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-rw-r--r--main/tests/test_astar.cpp259
1 files changed, 259 insertions, 0 deletions
diff --git a/main/tests/test_astar.cpp b/main/tests/test_astar.cpp
index d34ff0d95e..4b60a3e94a 100644
--- a/main/tests/test_astar.cpp
+++ b/main/tests/test_astar.cpp
@@ -31,8 +31,10 @@
#include "test_astar.h"
#include "core/math/a_star.h"
+#include "core/math/math_funcs.h"
#include "core/os/os.h"
+#include <math.h>
#include <stdio.h>
namespace TestAStar {
@@ -87,11 +89,268 @@ bool test_abcx() {
return ok;
}
+bool test_add_remove() {
+ AStar a;
+ bool ok = true;
+
+ // Manual tests
+ a.add_point(1, Vector3(0, 0, 0));
+ a.add_point(2, Vector3(0, 1, 0));
+ a.add_point(3, Vector3(1, 1, 0));
+ a.add_point(4, Vector3(2, 0, 0));
+ a.connect_points(1, 2, true);
+ a.connect_points(1, 3, true);
+ a.connect_points(1, 4, false);
+
+ ok = ok && (a.are_points_connected(2, 1) == true);
+ ok = ok && (a.are_points_connected(4, 1) == true);
+ ok = ok && (a.are_points_connected(2, 1, false) == true);
+ ok = ok && (a.are_points_connected(4, 1, false) == false);
+
+ a.disconnect_points(1, 2, true);
+ ok = ok && (a.get_point_connections(1).size() == 2); // 3, 4
+ ok = ok && (a.get_point_connections(2).size() == 0);
+
+ a.disconnect_points(4, 1, false);
+ ok = ok && (a.get_point_connections(1).size() == 2); // 3, 4
+ ok = ok && (a.get_point_connections(4).size() == 0);
+
+ a.disconnect_points(4, 1, true);
+ ok = ok && (a.get_point_connections(1).size() == 1); // 3
+ ok = ok && (a.get_point_connections(4).size() == 0);
+
+ a.connect_points(2, 3, false);
+ ok = ok && (a.get_point_connections(2).size() == 1); // 3
+ ok = ok && (a.get_point_connections(3).size() == 1); // 1
+
+ a.connect_points(2, 3, true);
+ ok = ok && (a.get_point_connections(2).size() == 1); // 3
+ ok = ok && (a.get_point_connections(3).size() == 2); // 1, 2
+
+ a.disconnect_points(2, 3, false);
+ ok = ok && (a.get_point_connections(2).size() == 0);
+ ok = ok && (a.get_point_connections(3).size() == 2); // 1, 2
+
+ a.connect_points(4, 3, true);
+ ok = ok && (a.get_point_connections(3).size() == 3); // 1, 2, 4
+ ok = ok && (a.get_point_connections(4).size() == 1); // 3
+
+ a.disconnect_points(3, 4, false);
+ ok = ok && (a.get_point_connections(3).size() == 2); // 1, 2
+ ok = ok && (a.get_point_connections(4).size() == 1); // 3
+
+ a.remove_point(3);
+ ok = ok && (a.get_point_connections(1).size() == 0);
+ ok = ok && (a.get_point_connections(2).size() == 0);
+ ok = ok && (a.get_point_connections(4).size() == 0);
+
+ a.add_point(0, Vector3(0, -1, 0));
+ a.add_point(3, Vector3(2, 1, 0));
+ // 0: (0, -1)
+ // 1: (0, 0)
+ // 2: (0, 1)
+ // 3: (2, 1)
+ // 4: (2, 0)
+
+ // Tests for get_closest_position_in_segment
+ a.connect_points(2, 3);
+ ok = ok && (a.get_closest_position_in_segment(Vector3(0.5, 0.5, 0)) == Vector3(0.5, 1, 0));
+
+ a.connect_points(3, 4);
+ a.connect_points(0, 3);
+ a.connect_points(1, 4);
+ a.disconnect_points(1, 4, false);
+ a.disconnect_points(4, 3, false);
+ a.disconnect_points(3, 4, false);
+ // Remaining edges: <2, 3>, <0, 3>, <1, 4> (directed)
+ ok = ok && (a.get_closest_position_in_segment(Vector3(2, 0.5, 0)) == Vector3(1.75, 0.75, 0));
+ ok = ok && (a.get_closest_position_in_segment(Vector3(-1, 0.2, 0)) == Vector3(0, 0, 0));
+ ok = ok && (a.get_closest_position_in_segment(Vector3(3, 2, 0)) == Vector3(2, 1, 0));
+
+ Math::seed(0);
+
+ // Random tests for connectivity checks
+ for (int i = 0; i < 20000; i++) {
+ int u = Math::rand() % 5;
+ int v = Math::rand() % 4;
+ if (u == v) v = 4;
+ if (Math::rand() % 2 == 1) {
+ // Add a (possibly existing) directed edge and confirm connectivity
+ a.connect_points(u, v, false);
+ ok = ok && (a.are_points_connected(u, v, false) == true);
+ } else {
+ // Remove a (possibly nonexistent) directed edge and confirm disconnectivity
+ a.disconnect_points(u, v, false);
+ ok = ok && (a.are_points_connected(u, v, false) == false);
+ }
+ }
+
+ // Random tests for point removal
+ for (int i = 0; i < 20000; i++) {
+ a.clear();
+ for (int j = 0; j < 5; j++)
+ a.add_point(j, Vector3(0, 0, 0));
+
+ // Add or remove random edges
+ for (int j = 0; j < 10; j++) {
+ int u = Math::rand() % 5;
+ int v = Math::rand() % 4;
+ if (u == v) v = 4;
+ if (Math::rand() % 2 == 1)
+ a.connect_points(u, v, false);
+ else
+ a.disconnect_points(u, v, false);
+ }
+
+ // Remove point 0
+ a.remove_point(0);
+ // White box: this will check all edges remaining in the segments set
+ for (int j = 1; j < 5; j++) {
+ ok = ok && (a.are_points_connected(0, j, true) == false);
+ }
+ }
+
+ // It's been great work, cheers \(^ ^)/
+ return ok;
+}
+
+bool test_solutions() {
+ // Random stress tests with Floyd-Warshall
+
+ const int N = 30;
+ Math::seed(0);
+
+ for (int test = 0; test < 1000; test++) {
+ AStar a;
+ Vector3 p[N];
+ bool adj[N][N] = { { false } };
+
+ // Assign initial coordinates
+ for (int u = 0; u < N; u++) {
+ p[u].x = Math::rand() % 100;
+ p[u].y = Math::rand() % 100;
+ p[u].z = Math::rand() % 100;
+ a.add_point(u, p[u]);
+ }
+
+ // Generate a random sequence of operations
+ for (int i = 0; i < 1000; i++) {
+ // Pick two different vertices
+ int u, v;
+ u = Math::rand() % N;
+ v = Math::rand() % (N - 1);
+ if (u == v) v = N - 1;
+
+ // Pick a random operation
+ int op = Math::rand();
+ switch (op % 9) {
+ case 0:
+ case 1:
+ case 2:
+ case 3:
+ case 4:
+ case 5:
+ // Add edge (u, v); possibly bidirectional
+ a.connect_points(u, v, op % 2);
+ adj[u][v] = true;
+ if (op % 2) adj[v][u] = true;
+ break;
+ case 6:
+ case 7:
+ // Remove edge (u, v); possibly bidirectional
+ a.disconnect_points(u, v, op % 2);
+ adj[u][v] = false;
+ if (op % 2) adj[v][u] = false;
+ break;
+ case 8:
+ // Remove point u and add it back; clears adjacent edges and changes coordinates
+ a.remove_point(u);
+ p[u].x = Math::rand() % 100;
+ p[u].y = Math::rand() % 100;
+ p[u].z = Math::rand() % 100;
+ a.add_point(u, p[u]);
+ for (v = 0; v < N; v++)
+ adj[u][v] = adj[v][u] = false;
+ break;
+ }
+ }
+
+ // Floyd-Warshall
+ float d[N][N];
+ for (int u = 0; u < N; u++)
+ for (int v = 0; v < N; v++)
+ d[u][v] = (u == v || adj[u][v]) ? p[u].distance_to(p[v]) : INFINITY;
+
+ for (int w = 0; w < N; w++)
+ for (int u = 0; u < N; u++)
+ for (int v = 0; v < N; v++)
+ if (d[u][v] > d[u][w] + d[w][v])
+ d[u][v] = d[u][w] + d[w][v];
+
+ // Display statistics
+ int count = 0;
+ for (int u = 0; u < N; u++)
+ for (int v = 0; v < N; v++)
+ if (adj[u][v]) count++;
+ printf("Test #%4d: %3d edges, ", test + 1, count);
+ count = 0;
+ for (int u = 0; u < N; u++)
+ for (int v = 0; v < N; v++)
+ if (!Math::is_inf(d[u][v])) count++;
+ printf("%3d/%d pairs of reachable points\n", count - N, N * (N - 1));
+
+ // Check A*'s output
+ bool match = true;
+ for (int u = 0; u < N; u++)
+ for (int v = 0; v < N; v++)
+ if (u != v) {
+ PoolVector<int> route = a.get_id_path(u, v);
+ if (!Math::is_inf(d[u][v])) {
+ // Reachable
+ if (route.size() == 0) {
+ printf("From %d to %d: A* did not find a path\n", u, v);
+ match = false;
+ goto exit;
+ }
+ float astar_dist = 0;
+ for (int i = 1; i < route.size(); i++) {
+ if (!adj[route[i - 1]][route[i]]) {
+ printf("From %d to %d: edge (%d, %d) does not exist\n",
+ u, v, route[i - 1], route[i]);
+ match = false;
+ goto exit;
+ }
+ astar_dist += p[route[i - 1]].distance_to(p[route[i]]);
+ }
+ if (!Math::is_equal_approx(astar_dist, d[u][v])) {
+ printf("From %d to %d: Floyd-Warshall gives %.6f, A* gives %.6f\n",
+ u, v, d[u][v], astar_dist);
+ match = false;
+ goto exit;
+ }
+ } else {
+ // Unreachable
+ if (route.size() > 0) {
+ printf("From %d to %d: A* somehow found a nonexistent path\n", u, v);
+ match = false;
+ goto exit;
+ }
+ }
+ }
+
+ exit:
+ if (!match) return false;
+ }
+ return true;
+}
+
typedef bool (*TestFunc)(void);
TestFunc test_funcs[] = {
test_abc,
test_abcx,
+ test_add_remove,
+ test_solutions,
NULL
};
generated by cgit v1.2.3 (git 2.25.1) at 2024-12-04 17:33:14 +0000