Bensuperpc/astar
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Bensuperpc
2026-01-24 18:22:57 +01:00
parent 511816adea
commit 4465a756ef
5 changed files with 88 additions and 68 deletions
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test/source/benchmark/astar_bench.cpp
+8 -5
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@@ -49,7 +49,6 @@ static void astar_bench(benchmark::State& state) {
AStar::AStar<CoordinateType, false> pathFinder;
benchmark::DoNotOptimize(pathFinder);
pathFinder.setWorldSize({mapWidth, mapHeight});
pathFinder.setHeuristic(AStar::Heuristic::euclidean);
pathFinder.setDiagonalMovement(true);
@@ -62,15 +61,12 @@ static void astar_bench(benchmark::State& state) {
blocks[index] = 0;
} else {
blocks[index] = 1;
pathFinder.addObstacle({static_cast<int32_t>(x), static_cast<int32_t>(y)});
}
}
}
blocks[0] = 0;
pathFinder.removeObstacle({0, 0});
blocks[mapWidth * mapHeight - 1] = 0;
pathFinder.removeObstacle({mapWidth - 1, mapHeight - 1});
AStar::Vec2i source(0, 0);
AStar::Vec2i target(mapWidth - 1, mapHeight - 1);
@@ -78,8 +74,15 @@ static void astar_bench(benchmark::State& state) {
std::vector<AStar::Vec2i> path;
benchmark::DoNotOptimize(path);
std::function<bool(AStar::Vec2i)> isWalkable = [&blocks, mapWidth, mapHeight](AStar::Vec2i pos) {
if (pos.x < 0 || pos.x >= mapWidth || pos.y < 0 || pos.y >= mapHeight) {
return false;
}
return blocks[pos.x + pos.y * mapWidth] == 0;
};
for (auto _ : state) {
path = pathFinder.findPath(source, target);
path = pathFinder.findPath(source, target, {mapWidth, mapHeight}, isWalkable);
state.PauseTiming();
if (path.size() == 0) {
state.SkipWithError("No path found");
test/source/benchmark/path_finder_compare.cpp
+13 -12
View File
@@ -53,7 +53,6 @@ auto main() -> int {
generator_2.setMultiplier((uint32_t)multiplier);
AStar::AStar<uint32_t, false> pathFinder;
pathFinder.setWorldSize({mapWidth, mapHeight});
pathFinder.setHeuristic(AStar::Heuristic::manhattan);
pathFinder.setDiagonalMovement(true);
@@ -95,8 +94,6 @@ auto main() -> int {
generator_2.setWeightedStrength(weighted_strength);
generator_2.setMultiplier((uint32_t)multiplier);
pathFinder.clear();
heightmap = generator_2.generate2dMeightmap(0, 0, 0, screenWidth, 0, screenHeight);
for (uint64_t x = 0; x < mapWidth; x++) {
@@ -108,18 +105,22 @@ auto main() -> int {
blocks[index] = 0;
} else {
blocks[index] = 1;
pathFinder.addObstacle({static_cast<int32_t>(x), static_cast<int32_t>(y)});
}
}
}
blocks[0] = 0;
pathFinder.removeObstacle({0, 0});
blocks[mapWidth * mapHeight - 1] = 0;
pathFinder.removeObstacle({mapWidth - 1, mapHeight - 1});
std::function<bool(AStar::Vec2i)> isWalkable = [&blocks, mapWidth, mapHeight](AStar::Vec2i pos) {
if (pos.x < 0 || pos.x >= mapWidth || pos.y < 0 || pos.y >= mapHeight) {
return false;
}
return blocks[pos.x + pos.y * mapWidth] == 0;
};
pathFinder.setHeuristic(AStar::Heuristic::manhattan);
auto start1 = std::chrono::high_resolution_clock::now();
auto path = pathFinder.findPath({0, 0}, {mapWidth - 1, mapHeight - 1});
auto path = pathFinder.findPath({0, 0}, {mapWidth - 1, mapHeight - 1}, {mapWidth, mapHeight}, isWalkable);
auto stop1 = std::chrono::high_resolution_clock::now();
if (path.empty()) {
std::cout << "Path not found" << std::endl;
@@ -134,7 +135,7 @@ auto main() -> int {
}
pathFinder.setHeuristic(AStar::Heuristic::euclidean);
path = pathFinder.findPath({0, 0}, {mapWidth - 1, mapHeight - 1});
path = pathFinder.findPath({0, 0}, {mapWidth - 1, mapHeight - 1}, {mapWidth, mapHeight}, isWalkable);
euclideanPathSize = path.size();
for (auto& i : path) {
@@ -143,7 +144,7 @@ auto main() -> int {
}
pathFinder.setHeuristic(AStar::Heuristic::octagonal);
path = pathFinder.findPath({0, 0}, {mapWidth - 1, mapHeight - 1});
path = pathFinder.findPath({0, 0}, {mapWidth - 1, mapHeight - 1}, {mapWidth, mapHeight}, isWalkable);
octagonalPathSize = path.size();
for (auto& i : path) {
@@ -152,7 +153,7 @@ auto main() -> int {
}
pathFinder.setHeuristic(AStar::Heuristic::chebyshev);
path = pathFinder.findPath({0, 0}, {mapWidth - 1, mapHeight - 1});
path = pathFinder.findPath({0, 0}, {mapWidth - 1, mapHeight - 1}, {mapWidth, mapHeight}, isWalkable);
chebyshevPathSize = path.size();
for (auto& i : path) {
@@ -161,7 +162,7 @@ auto main() -> int {
}
pathFinder.setHeuristic(AStar::Heuristic::euclideanNoSQR);
path = pathFinder.findPath({0, 0}, {mapWidth - 1, mapHeight - 1});
path = pathFinder.findPath({0, 0}, {mapWidth - 1, mapHeight - 1}, {mapWidth, mapHeight}, isWalkable);
euclideanNoSQRPathSize = path.size();
for (auto& i : path) {
@@ -170,7 +171,7 @@ auto main() -> int {
}
pathFinder.setHeuristic(AStar::Heuristic::dijkstra);
path = pathFinder.findPath({0, 0}, {mapWidth - 1, mapHeight - 1});
path = pathFinder.findPath({0, 0}, {mapWidth - 1, mapHeight - 1}, {mapWidth, mapHeight}, isWalkable);
dijkstraPathSize = path.size();
for (auto& i : path) {
test/source/benchmark/path_finder_visual.cpp
+8 -7
View File
@@ -53,7 +53,6 @@ auto main() -> int {
generator_2.setMultiplier((uint32_t)multiplier);
AStar::AStar<uint32_t, true> pathFinder;
pathFinder.setWorldSize({mapWidth, mapHeight});
pathFinder.setHeuristic(AStar::Heuristic::manhattan);
pathFinder.setDiagonalMovement(true);
@@ -90,8 +89,6 @@ auto main() -> int {
generator_2.setWeightedStrength(weighted_strength);
generator_2.setMultiplier((uint32_t)multiplier);
pathFinder.clear();
heightmap = generator_2.generate2dMeightmap(0, 0, 0, screenWidth, 0, screenHeight);
for (uint64_t x = 0; x < mapWidth; x++) {
@@ -103,14 +100,11 @@ auto main() -> int {
blocks[index] = 0;
} else {
blocks[index] = 1;
pathFinder.addObstacle({static_cast<int32_t>(x), static_cast<int32_t>(y)});
}
}
}
blocks[0] = 0;
pathFinder.removeObstacle({0, 0});
blocks[mapWidth * mapHeight - 1] = 0;
pathFinder.removeObstacle({mapWidth - 1, mapHeight - 1});
pathFinder.setHeuristic(AStar::Heuristic::euclidean);
@@ -128,8 +122,15 @@ auto main() -> int {
pathFinder.setDebugOpenNode(debugOpenNode);
std::function<bool(AStar::Vec2i)> isWalkable = [&blocks, mapWidth, mapHeight](AStar::Vec2i pos) {
if (pos.x < 0 || pos.x >= mapWidth || pos.y < 0 || pos.y >= mapHeight) {
return false;
}
return blocks[pos.x + pos.y * mapWidth] == 0;
};
auto start1 = std::chrono::high_resolution_clock::now();
auto path = pathFinder.findPath({0, 0}, {mapWidth - 1, mapHeight - 1});
auto path = pathFinder.findPath({0, 0}, {mapWidth - 1, mapHeight - 1}, {mapWidth, mapHeight}, isWalkable);
auto stop1 = std::chrono::high_resolution_clock::now();
if (path.empty()) {
std::cout << "Path not found" << std::endl;
test/source/test/astar_test.cpp
+36 -11
View File
@@ -6,15 +6,23 @@ TEST(AStar, basic_path_1) {
int mapWidth = 4;
int mapHeight = 4;
AStar::AStar pathFinder;
pathFinder.setWorldSize({mapWidth, mapWidth});
pathFinder.setHeuristic(AStar::Heuristic::euclidean);
pathFinder.setDiagonalMovement(true);
AStar::Vec2i source(0, 0);
AStar::Vec2i target(mapWidth - 1, mapHeight - 1);
std::function<bool(AStar::Vec2i)> isWalkable = [&pathFinder](AStar::Vec2i pos) {
if (pos.x < 0 || pos.x >= 4 || pos.y < 0 || pos.y >= 4) {
return false;
}
return true;
};
std::cout << "AStar::AStar pathFinder;" << std::endl;
auto path = pathFinder.findPath(source, target);
auto path = pathFinder.findPath(source, target, {mapWidth, mapHeight}, isWalkable);
EXPECT_EQ(path.size(), 4);
@@ -28,14 +36,20 @@ TEST(AStar, basic_path_2) {
int mapWidth = 10;
int mapHeight = 10;
AStar::AStar pathFinder;
pathFinder.setWorldSize({mapWidth, mapWidth});
pathFinder.setHeuristic(AStar::Heuristic::euclidean);
pathFinder.setDiagonalMovement(true);
AStar::Vec2i source(0, 0);
AStar::Vec2i target(mapWidth - 1, mapHeight - 1);
auto path = pathFinder.findPath(source, target);
std::function<bool(AStar::Vec2i)> isWalkable = [&pathFinder](AStar::Vec2i pos) {
if (pos.x < 0 || pos.x >= 10 || pos.y < 0 || pos.y >= 10) {
return false;
}
return true;
};
auto path = pathFinder.findPath(source, target, {mapWidth, mapHeight}, isWalkable);
EXPECT_EQ(path.size(), 10);
@@ -49,14 +63,20 @@ TEST(AStar, basic_diagonal_path_wrong_1) {
int mapWidth = 10;
int mapHeight = 10;
AStar::AStar pathFinder;
pathFinder.setWorldSize({mapWidth, mapHeight});
pathFinder.setHeuristic(AStar::Heuristic::euclidean);
pathFinder.setDiagonalMovement(true);
AStar::Vec2i source(0, 0);
AStar::Vec2i target(19, 19);
auto path = pathFinder.findPath(source, target);
std::function<bool(AStar::Vec2i)> isWalkable = [&pathFinder](AStar::Vec2i pos) {
if (pos.x < 0 || pos.x >= 10 || pos.y < 0 || pos.y >= 10) {
return false;
}
return true;
};
auto path = pathFinder.findPath(source, target, {10, 10}, isWalkable);
EXPECT_EQ(path.size(), 0);
}
@@ -65,18 +85,23 @@ TEST(AStar, basic_diagonal_path_wrong_2) {
int mapWidth = 10;
int mapHeight = 10;
AStar::AStar pathFinder;
pathFinder.setWorldSize({mapWidth, mapHeight});
pathFinder.setHeuristic(AStar::Heuristic::euclidean);
pathFinder.setDiagonalMovement(true);
pathFinder.addObstacle({0, 1});
pathFinder.addObstacle({1, 1});
pathFinder.addObstacle({1, 0});
std::function<bool(AStar::Vec2i)> isWalkable = [&pathFinder](AStar::Vec2i pos) {
if (pos.x < 0 || pos.x >= 10 || pos.y < 0 || pos.y >= 10) {
return false;
}
if ((pos.x == 0 && pos.y == 1) || (pos.x == 1 && pos.y == 1) || (pos.x == 1 && pos.y == 0)) {
return false;
}
return true;
};
AStar::Vec2i source(0, 0);
AStar::Vec2i target(9, 9);
auto path = pathFinder.findPath(source, target);
auto path = pathFinder.findPath(source, target, {10, 10}, isWalkable);
EXPECT_EQ(path.size(), 0);
}