d95794ec8a
As many open source projects have started doing it, we're removing the current year from the copyright notice, so that we don't need to bump it every year. It seems like only the first year of publication is technically relevant for copyright notices, and even that seems to be something that many companies stopped listing altogether (in a version controlled codebase, the commits are a much better source of date of publication than a hardcoded copyright statement). We also now list Godot Engine contributors first as we're collectively the current maintainers of the project, and we clarify that the "exclusive" copyright of the co-founders covers the timespan before opensourcing (their further contributions are included as part of Godot Engine contributors). Also fixed "cf." Frenchism - it's meant as "refer to / see".
362 lines
10 KiB
C++
362 lines
10 KiB
C++
/**************************************************************************/
|
|
/* test_astar.h */
|
|
/**************************************************************************/
|
|
/* This file is part of: */
|
|
/* GODOT ENGINE */
|
|
/* https://godotengine.org */
|
|
/**************************************************************************/
|
|
/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */
|
|
/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */
|
|
/* */
|
|
/* 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 "tests/test_macros.h"
|
|
|
|
namespace TestAStar {
|
|
|
|
class ABCX : public AStar3D {
|
|
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.
|
|
real_t _compute_cost(int64_t p_from, int64_t p_to) {
|
|
if (p_from == A && p_to == C) {
|
|
return 1000;
|
|
}
|
|
return 100;
|
|
}
|
|
};
|
|
|
|
TEST_CASE("[AStar3D] ABC path") {
|
|
ABCX abcx;
|
|
Vector<int64_t> 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("[AStar3D] ABCX path") {
|
|
ABCX abcx;
|
|
Vector<int64_t> 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("[AStar3D] Add/Remove") {
|
|
AStar3D 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][AStar3D] Find paths") {
|
|
// Random stress tests with Floyd-Warshall.
|
|
const int N = 30;
|
|
Math::seed(0);
|
|
|
|
for (int test = 0; test < 1000; test++) {
|
|
AStar3D 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<int64_t> 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
|