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#include "../kit/astar.h"
#define KIT_TEST_FILE astar
#include "../kit/test.h"
#include <stdio.h>
enum {
WIDTH = 8,
HEIGHT = 5,
};
static astar_link_t neighbor(i8 *grid, i64 a, i64 n) {
i64 x = a % WIDTH;
i64 y = a / WIDTH;
if (n == 0)
--x;
else if (n == 1)
++x;
else if (n == 2)
--y;
else if (n == 3)
++y;
else
return (astar_link_t) {
.stop = 1,
};
i64 m = (y * WIDTH) + x;
if (x < 0 || x >= WIDTH || y < 0 || y >= HEIGHT || m < 0 ||
m >= WIDTH * HEIGHT || grid[m] == 1)
return (astar_link_t) {
.stop = 0,
.skip = 1,
};
return (astar_link_t) {
.stop = 0,
.skip = 0,
.neighbor = m,
.distance = 1,
};
}
static i64 heuristic(i64 a, i64 b) {
i64 x0 = a % WIDTH;
i64 y0 = a / WIDTH;
i64 x1 = b % WIDTH;
i64 y1 = b / WIDTH;
i64 dx = x0 < x1 ? x1 - x0 : x0 - x1;
i64 dy = y0 < y1 ? y1 - y0 : y0 - y1;
return dx + dy;
}
#define ASTAR_TEMPLATE
#define ASTAR_SUFFIX _test
#define ASTAR_NEIGHBOR(data, a, n) neighbor((i8 *) data, a, n)
#define ASTAR_HEURISTIC(data, a, b) heuristic(a, b)
#include "../kit/astar.h"
static i64 xy(i64 x, i64 y) {
return y * WIDTH + x;
}
TEST("astar path exists") {
astar_node_t buf[200];
astar_set_t sets[2] = {
{ .capacity = 100, .size = 0, .values = buf },
{ .capacity = 100, .size = 0, .values = buf + 100 },
};
i8 grid[WIDTH * HEIGHT] = {
0, 0, 0, 0, 0, 0, 0, 0, //
1, 1, 0, 1, 1, 0, 1, 0, //
1, 1, 0, 0, 1, 0, 1, 0, //
0, 0, 0, 1, 1, 1, 1, 0, //
1, 1, 0, 0, 0, 0, 0, 0, //
};
astar_state_t state;
REQUIRE_EQ(
astar_init(&state, sets[0], sets[1], grid, xy(0, 0), xy(5, 2)),
KIT_OK);
s32 status;
for (;;) {
status = astar_iteration_test(&state);
if (status != ASTAR_PROGRESS)
break;
}
REQUIRE_EQ(status, ASTAR_SUCCESS);
i64 path_size = 10;
i64 path[10];
REQUIRE_EQ(astar_path(&state, &path_size, path), KIT_OK);
REQUIRE_EQ(path_size, 8);
if (path_size == 8) {
REQUIRE_EQ(path[0], xy(0, 0));
REQUIRE_EQ(path[1], xy(1, 0));
REQUIRE_EQ(path[2], xy(2, 0));
REQUIRE_EQ(path[3], xy(3, 0));
REQUIRE_EQ(path[4], xy(4, 0));
REQUIRE_EQ(path[5], xy(5, 0));
REQUIRE_EQ(path[6], xy(5, 1));
REQUIRE_EQ(path[7], xy(5, 2));
}
}
TEST("astar no path") {
astar_node_t buf[200];
astar_set_t sets[2] = {
{ .capacity = 100, .size = 0, .values = buf },
{ .capacity = 100, .size = 0, .values = buf + 100 },
};
i8 grid[WIDTH * HEIGHT] = {
0, 0, 0, 0, 1, 0, 0, 0, //
1, 1, 0, 1, 1, 0, 1, 1, //
1, 1, 0, 0, 1, 0, 1, 0, //
0, 0, 0, 1, 1, 1, 1, 0, //
1, 1, 0, 0, 0, 0, 0, 0, //
};
astar_state_t state;
REQUIRE_EQ(
astar_init(&state, sets[0], sets[1], grid, xy(0, 0), xy(5, 2)),
KIT_OK);
s32 status;
for (;;) {
status = astar_iteration_test(&state);
if (status != ASTAR_PROGRESS)
break;
}
REQUIRE_EQ(status, ASTAR_FAIL);
}
TEST("astar empty path") {
astar_node_t buf[200];
astar_set_t sets[2] = {
{ .capacity = 100, .size = 0, .values = buf },
{ .capacity = 100, .size = 0, .values = buf + 100 },
};
i8 grid[WIDTH * HEIGHT] = {
0, 0, 0, 0, 1, 0, 0, 0, //
1, 1, 0, 1, 1, 0, 1, 1, //
1, 1, 0, 0, 1, 0, 1, 0, //
0, 0, 0, 1, 1, 1, 1, 0, //
1, 1, 0, 0, 0, 0, 0, 0, //
};
astar_state_t state;
REQUIRE_EQ(
astar_init(&state, sets[0], sets[1], grid, xy(4, 3), xy(4, 3)),
KIT_OK);
s32 status;
for (;;) {
status = astar_iteration_test(&state);
if (status != ASTAR_PROGRESS)
break;
}
REQUIRE_EQ(status, ASTAR_SUCCESS);
i64 path_size = 10;
i64 path[10];
REQUIRE_EQ(astar_path(&state, &path_size, path), KIT_OK);
REQUIRE_EQ(path_size, 1);
if (path_size == 1)
REQUIRE_EQ(path[0], xy(4, 3));
}
#undef KIT_TEST_FILE
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