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+/*************************************************************************/
+/* test_astar.h */
+/*************************************************************************/
+/* This file is part of: */
+/* GODOT ENGINE */
+/* https://godotengine.org */
+/*************************************************************************/
+/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */
+/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */
+/* */
+/* Permission is hereby granted, free of charge, to any person obtaining */
+/* a copy of this software and associated documentation files (the */
+/* "Software"), to deal in the Software without restriction, including */
+/* without limitation the rights to use, copy, modify, merge, publish, */
+/* distribute, sublicense, and/or sell copies of the Software, and to */
+/* permit persons to whom the Software is furnished to do so, subject to */
+/* the following conditions: */
+/* */
+/* The above copyright notice and this permission notice shall be */
+/* included in all copies or substantial portions of the Software. */
+/* */
+/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
+/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
+/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
+/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
+/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
+/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
+/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
+/*************************************************************************/
+
+#ifndef TEST_ASTAR_H
+#define 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>
+
+#include "tests/test_macros.h"
+
+namespace TestAStar {
+
+class ABCX : public AStar {
+public:
+ enum {
+ A,
+ B,
+ C,
+ X,
+ };
+
+ ABCX() {
+ add_point(A, Vector3(0, 0, 0));
+ add_point(B, Vector3(1, 0, 0));
+ add_point(C, Vector3(0, 1, 0));
+ add_point(X, Vector3(0, 0, 1));
+ connect_points(A, B);
+ connect_points(A, C);
+ connect_points(B, C);
+ connect_points(X, A);
+ }
+
+ // Disable heuristic completely.
+ float _compute_cost(int p_from, int p_to) {
+ if (p_from == A && p_to == C) {
+ return 1000;
+ }
+ return 100;
+ }
+};
+
+TEST_CASE("[AStar] ABC path") {
+ ABCX abcx;
+ Vector<int> path = abcx.get_id_path(ABCX::A, ABCX::C);
+ REQUIRE(path.size() == 3);
+ CHECK(path[0] == ABCX::A);
+ CHECK(path[1] == ABCX::B);
+ CHECK(path[2] == ABCX::C);
+}
+
+TEST_CASE("[AStar] ABCX path") {
+ ABCX abcx;
+ Vector<int> path = abcx.get_id_path(ABCX::X, ABCX::C);
+ REQUIRE(path.size() == 4);
+ CHECK(path[0] == ABCX::X);
+ CHECK(path[1] == ABCX::A);
+ CHECK(path[2] == ABCX::B);
+ CHECK(path[3] == ABCX::C);
+}
+
+TEST_CASE("[AStar] Add/Remove") {
+ AStar a;
+
+ // 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);
+
+ CHECK(a.are_points_connected(2, 1));
+ CHECK(a.are_points_connected(4, 1));
+ CHECK(a.are_points_connected(2, 1, false));
+ CHECK_FALSE(a.are_points_connected(4, 1, false));
+
+ a.disconnect_points(1, 2, true);
+ CHECK(a.get_point_connections(1).size() == 2); // 3, 4
+ CHECK(a.get_point_connections(2).size() == 0);
+
+ a.disconnect_points(4, 1, false);
+ CHECK(a.get_point_connections(1).size() == 2); // 3, 4
+ CHECK(a.get_point_connections(4).size() == 0);
+
+ a.disconnect_points(4, 1, true);
+ CHECK(a.get_point_connections(1).size() == 1); // 3
+ CHECK(a.get_point_connections(4).size() == 0);
+
+ a.connect_points(2, 3, false);
+ CHECK(a.get_point_connections(2).size() == 1); // 3
+ CHECK(a.get_point_connections(3).size() == 1); // 1
+
+ a.connect_points(2, 3, true);
+ CHECK(a.get_point_connections(2).size() == 1); // 3
+ CHECK(a.get_point_connections(3).size() == 2); // 1, 2
+
+ a.disconnect_points(2, 3, false);
+ CHECK(a.get_point_connections(2).size() == 0);
+ CHECK(a.get_point_connections(3).size() == 2); // 1, 2
+
+ a.connect_points(4, 3, true);
+ CHECK(a.get_point_connections(3).size() == 3); // 1, 2, 4
+ CHECK(a.get_point_connections(4).size() == 1); // 3
+
+ a.disconnect_points(3, 4, false);
+ CHECK(a.get_point_connections(3).size() == 2); // 1, 2
+ CHECK(a.get_point_connections(4).size() == 1); // 3
+
+ a.remove_point(3);
+ CHECK(a.get_point_connections(1).size() == 0);
+ CHECK(a.get_point_connections(2).size() == 0);
+ CHECK(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);
+ CHECK(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).
+ CHECK(a.get_closest_position_in_segment(Vector3(2, 0.5, 0)) == Vector3(1.75, 0.75, 0));
+ CHECK(a.get_closest_position_in_segment(Vector3(-1, 0.2, 0)) == Vector3(0, 0, 0));
+ CHECK(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);
+ CHECK(a.are_points_connected(u, v, false));
+ } else {
+ // Remove a (possibly nonexistent) directed edge and confirm disconnectivity.
+ a.disconnect_points(u, v, false);
+ CHECK_FALSE(a.are_points_connected(u, v, 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++) {
+ CHECK_FALSE(a.are_points_connected(0, j, true));
+ }
+ }
+ // It's been great work, cheers. \(^ ^)/
+}
+
+TEST_CASE("[Stress][AStar] Find paths") {
+ // 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++;
+ }
+ }
+ }
+ print_verbose(vformat("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++;
+ }
+ }
+ }
+ print_verbose(vformat("%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) {
+ Vector<int> route = a.get_id_path(u, v);
+ if (!Math::is_inf(d[u][v])) {
+ // Reachable.
+ if (route.size() == 0) {
+ print_verbose(vformat("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]]) {
+ print_verbose(vformat("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])) {
+ print_verbose(vformat("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) {
+ print_verbose(vformat("From %d to %d: A* somehow found a nonexistent path\n", u, v));
+ match = false;
+ goto exit;
+ }
+ }
+ }
+ }
+ }
+ exit:
+ CHECK_MESSAGE(match, "Found all paths.");
+ }
+}
+
+} // namespace TestAStar
+
+#endif // TEST_ASTAR_H
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