new1

test/source/benchmark/astar_bench.cpp

@@ -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");