363 lines
10 KiB
C++
363 lines
10 KiB
C++
/*************************************************************************/
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/* test_astar.h */
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/*************************************************************************/
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/* This file is part of: */
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/* GODOT ENGINE */
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/* https://godotengine.org */
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/*************************************************************************/
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/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur. */
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/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md). */
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/* */
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/* Permission is hereby granted, free of charge, to any person obtaining */
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/* a copy of this software and associated documentation files (the */
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/* "Software"), to deal in the Software without restriction, including */
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/* without limitation the rights to use, copy, modify, merge, publish, */
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/* distribute, sublicense, and/or sell copies of the Software, and to */
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/* permit persons to whom the Software is furnished to do so, subject to */
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/* the following conditions: */
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/* */
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/* The above copyright notice and this permission notice shall be */
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/* included in all copies or substantial portions of the Software. */
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/* */
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/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
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/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
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/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
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/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
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/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
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/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
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/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
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/*************************************************************************/
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#ifndef TEST_ASTAR_H
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#define TEST_ASTAR_H
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#include "core/math/a_star.h"
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#include "tests/test_macros.h"
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namespace TestAStar {
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class ABCX : public AStar3D {
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public:
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enum {
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A,
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B,
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C,
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X,
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};
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ABCX() {
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add_point(A, Vector3(0, 0, 0));
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add_point(B, Vector3(1, 0, 0));
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add_point(C, Vector3(0, 1, 0));
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add_point(X, Vector3(0, 0, 1));
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connect_points(A, B);
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connect_points(A, C);
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connect_points(B, C);
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connect_points(X, A);
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}
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// Disable heuristic completely.
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real_t _compute_cost(int p_from, int p_to) {
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if (p_from == A && p_to == C) {
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return 1000;
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}
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return 100;
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}
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};
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TEST_CASE("[AStar3D] ABC path") {
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ABCX abcx;
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Vector<int> path = abcx.get_id_path(ABCX::A, ABCX::C);
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REQUIRE(path.size() == 3);
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CHECK(path[0] == ABCX::A);
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CHECK(path[1] == ABCX::B);
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CHECK(path[2] == ABCX::C);
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}
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TEST_CASE("[AStar3D] ABCX path") {
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ABCX abcx;
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Vector<int> path = abcx.get_id_path(ABCX::X, ABCX::C);
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REQUIRE(path.size() == 4);
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CHECK(path[0] == ABCX::X);
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CHECK(path[1] == ABCX::A);
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CHECK(path[2] == ABCX::B);
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CHECK(path[3] == ABCX::C);
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}
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TEST_CASE("[AStar3D] Add/Remove") {
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AStar3D a;
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// Manual tests.
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a.add_point(1, Vector3(0, 0, 0));
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a.add_point(2, Vector3(0, 1, 0));
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a.add_point(3, Vector3(1, 1, 0));
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a.add_point(4, Vector3(2, 0, 0));
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a.connect_points(1, 2, true);
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a.connect_points(1, 3, true);
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a.connect_points(1, 4, false);
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CHECK(a.are_points_connected(2, 1));
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CHECK(a.are_points_connected(4, 1));
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CHECK(a.are_points_connected(2, 1, false));
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CHECK_FALSE(a.are_points_connected(4, 1, false));
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a.disconnect_points(1, 2, true);
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CHECK(a.get_point_connections(1).size() == 2); // 3, 4
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CHECK(a.get_point_connections(2).size() == 0);
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a.disconnect_points(4, 1, false);
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CHECK(a.get_point_connections(1).size() == 2); // 3, 4
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CHECK(a.get_point_connections(4).size() == 0);
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a.disconnect_points(4, 1, true);
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CHECK(a.get_point_connections(1).size() == 1); // 3
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CHECK(a.get_point_connections(4).size() == 0);
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a.connect_points(2, 3, false);
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CHECK(a.get_point_connections(2).size() == 1); // 3
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CHECK(a.get_point_connections(3).size() == 1); // 1
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a.connect_points(2, 3, true);
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CHECK(a.get_point_connections(2).size() == 1); // 3
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CHECK(a.get_point_connections(3).size() == 2); // 1, 2
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a.disconnect_points(2, 3, false);
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CHECK(a.get_point_connections(2).size() == 0);
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CHECK(a.get_point_connections(3).size() == 2); // 1, 2
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a.connect_points(4, 3, true);
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CHECK(a.get_point_connections(3).size() == 3); // 1, 2, 4
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CHECK(a.get_point_connections(4).size() == 1); // 3
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a.disconnect_points(3, 4, false);
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CHECK(a.get_point_connections(3).size() == 2); // 1, 2
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CHECK(a.get_point_connections(4).size() == 1); // 3
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a.remove_point(3);
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CHECK(a.get_point_connections(1).size() == 0);
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CHECK(a.get_point_connections(2).size() == 0);
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CHECK(a.get_point_connections(4).size() == 0);
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a.add_point(0, Vector3(0, -1, 0));
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a.add_point(3, Vector3(2, 1, 0));
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// 0: (0, -1)
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// 1: (0, 0)
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// 2: (0, 1)
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// 3: (2, 1)
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// 4: (2, 0)
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// Tests for get_closest_position_in_segment.
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a.connect_points(2, 3);
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CHECK(a.get_closest_position_in_segment(Vector3(0.5, 0.5, 0)) == Vector3(0.5, 1, 0));
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a.connect_points(3, 4);
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a.connect_points(0, 3);
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a.connect_points(1, 4);
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a.disconnect_points(1, 4, false);
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a.disconnect_points(4, 3, false);
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a.disconnect_points(3, 4, false);
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// Remaining edges: <2, 3>, <0, 3>, <1, 4> (directed).
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CHECK(a.get_closest_position_in_segment(Vector3(2, 0.5, 0)) == Vector3(1.75, 0.75, 0));
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CHECK(a.get_closest_position_in_segment(Vector3(-1, 0.2, 0)) == Vector3(0, 0, 0));
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CHECK(a.get_closest_position_in_segment(Vector3(3, 2, 0)) == Vector3(2, 1, 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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int u = Math::rand() % 5;
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int v = Math::rand() % 4;
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if (u == v) {
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v = 4;
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}
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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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CHECK(a.are_points_connected(u, v, false));
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} else {
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// Remove a (possibly nonexistent) directed edge and confirm disconnectivity.
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a.disconnect_points(u, v, false);
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CHECK_FALSE(a.are_points_connected(u, v, false));
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}
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}
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// Random tests for point removal.
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for (int i = 0; i < 20000; i++) {
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a.clear();
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for (int j = 0; j < 5; j++) {
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a.add_point(j, Vector3(0, 0, 0));
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}
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// Add or remove random edges.
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for (int j = 0; j < 10; j++) {
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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) {
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v = 4;
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}
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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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}
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}
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// Remove point 0.
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a.remove_point(0);
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// White box: this will check all edges remaining in the segments set.
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for (int j = 1; j < 5; j++) {
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CHECK_FALSE(a.are_points_connected(0, j, true));
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}
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}
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// It's been great work, cheers. \(^ ^)/
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}
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TEST_CASE("[Stress][AStar3D] Find paths") {
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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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AStar3D 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) {
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v = N - 1;
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}
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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) {
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adj[v][u] = true;
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}
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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) {
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adj[v][u] = false;
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}
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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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}
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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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}
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}
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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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}
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}
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}
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}
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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]) {
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count++;
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}
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}
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}
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print_verbose(vformat("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])) {
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count++;
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}
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}
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}
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print_verbose(vformat("%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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Vector<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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print_verbose(vformat("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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print_verbose(vformat("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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print_verbose(vformat("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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print_verbose(vformat("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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}
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}
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exit:
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CHECK_MESSAGE(match, "Found all paths.");
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}
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}
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} // namespace TestAStar
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#endif // TEST_ASTAR_H
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