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Changed A* exit condition, added 2 tests for it

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A* now exits when next node from open set with least cost happens to be end_point,
not when node with least cost has end_point as a neigbour.

Added two tests for astar:
* ABC tests case where start and end node are
neigbours
* ABCX tests case with intermediate nodes
This commit is contained in:
Maykeye 2018-08-27 22:58:22 +06:00
parent 2428ec6205
commit 40562a67c8
4 changed files with 169 additions and 17 deletions
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22
core/math/a_star.cpp
View file

@ -249,14 +249,9 @@ bool AStar::_solve(Point *begin_point, Point *end_point) {
n->distance = _compute_cost(begin_point->id, n->id) * n->weight_scale;
n->last_pass = pass;
open_list.add(&n->list);
if (end_point == n) {
found_route = true;
break;
}
}
while (!found_route) {
while (true) {
if (open_list.first() == NULL) {
// No path found
@ -276,13 +271,16 @@ bool AStar::_solve(Point *begin_point, Point *end_point) {
cost += _estimate_cost(p->id, end_point->id);
if (cost < least_cost) {
least_cost_point = E;
least_cost = cost;
}
}
Point *p = least_cost_point->self();
if (p == end_point) {
found_route = true;
break;
}
for (Set<Point *>::Element *E = p->neighbours.front(); E; E = E->next()) {
@ -294,7 +292,6 @@ bool AStar::_solve(Point *begin_point, Point *end_point) {
// Already visited, is this cheaper?
if (e->distance > distance) {
e->prev_point = p;
e->distance = distance;
}
@ -305,18 +302,9 @@ bool AStar::_solve(Point *begin_point, Point *end_point) {
e->distance = distance;
e->last_pass = pass; // Mark as used
open_list.add(&e->list);
if (e == end_point) {
// End reached; stop algorithm
found_route = true;
break;
}
}
}
if (found_route)
break;
open_list.remove(least_cost_point);
}

116
main/tests/test_astar.cpp Normal file
View file

@ -0,0 +1,116 @@
/*************************************************************************/
/* test_astar.cpp */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
/* https://godotengine.org */
/*************************************************************************/
/* Copyright (c) 2007-2018 Juan Linietsky, Ariel Manzur. */
/* Copyright (c) 2014-2018 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 "a_star.h"
#include "os/os.h"
#include <stdio.h>
#include "test_astar.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;
}
typedef bool (*TestFunc)(void);
TestFunc test_funcs[] = {
test_abc,
test_abcx,
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

41
main/tests/test_astar.h Normal file
View file

@ -0,0 +1,41 @@
/*************************************************************************/
/* test_astar.h */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
/* https://godotengine.org */
/*************************************************************************/
/* Copyright (c) 2007-2018 Juan Linietsky, Ariel Manzur. */
/* Copyright (c) 2014-2018 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 "os/main_loop.h"
namespace TestAStar {
MainLoop *test();
}
#endif

7
main/tests/test_main.cpp
View file

@ -33,6 +33,7 @@
#ifdef DEBUG_ENABLED
#include "test_astar.h"
#include "test_gdscript.h"
#include "test_gui.h"
#include "test_image.h"
@ -64,6 +65,7 @@ const char **tests_get_names() {
"gd_bytecode",
"image",
"ordered_hash_map",
"astar",
NULL
};
@ -149,6 +151,11 @@ MainLoop *test_main(String p_test, const List<String> &p_args) {
return TestOrderedHashMap::test();
}
if (p_test == "astar") {
return TestAStar::test();
}
return NULL;
}