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Differential D1882 Diff 9566 source/simulation2/components/tests/test_HierPathfinder.h

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source/simulation2/components/tests/test_HierPathfinder.h

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check_closest_passable(5 * 5 + 3, 7 * 5 + 2, 2); check_closest_passable(5 * 5 + 3, 7 * 5 + 2, 2);
#undef check_closest_passable #undef check_closest_passable
PathGoal goal; PathGoal goal;
goal.type = PathGoal::POINT; goal.type = PathGoal::POINT;
// from the left of the C, goal is unreachable, expect closest navcell to goal // from the left of the C, goal is unreachable, expect closest navcell to goal
oi = 5 * 5 + 3; oj = 3 * 5 + 3; oi = 5 * 5 + 3; oj = 3 * 5 + 3;
pi = 5 * 5 + 3; pj = 7 * 5 + 2; goal.x = fixed::FromInt(pi); goal.z = fixed::FromInt(pj); pi = 5 * 5 + 3; pj = 6 * 5 + 2; goal.x = fixed::FromInt(pi); goal.z = fixed::FromInt(pj);
hierPath.MakeGoalReachable(oi, oj, goal, PASS_1); hierPath.MakeGoalReachable(oi, oj, goal, PASS_1);
hierPath.FindNearestPassableNavcell(pi, pj, PASS_1); hierPath.FindNearestPassableNavcell(pi, pj, PASS_1);
TS_ASSERT(pi == goal.x.ToInt_RoundToNegInfinity() && pj == goal.z.ToInt_RoundToNegInfinity()); TS_ASSERT_EQUALS(pi, goal.x.ToInt_RoundToNegInfinity());
TS_ASSERT_EQUALS(pj, goal.z.ToInt_RoundToNegInfinity());
// random reachable point. // random reachable point.
oi = 5 * 5 + 3; oj = 3 * 5 + 3; oi = 5 * 5 + 3; oj = 3 * 5 + 3;
pi = 26 * 5 + 3; pj = 5 * 5 + 2; goal.x = fixed::FromInt(pi) + fixed::FromInt(1)/3; goal.z = fixed::FromInt(pj) + fixed::FromInt(1)/3; pi = 26 * 5 + 3; pj = 5 * 5 + 2; goal.x = fixed::FromInt(pi) + fixed::FromInt(1)/3; goal.z = fixed::FromInt(pj) + fixed::FromInt(1)/3;
hierPath.MakeGoalReachable(oi, oj, goal, PASS_1); hierPath.MakeGoalReachable(oi, oj, goal, PASS_1);
TS_ASSERT(pi == goal.x.ToInt_RoundToNegInfinity() && pj == goal.z.ToInt_RoundToNegInfinity()); TS_ASSERT(pi == goal.x.ToInt_RoundToNegInfinity() && pj == goal.z.ToInt_RoundToNegInfinity());
// top-left corner // top-left corner
▲ Show 20 Lines • Show All 56 Lines • ▼ Show 20 Lines#undef check_closest_passable
// Huge Circle goal, expect point closest to us. // Huge Circle goal, expect point closest to us.
goal.type = PathGoal::CIRCLE; goal.type = PathGoal::CIRCLE;
goal.hw = fixed::FromInt(20); goal.hw = fixed::FromInt(20);
oi = 5 * 5 + 3; oj = 3 * 5 + 3; oi = 5 * 5 + 3; oj = 3 * 5 + 3;
pi = 36 * 5 + 3; pj = 7 * 5 + 2; goal.x = fixed::FromInt(pi); goal.z = fixed::FromInt(pj); pi = 36 * 5 + 3; pj = 7 * 5 + 2; goal.x = fixed::FromInt(pi); goal.z = fixed::FromInt(pj);
hierPath.MakeGoalReachable(oi, oj, goal, PASS_1); hierPath.MakeGoalReachable(oi, oj, goal, PASS_1);
// bit of leeway for cell placement // bit of leeway for cell placement
TS_ASSERT(std::fabs(euclidian(goal.x.ToInt_RoundToNegInfinity(), goal.z.ToInt_RoundToNegInfinity(), pi, pj)-20) < 1.5f); TS_ASSERT(std::fabs(euclidian(goal.x.ToInt_RoundToNegInfinity(), goal.z.ToInt_RoundToNegInfinity(), pi, pj)-20) < 1.5f);
TS_ASSERT(std::fabs(euclidian(goal.x.ToInt_RoundToNegInfinity(), goal.z.ToInt_RoundToNegInfinity(), oi, oj) - euclidian(pi, pj, oi, oj)) < 22.0f); TS_ASSERT(std::fabs(euclidian(goal.x.ToInt_RoundToNegInfinity(), goal.z.ToInt_RoundToNegInfinity(), oi, oj) - euclidian(pi, pj, oi, oj)) < 22.0f);
} }
void test_regions_flood_fill() void test_regions_flood_fill()
{ {
// Partial test of region inner flood filling. // Partial test of region inner flood filling.
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