char *test_astar() {
ASPathNodeSource graph = {
sizeof(int),
&t_buildNeighbors,
&t_heuristic,
NULL,
NULL
};
int from = 0;
int to = 2;
ASPath path = ASPathCreate(&graph, NULL, &from, &to);
mu_assert("astar: cost from 0 to 2 is not correct", equal(ASPathGetCost(path), 2));
ASPathDestroy(path);
to = 5;
path = ASPathCreate(&graph, NULL, &from, &to);
mu_assert("astar: cost from 0 to 5 is not correct", equal(ASPathGetCost(path), 5));
ASPathDestroy(path);
return 0;
}
int AIGoto(TActor *actor, Vec2i p, bool ignoreObjects)
{
Vec2i a = Vec2iFull2Real(actor->Pos);
Vec2i currentTile = Vec2iToTile(a);
Vec2i goalTile = Vec2iToTile(p);
AIGotoContext *c = &actor->aiContext->Goto;
// If we are already there, bail
// This can happen if AI is trying to track the player,
// but the player has died, for example.
if (Vec2iEqual(currentTile, goalTile))
{
return 0;
}
// If we are currently following an A* path,
// and it is still valid, keep following it until
// we have reached a new tile
if (c && c->IsFollowing && AStarCloseToPath(c, currentTile, goalTile))
{
return AStarFollow(c, currentTile, &actor->tileItem, a);
}
else if (AIHasClearPath(a, p, ignoreObjects))
{
// Simple case: if there's a clear line between AI and target,
// walk straight towards it
return AIGotoDirect(a, p);
}
else
{
// We need to recalculate A*
AStarContext ac;
ac.Map = &gMap;
ac.IsTileOk =
ignoreObjects ? IsTileWalkable : IsTileWalkableAroundObjects;
// First, if the goal tile is blocked itself,
// find a nearby tile that can be walked to
c->Goal = MapSearchTileAround(ac.Map, goalTile, ac.IsTileOk);
c->PathIndex = 1; // start navigating to the next path node
ASPathDestroy(c->Path);
c->Path = ASPathCreate(
&cPathNodeSource, &ac, ¤tTile, &c->Goal);
// In case we can't calculate A* for some reason,
// try simple navigation again
if (ASPathGetCount(c->Path) <= 1)
{
debug(
D_MAX,
"Error: can't calculate path from {%d, %d} to {%d, %d}",
currentTile.x, currentTile.y,
goalTile.x, goalTile.y);
return AIGotoDirect(a, p);
}
return AStarFollow(c, currentTile, &actor->tileItem, a);
}
}
// Use pathfinding to check that there is a path between
// source and destination tiles
bool AIHasPath(const Vec2i from, const Vec2i to, const bool ignoreObjects)
{
// Quick first test: check there is a clear path
if (AIHasClearPath(from, to, ignoreObjects))
{
return true;
}
// Pathfind
AStarContext ac;
ac.Map = &gMap;
ac.IsTileOk = ignoreObjects ? IsTileWalkable : IsTileWalkableAroundObjects;
Vec2i fromTile = Vec2iToTile(from);
Vec2i toTile = MapSearchTileAround(ac.Map, Vec2iToTile(to), ac.IsTileOk);
ASPath path = ASPathCreate(&cPathNodeSource, &ac, &fromTile, &toTile);
size_t pathCount = ASPathGetCount(path);
ASPathDestroy(path);
return pathCount > 1;
}
double stFunc(TraceNode *p1, TraceNode *p2,
Candidate *c1, Candidate *c2, NodeSet *searched) {
double s;
double t;
ASPathNodeSource graph = {
sizeof(Node),
&buildNeighbors,
&heuristic,
NULL,
NULL
};
ASPath path = ASPathCreate(&graph, searched, c1->prevNode, c2->nextNode);
if(path == NULL) { return -10000; }
s = spatialFunc(&p1->data, &p2->data, c1, c2, path);
t = temporalFunc(path, p1, p2);
ASPathDestroy(path);
return s * t;
}
/* This test it to test my function getEdges, which is to extract edges
* from the 3rd party astar algorithm result */
char *test_astar_getedges() {
ASPathNodeSource graph = {
sizeof(Node),
&buildNeighbors,
&heuristic,
NULL,
NULL
};
NodeSet set;
Node n0;
Node n1;
Node n2;
Node n3;
Node n4;
Node *noderefs[5] = {&n0, &n1, &n2, &n3, &n4};
Edge e0;
Edge e1;
Edge e2;
Edge e3;
Edge e4;
Edge e5;
Edge *oel0[2] = {&e0, &e1};
Edge *oel1[2] = {&e4, &e5};
Edge *oel2[1] = {&e2};
Edge *oel3[1] = {&e3};
Edge *oel4[1];
Edge *iel0[1];
Edge *iel1[1] = {&e0};
Edge *iel2[2] = {&e1, &e5};
Edge *iel3[1] = {&e4};
Edge *iel4[2] = {&e2, &e3};
ASPath path;
n0.id = 0;
n1.id = 1;
n2.id = 2;
n3.id = 3;
n4.id = 4;
n0.outdegree = 2;
n1.outdegree = 2;
n2.outdegree = 1;
n3.outdegree = 1;
n4.outdegree = 0;
n0.indegree = 0;
n1.indegree = 1;
n2.indegree = 2;
n3.indegree = 1;
n4.indegree = 2;
n0.outedges = oel0;
n1.outedges = oel1;
n2.outedges = oel2;
n3.outedges = oel3;
n4.outedges = oel4;
n0.inedges = iel0;
n1.inedges = iel1;
n2.inedges = iel2;
n3.inedges = iel3;
n4.inedges = iel4;
e0.id = 0;
e1.id = 1;
e2.id = 2;
e3.id = 3;
e4.id = 4;
e5.id = 5;
e0.length = 1;
e1.length = 2;
e2.length = 2;
e3.length = 1;
e4.length = 1;
e5.length = 2;
e0.head = &n0;
e1.head = &n0;
e2.head = &n2;
e3.head = &n3;
e4.head = &n1;
e5.head = &n1;
e0.tail = &n1;
e1.tail = &n2;
e2.tail = &n4;
e3.tail = &n4;
e4.tail = &n3;
e5.tail = &n2;
set.count = 5;
set.refs = noderefs;
path = ASPathCreate(&graph, &set, &n0, &n4);
mu_assert("astar get edges: count incorrect ", getEdgeCount(path) == 3);
mu_assert("astar get edges: total length incorrect",
equal(ASPathGetCost(path), 3));
mu_assert("astar get edges: 3 incorrect ", getEdges(path)[2]->id == 3);
path = ASPathCreate(&graph, &set, &n4, &n0);
printf("%lf", ASPathGetCost(path));
ASPathDestroy(path);
return 0;
}