public void FindPath_InitializedNodegrid_ValuesPotentialFieldAreCorrect()
{
var potentialFieldAlgorithm = new PotentialFieldAlgorithm(0);
var definitionNodeGrid = new DefinitionNodeGrid(GenerateNodeGridConnections.All, 3, 3, new Vector2(1, 1));
var start = definitionNodeGrid.NodeGrid[0, 0];
var end = definitionNodeGrid.NodeGrid[2, 2];
var pathfindingNetwork = new DijkstraNodeGrid(definitionNodeGrid);
var pathRequest = new PathRequest <IPath>(start, end);
var potentialField = potentialFieldAlgorithm.FindPath(pathfindingNetwork, pathRequest, out var _);
const float tolerance = 0.001f;
Assert.AreEqual(Math.Abs(Math.Abs(potentialField.PotentialArray[0, 0]) - 4f) < tolerance, true);
Assert.AreEqual(Math.Abs(Math.Abs(potentialField.PotentialArray[1, 0]) - 3f) < tolerance, true);
Assert.AreEqual(Math.Abs(Math.Abs(potentialField.PotentialArray[2, 0]) - 2f) < tolerance, true);
Assert.AreEqual(Math.Abs(Math.Abs(potentialField.PotentialArray[0, 1]) - 3f) < tolerance, true);
Assert.AreEqual(Math.Abs(Math.Abs(potentialField.PotentialArray[1, 1]) - 2f) < tolerance, true);
Assert.AreEqual(Math.Abs(Math.Abs(potentialField.PotentialArray[2, 1]) - 1f) < tolerance, true);
Assert.AreEqual(Math.Abs(Math.Abs(potentialField.PotentialArray[0, 2]) - 2f) < tolerance, true);
Assert.AreEqual(Math.Abs(Math.Abs(potentialField.PotentialArray[1, 2]) - 1f) < tolerance, true);
Assert.AreEqual(Math.Abs(Math.Abs(potentialField.PotentialArray[2, 2]) - 0f) < tolerance, true);
}
public static IPathfinder <DefinitionNodeGrid, DijkstraNodeGrid, PotentialField> CreatePotentialFieldPathfinder(this IPathfindaxManager pathfindaxManager, DefinitionNodeGrid nodeGrid, int maxClearance, int maxCachedFlowFields, int amountOfThreads = 1)
{
var pathfinder = pathfindaxManager.CreatePathfinder(nodeGrid, new PotentialFieldAlgorithm(maxCachedFlowFields, nodeGrid.NodeCount), (definitionNodeGrid, algorithm) =>
{
var dijkstraNodeGrid = new DijkstraNodeGrid(definitionNodeGrid, maxClearance);
return(CreateRequestProcesser(dijkstraNodeGrid, algorithm));
}, amountOfThreads);
pathfinder.Start();
return(pathfinder);
}
public void Setup()
{
var factory = new DefinitionNodeGridFactory();
var nodeGrid = factory.GeneratePreFilledArray(GenerateNodeGridConnections.All, 320, 200);
_definitionNodeGrid = new DefinitionNodeGrid(nodeGrid, new Vector2(1, 1));
_dijkstraNodeGrid = new DijkstraNodeGrid(_definitionNodeGrid, 1);
_algorithm = new DijkstraAlgorithm(_definitionNodeGrid.NodeCount);
_pathRequest = PathRequest.Create(Substitute.For <IPathfinder <NodePath> >(),
_definitionNodeGrid.NodeGrid.ToIndex(0, 0), _definitionNodeGrid.NodeGrid.ToIndex(319, 199));
_nodeNetwork = _dijkstraNodeGrid.GetCollisionLayerNetwork(_pathRequest.CollisionCategory);
}
private PotentialField RunPotentialField(DefinitionNodeGrid definitionNodeGrid, Point2 gridStart, Point2 gridEnd, out bool succes)
{
var potentialFieldAlgorithm = new PotentialFieldAlgorithm(0, definitionNodeGrid.NodeCount);
var start = definitionNodeGrid.NodeGrid.ToIndex(gridStart.X, gridStart.Y);
var end = definitionNodeGrid.NodeGrid.ToIndex(gridEnd.X, gridEnd.Y);
var pathfindingNetwork = new DijkstraNodeGrid(definitionNodeGrid, 5);
var pathRequest = PathRequest.Create(Substitute.For <IPathfinder <IPath> >(), start, end, PathfindaxCollisionCategory.Cat1);
return(potentialFieldAlgorithm.FindPath(pathfindingNetwork, pathRequest, out succes));
}
private WaypointPath RunDijkstra(DefinitionNodeGrid definitionNodeGrid, Point2 gridStart, Point2 gridEnd)
{
var dijkstraAlgorithm = new DijkstraAlgorithm(definitionNodeGrid.NodeCount);
var start = definitionNodeGrid.NodeGrid.ToIndex(gridStart.X, gridStart.Y);
var end = definitionNodeGrid.NodeGrid.ToIndex(gridEnd.X, gridEnd.Y);
var pathfindingNetwork = new DijkstraNodeGrid(definitionNodeGrid, 5);
var pathRequest = PathRequest.Create(Substitute.For <IPathfinder <IPath> >(), start, end, PathfindaxCollisionCategory.Cat1);
var path = dijkstraAlgorithm.FindPath(pathfindingNetwork, pathRequest);
return(path);
}
public static IPathfinder <DefinitionNodeGrid, DijkstraNodeGrid, PotentialField> CreatePotentialFieldPathfinder(this IPathfindaxManager pathfindaxManager, DefinitionNodeGrid nodeGrid, int maxClearance, int maxCachedFlowFields, int amountOfThreads = 1)
{
var pathfinder = pathfindaxManager.CreatePathfinder(nodeGrid, new PotentialFieldAlgorithm(nodeGrid.NodeCount), (definitionNodeGrid, algorithm, cache) =>
{
var dijkstraNodeGrid = new DijkstraNodeGrid(definitionNodeGrid, maxClearance);
return(CreateRequestProcesser(dijkstraNodeGrid, algorithm, cache));
},
maxCachedFlowFields > 0 ? new ConcurrentCache <IPathRequest, PotentialField>(maxCachedFlowFields, new SingleSourcePathRequestComparer()) : null,
amountOfThreads);
pathfinder.Start();
return(pathfinder);
}
