InitializeX <TWave>(guide, builder, from);
propagation = new PropagateX <TWave>(guide, builder);
}
builder.PropagationStrategy = propagation;
builder.AcceptanceCondition = new AreaCondition(to);
builder.FadeCondition = new GlobalIntersectionsCondition();
return(tracer.FindShortestPath(initial, to, map));
}
