Add stress test between A* and Floyd-Warshall
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Shiqing
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@ -31,8 +31,10 @@
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#include "test_astar.h"
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#include "core/math/a_star.h"
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#include "core/math/math_funcs.h"
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#include "core/os/os.h"
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#include <math.h>
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#include <stdio.h>
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namespace TestAStar {
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@ -165,18 +167,14 @@ bool test_add_remove() {
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ok = ok && (a.get_closest_position_in_segment(Vector3(-1, 0.2, 0)) == Vector3(0, 0, 0));
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ok = ok && (a.get_closest_position_in_segment(Vector3(3, 2, 0)) == Vector3(2, 1, 0));
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int seed = 0;
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Math::seed(0);
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// Random tests for connectivity checks
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for (int i = 0; i < 20000; i++) {
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seed = (seed * 1103515245 + 12345) & 0x7fffffff;
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int u = (seed / 5) % 5;
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int v = seed % 5;
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if (u == v) {
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i--;
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continue;
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}
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if (seed % 2 == 1) {
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int u = Math::rand() % 5;
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int v = Math::rand() % 4;
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if (u == v) v = 4;
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if (Math::rand() % 2 == 1) {
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// Add a (possibly existing) directed edge and confirm connectivity
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a.connect_points(u, v, false);
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ok = ok && (a.are_points_connected(u, v, false) == true);
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@ -195,14 +193,10 @@ bool test_add_remove() {
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// Add or remove random edges
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for (int j = 0; j < 10; j++) {
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seed = (seed * 1103515245 + 12345) & 0x7fffffff;
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int u = (seed / 5) % 5;
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int v = seed % 5;
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if (u == v) {
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j--;
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continue;
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}
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if (seed % 2 == 1)
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int u = Math::rand() % 5;
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int v = Math::rand() % 4;
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if (u == v) v = 4;
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if (Math::rand() % 2 == 1)
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a.connect_points(u, v, false);
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else
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a.disconnect_points(u, v, false);
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@ -220,12 +214,143 @@ bool test_add_remove() {
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return ok;
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}
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bool test_solutions() {
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// Random stress tests with Floyd-Warshall
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const int N = 30;
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Math::seed(0);
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for (int test = 0; test < 1000; test++) {
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AStar a;
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Vector3 p[N];
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bool adj[N][N] = { { false } };
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// Assign initial coordinates
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for (int u = 0; u < N; u++) {
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p[u].x = Math::rand() % 100;
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p[u].y = Math::rand() % 100;
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p[u].z = Math::rand() % 100;
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a.add_point(u, p[u]);
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}
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// Generate a random sequence of operations
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for (int i = 0; i < 1000; i++) {
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// Pick two different vertices
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int u, v;
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u = Math::rand() % N;
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v = Math::rand() % (N - 1);
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if (u == v) v = N - 1;
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// Pick a random operation
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int op = Math::rand();
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switch (op % 9) {
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case 0:
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case 1:
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case 2:
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case 3:
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case 4:
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case 5:
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// Add edge (u, v); possibly bidirectional
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a.connect_points(u, v, op % 2);
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adj[u][v] = true;
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if (op % 2) adj[v][u] = true;
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break;
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case 6:
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case 7:
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// Remove edge (u, v); possibly bidirectional
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a.disconnect_points(u, v, op % 2);
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adj[u][v] = false;
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if (op % 2) adj[v][u] = false;
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break;
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case 8:
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// Remove point u and add it back; clears adjacent edges and changes coordinates
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a.remove_point(u);
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p[u].x = Math::rand() % 100;
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p[u].y = Math::rand() % 100;
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p[u].z = Math::rand() % 100;
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a.add_point(u, p[u]);
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for (v = 0; v < N; v++)
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adj[u][v] = adj[v][u] = false;
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break;
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}
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}
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// Floyd-Warshall
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float d[N][N];
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for (int u = 0; u < N; u++)
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for (int v = 0; v < N; v++)
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d[u][v] = (u == v || adj[u][v]) ? p[u].distance_to(p[v]) : INFINITY;
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for (int w = 0; w < N; w++)
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for (int u = 0; u < N; u++)
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for (int v = 0; v < N; v++)
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if (d[u][v] > d[u][w] + d[w][v])
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d[u][v] = d[u][w] + d[w][v];
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// Display statistics
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int count = 0;
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for (int u = 0; u < N; u++)
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for (int v = 0; v < N; v++)
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if (adj[u][v]) count++;
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printf("Test #%4d: %3d edges, ", test + 1, count);
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count = 0;
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for (int u = 0; u < N; u++)
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for (int v = 0; v < N; v++)
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if (!Math::is_inf(d[u][v])) count++;
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printf("%3d/%d pairs of reachable points\n", count - N, N * (N - 1));
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// Check A*'s output
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bool match = true;
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for (int u = 0; u < N; u++)
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for (int v = 0; v < N; v++)
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if (u != v) {
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PoolVector<int> route = a.get_id_path(u, v);
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if (!Math::is_inf(d[u][v])) {
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// Reachable
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if (route.size() == 0) {
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printf("From %d to %d: A* did not find a path\n", u, v);
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match = false;
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goto exit;
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}
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float astar_dist = 0;
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for (int i = 1; i < route.size(); i++) {
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if (!adj[route[i - 1]][route[i]]) {
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printf("From %d to %d: edge (%d, %d) does not exist\n",
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u, v, route[i - 1], route[i]);
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match = false;
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goto exit;
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}
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astar_dist += p[route[i - 1]].distance_to(p[route[i]]);
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}
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if (!Math::is_equal_approx(astar_dist, d[u][v])) {
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printf("From %d to %d: Floyd-Warshall gives %.6f, A* gives %.6f\n",
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u, v, d[u][v], astar_dist);
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match = false;
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goto exit;
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}
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} else {
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// Unreachable
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if (route.size() > 0) {
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printf("From %d to %d: A* somehow found a nonexistent path\n", u, v);
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match = false;
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goto exit;
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}
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}
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}
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exit:
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if (!match) return false;
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}
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return true;
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}
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typedef bool (*TestFunc)(void);
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TestFunc test_funcs[] = {
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test_abc,
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test_abcx,
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test_add_remove,
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test_solutions,
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NULL
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};
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