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Feature/more constexpr (#125)

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* added constexpr

* fix

* improved stuff

* added const

* improvement

* fix

* fix

* patch
This commit is contained in:
Orange++
2025-12-24 02:32:14 +03:00
committed by GitHub
parent 897484bea1
commit d935caf1a4
36 changed files with 543 additions and 399 deletions
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67
tests/general/unit_test_a_star.cpp
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@@ -1,8 +1,8 @@
// Extra unit tests for the project's A* implementation
#include <array>
#include <gtest/gtest.h>
#include <omath/pathfinding/a_star.hpp>
#include <omath/pathfinding/navigation_mesh.hpp>
#include <array>
#include <utility>
using namespace omath;
@@ -11,12 +11,12 @@ using namespace omath::pathfinding;
TEST(AStarExtra, TrivialNeighbor)
{
NavigationMesh nav;
Vector3<float> v1{0.f,0.f,0.f};
Vector3<float> v2{1.f,0.f,0.f};
Vector3<float> v1{0.f, 0.f, 0.f};
Vector3<float> v2{1.f, 0.f, 0.f};
nav.m_vertex_map[v1] = {v2};
nav.m_vertex_map[v2] = {v1};
auto path = Astar::find_path(v1, v2, nav);
const auto path = Astar::find_path(v1, v2, nav);
ASSERT_EQ(path.size(), 1u);
EXPECT_EQ(path.front(), v2);
}
@@ -24,10 +24,10 @@ TEST(AStarExtra, TrivialNeighbor)
TEST(AStarExtra, StartEqualsGoal)
{
NavigationMesh nav;
Vector3<float> v{1.f,1.f,0.f};
constexpr Vector3<float> v{1.f, 1.f, 0.f};
nav.m_vertex_map[v] = {};
auto path = Astar::find_path(v, v, nav);
const auto path = Astar::find_path(v, v, nav);
ASSERT_EQ(path.size(), 1u);
EXPECT_EQ(path.front(), v);
}
@@ -35,13 +35,13 @@ TEST(AStarExtra, StartEqualsGoal)
TEST(AStarExtra, BlockedNoPathBetweenTwoVertices)
{
NavigationMesh nav;
Vector3<float> left{0.f,0.f,0.f};
Vector3<float> right{2.f,0.f,0.f};
constexpr Vector3<float> left{0.f, 0.f, 0.f};
constexpr Vector3<float> right{2.f, 0.f, 0.f};
// both vertices present but no connections
nav.m_vertex_map[left] = {};
nav.m_vertex_map[right] = {};
auto path = Astar::find_path(left, right, nav);
const auto path = Astar::find_path(left, right, nav);
// disconnected vertices -> empty result
EXPECT_TRUE(path.empty());
}
@@ -50,44 +50,47 @@ TEST(AStarExtra, LongerPathAvoidsBlock)
{
NavigationMesh nav;
// build 3x3 grid of vertices, block center (1,1)
auto idx = [&](int x, int y){ return Vector3<float>{static_cast<float>(x), static_cast<float>(y), 0.f}; };
auto idx = [&](const int x, const int y)
{ return Vector3<float>{static_cast<float>(x), static_cast<float>(y), 0.f}; };
for (int y = 0; y < 3; ++y)
{
for (int x = 0; x < 3; ++x)
{
Vector3<float> v = idx(x,y);
if (x==1 && y==1) continue; // center is omitted (blocked)
Vector3<float> v = idx(x, y);
if (x == 1 && y == 1)
continue; // center is omitted (blocked)
std::vector<Vector3<float>> neigh;
const std::array<std::pair<int,int>,4> offs{{{1,0},{-1,0},{0,1},{0,-1}}};
for (auto [dx,dy]: offs)
constexpr std::array<std::pair<int, int>, 4> offs{{{1, 0}, {-1, 0}, {0, 1}, {0, -1}}};
for (auto [dx, dy] : offs)
{
int nx = x + dx, ny = y + dy;
if (nx < 0 || nx >= 3 || ny < 0 || ny >= 3) continue;
if (nx==1 && ny==1) continue; // neighbor is the blocked center
neigh.push_back(idx(nx,ny));
const int nx = x + dx, ny = y + dy;
if (nx < 0 || nx >= 3 || ny < 0 || ny >= 3)
continue;
if (nx == 1 && ny == 1)
continue; // neighbor is the blocked center
neigh.push_back(idx(nx, ny));
}
nav.m_vertex_map[v] = neigh;
}
}
Vector3<float> start = idx(0,1);
Vector3<float> goal = idx(2,1);
auto path = Astar::find_path(start, goal, nav);
constexpr Vector3<float> start = idx(0, 1);
constexpr Vector3<float> goal = idx(2, 1);
const auto path = Astar::find_path(start, goal, nav);
ASSERT_FALSE(path.empty());
EXPECT_EQ(path.front(), goal); // Astar convention: single-element or endpoint present
}
TEST(AstarTests, TrivialDirectNeighborPath)
{
NavigationMesh nav;
// create two vertices directly connected
Vector3<float> v1{0.f,0.f,0.f};
Vector3<float> v2{1.f,0.f,0.f};
Vector3<float> v1{0.f, 0.f, 0.f};
Vector3<float> v2{1.f, 0.f, 0.f};
nav.m_vertex_map.emplace(v1, std::vector<Vector3<float>>{v2});
nav.m_vertex_map.emplace(v2, std::vector<Vector3<float>>{v1});
auto path = Astar::find_path(v1, v2, nav);
const auto path = Astar::find_path(v1, v2, nav);
// Current A* implementation returns the end vertex as the reconstructed
// path (single-element) in the simple neighbor scenario. Assert that the
// endpoint is present and reachable.
@@ -98,12 +101,12 @@ TEST(AstarTests, TrivialDirectNeighborPath)
TEST(AstarTests, NoPathWhenDisconnected)
{
NavigationMesh nav;
Vector3<float> v1{0.f,0.f,0.f};
Vector3<float> v2{10.f,0.f,0.f};
Vector3<float> v1{0.f, 0.f, 0.f};
constexpr Vector3<float> v2{10.f, 0.f, 0.f};
// nav has only v1
nav.m_vertex_map.emplace(v1, std::vector<Vector3<float>>{});
auto path = Astar::find_path(v1, v2, nav);
const auto path = Astar::find_path(v1, v2, nav);
// When the nav mesh contains only the start vertex, the closest
// vertex for both start and end will be the same vertex. In that
// case Astar returns a single-element path with the start vertex.
@@ -113,11 +116,11 @@ TEST(AstarTests, NoPathWhenDisconnected)
TEST(AstarTests, EmptyNavReturnsNoPath)
{
NavigationMesh nav;
Vector3<float> v1{0.f,0.f,0.f};
Vector3<float> v2{1.f,0.f,0.f};
const NavigationMesh nav;
constexpr Vector3<float> v1{0.f, 0.f, 0.f};
constexpr Vector3<float> v2{1.f, 0.f, 0.f};
auto path = Astar::find_path(v1, v2, nav);
const auto path = Astar::find_path(v1, v2, nav);
EXPECT_TRUE(path.empty());
}