a7f49ac9a1
Happy new year to the wonderful Godot community! We're starting a new decade with a well-established, non-profit, free and open source game engine, and tons of further improvements in the pipeline from hundreds of contributors. Godot will keep getting better, and we're looking forward to all the games that the community will keep developing and releasing with it.
376 lines
11 KiB
C++
376 lines
11 KiB
C++
/*************************************************************************/
|
|
/* test_astar.cpp */
|
|
/*************************************************************************/
|
|
/* 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. */
|
|
/*************************************************************************/
|
|
|
|
#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 {
|
|
|
|
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;
|
|
}
|
|
};
|
|
|
|
bool test_abc() {
|
|
ABCX abcx;
|
|
PoolVector<int> path = abcx.get_id_path(ABCX::A, ABCX::C);
|
|
bool ok = path.size() == 3;
|
|
int i = 0;
|
|
ok = ok && path[i++] == ABCX::A;
|
|
ok = ok && path[i++] == ABCX::B;
|
|
ok = ok && path[i++] == ABCX::C;
|
|
return ok;
|
|
}
|
|
|
|
bool test_abcx() {
|
|
ABCX abcx;
|
|
PoolVector<int> path = abcx.get_id_path(ABCX::X, ABCX::C);
|
|
bool ok = path.size() == 4;
|
|
int i = 0;
|
|
ok = ok && path[i++] == ABCX::X;
|
|
ok = ok && path[i++] == ABCX::A;
|
|
ok = ok && path[i++] == ABCX::B;
|
|
ok = ok && path[i++] == ABCX::C;
|
|
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
|
|
};
|
|
|
|
MainLoop *test() {
|
|
int count = 0;
|
|
int passed = 0;
|
|
|
|
while (true) {
|
|
if (!test_funcs[count])
|
|
break;
|
|
bool pass = test_funcs[count]();
|
|
if (pass)
|
|
passed++;
|
|
OS::get_singleton()->print("\t%s\n", pass ? "PASS" : "FAILED");
|
|
|
|
count++;
|
|
}
|
|
OS::get_singleton()->print("\n");
|
|
OS::get_singleton()->print("Passed %i of %i tests\n", passed, count);
|
|
return NULL;
|
|
}
|
|
|
|
} // namespace TestAStar
|