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[FIX] Previous pathfinding result in case of failure
1 parent 24a3013 commit 21aa4c7

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6 files changed

+243
-2
lines changed

6 files changed

+243
-2
lines changed

‎BrainAI.Tests/AStarPathfinderTest.cs

+78-1
Original file line numberDiff line numberDiff line change
@@ -1,7 +1,6 @@
11
using BrainAI.Pathfinding;
22
using NUnit.Framework;
33
using System.Collections.Generic;
4-
using System.Linq;
54

65
namespace BrainAI.Tests
76
{
@@ -145,5 +144,83 @@ public void ContinueSearch_MultiGoals_PathFound()
145144
new Point(2, 3)
146145
}, pathfinder.ResultPath);
147146
}
147+
148+
[Test]
149+
public void Search_TwiceWithSuccess_PathCleared()
150+
{
151+
/*
152+
____
153+
_01_
154+
_#2_
155+
__3_
156+
*/
157+
graph.Walls.Add(new Point(1, 2));
158+
pathfinder.Search(new Point(1, 1), new Point(2, 3));
159+
CollectionAssert.AreEqual(new List<Point> {
160+
new Point(1, 1),
161+
new Point(2, 1),
162+
new Point(2, 2),
163+
new Point(2, 3)
164+
}, pathfinder.ResultPath);
165+
pathfinder.Search(new Point(1, 1), new Point(2, 3));
166+
CollectionAssert.AreEqual(new List<Point> {
167+
new Point(1, 1),
168+
new Point(2, 1),
169+
new Point(2, 2),
170+
new Point(2, 3)
171+
}, pathfinder.ResultPath);
172+
}
173+
[Test]
174+
public void Search_TwiceWithFail_PathCleared()
175+
{
176+
/*
177+
###_
178+
#012
179+
###_
180+
____
181+
*/
182+
graph.Walls.Add(new Point(0, 2));
183+
graph.Walls.Add(new Point(0, 1));
184+
graph.Walls.Add(new Point(0, 0));
185+
graph.Walls.Add(new Point(1, 0));
186+
graph.Walls.Add(new Point(2, 0));
187+
graph.Walls.Add(new Point(2, 1));
188+
graph.Walls.Add(new Point(2, 2));
189+
pathfinder.Search(new Point(1, 1), new Point(1, 3));
190+
CollectionAssert.AreEqual(new List<Point> {
191+
new Point(1, 1),
192+
new Point(1, 2),
193+
new Point(1, 3)
194+
}, pathfinder.ResultPath);
195+
196+
197+
/*
198+
###_
199+
#012
200+
###_
201+
____
202+
*/
203+
graph.Walls.Add(new Point(1, 2));
204+
pathfinder.Search(new Point(1, 1), new Point(1, 3));
205+
CollectionAssert.IsEmpty(pathfinder.ResultPath);
206+
}
207+
208+
[Test]
209+
public void MoveFromBlock()
210+
{
211+
/*
212+
____
213+
_01_
214+
_#2_
215+
__3_
216+
*/
217+
graph.Walls.Add(new Point(1, 2));
218+
pathfinder.Search(new Point(1, 2), new Point(2, 3));
219+
CollectionAssert.AreEqual(new List<Point> {
220+
new Point(1, 2),
221+
new Point(2, 2),
222+
new Point(2, 3)
223+
}, pathfinder.ResultPath);
224+
}
148225
}
149226
}

‎BrainAI.Tests/BreadthFirstPathfinderTest.cs

+78
Original file line numberDiff line numberDiff line change
@@ -199,5 +199,83 @@ public void ContinueSearch_MultiGoals_PathFound()
199199
new Point(2, 3)
200200
}, pathfinder.ResultPath);
201201
}
202+
203+
[Test]
204+
public void Search_TwiceWithSuccess_PathCleared()
205+
{
206+
/*
207+
____
208+
_01_
209+
_#2_
210+
__3_
211+
*/
212+
graph.Walls.Add(new Point(1, 2));
213+
pathfinder.Search(new Point(1, 1), new Point(2, 3));
214+
CollectionAssert.AreEqual(new List<Point> {
215+
new Point(1, 1),
216+
new Point(2, 1),
217+
new Point(2, 2),
218+
new Point(2, 3)
219+
}, pathfinder.ResultPath);
220+
pathfinder.Search(new Point(1, 1), new Point(2, 3));
221+
CollectionAssert.AreEqual(new List<Point> {
222+
new Point(1, 1),
223+
new Point(2, 1),
224+
new Point(2, 2),
225+
new Point(2, 3)
226+
}, pathfinder.ResultPath);
227+
}
228+
[Test]
229+
public void Search_TwiceWithFail_PathCleared()
230+
{
231+
/*
232+
###_
233+
#012
234+
###_
235+
____
236+
*/
237+
graph.Walls.Add(new Point(0, 2));
238+
graph.Walls.Add(new Point(0, 1));
239+
graph.Walls.Add(new Point(0, 0));
240+
graph.Walls.Add(new Point(1, 0));
241+
graph.Walls.Add(new Point(2, 0));
242+
graph.Walls.Add(new Point(2, 1));
243+
graph.Walls.Add(new Point(2, 2));
244+
pathfinder.Search(new Point(1, 1), new Point(1, 3));
245+
CollectionAssert.AreEqual(new List<Point> {
246+
new Point(1, 1),
247+
new Point(1, 2),
248+
new Point(1, 3)
249+
}, pathfinder.ResultPath);
250+
251+
252+
/*
253+
###_
254+
#012
255+
###_
256+
____
257+
*/
258+
graph.Walls.Add(new Point(1, 2));
259+
pathfinder.Search(new Point(1, 1), new Point(1, 3));
260+
CollectionAssert.IsEmpty(pathfinder.ResultPath);
261+
}
262+
263+
[Test]
264+
public void MoveFromBlock()
265+
{
266+
/*
267+
____
268+
_01_
269+
_#2_
270+
__3_
271+
*/
272+
graph.Walls.Add(new Point(1, 2));
273+
pathfinder.Search(new Point(1, 2), new Point(2, 3));
274+
CollectionAssert.AreEqual(new List<Point> {
275+
new Point(1, 2),
276+
new Point(2, 2),
277+
new Point(2, 3)
278+
}, pathfinder.ResultPath);
279+
}
202280
}
203281
}

‎BrainAI.Tests/WeightedPathfinderTest.cs

+79-1
Original file line numberDiff line numberDiff line change
@@ -1,5 +1,4 @@
11
using BrainAI.Pathfinding;
2-
using Microsoft.VisualBasic;
32
using NUnit.Framework;
43
using System.Collections.Generic;
54
using System.Linq;
@@ -199,5 +198,84 @@ public void ContinueSearch_MultiGoals_PathFound()
199198
new Point(2, 3)
200199
}, pathfinder.ResultPath);
201200
}
201+
202+
[Test]
203+
public void Search_TwiceWithSuccess_PathCleared()
204+
{
205+
/*
206+
____
207+
_01_
208+
_#2_
209+
__3_
210+
*/
211+
graph.Walls.Add(new Point(1, 2));
212+
pathfinder.Search(new Point(1, 1), new Point(2, 3));
213+
CollectionAssert.AreEqual(new List<Point> {
214+
new Point(1, 1),
215+
new Point(2, 1),
216+
new Point(2, 2),
217+
new Point(2, 3)
218+
}, pathfinder.ResultPath);
219+
pathfinder.Search(new Point(1, 1), new Point(2, 3));
220+
CollectionAssert.AreEqual(new List<Point> {
221+
new Point(1, 1),
222+
new Point(2, 1),
223+
new Point(2, 2),
224+
new Point(2, 3)
225+
}, pathfinder.ResultPath);
226+
}
227+
228+
[Test]
229+
public void Search_TwiceWithFail_PathCleared()
230+
{
231+
/*
232+
###_
233+
#012
234+
###_
235+
____
236+
*/
237+
graph.Walls.Add(new Point(0, 2));
238+
graph.Walls.Add(new Point(0, 1));
239+
graph.Walls.Add(new Point(0, 0));
240+
graph.Walls.Add(new Point(1, 0));
241+
graph.Walls.Add(new Point(2, 0));
242+
graph.Walls.Add(new Point(2, 1));
243+
graph.Walls.Add(new Point(2, 2));
244+
pathfinder.Search(new Point(1, 1), new Point(1, 3));
245+
CollectionAssert.AreEqual(new List<Point> {
246+
new Point(1, 1),
247+
new Point(1, 2),
248+
new Point(1, 3)
249+
}, pathfinder.ResultPath);
250+
251+
252+
/*
253+
###_
254+
#012
255+
###_
256+
____
257+
*/
258+
graph.Walls.Add(new Point(1, 2));
259+
pathfinder.Search(new Point(1, 1), new Point(1, 3));
260+
CollectionAssert.IsEmpty(pathfinder.ResultPath);
261+
}
262+
263+
[Test]
264+
public void MoveFromBlock()
265+
{
266+
/*
267+
____
268+
_01_
269+
_#2_
270+
__3_
271+
*/
272+
graph.Walls.Add(new Point(1, 2));
273+
pathfinder.Search(new Point(1, 2), new Point(2, 3));
274+
CollectionAssert.AreEqual(new List<Point> {
275+
new Point(1, 2),
276+
new Point(2, 2),
277+
new Point(2, 3)
278+
}, pathfinder.ResultPath);
279+
}
202280
}
203281
}

‎BrainAI/Pathfinding/AStar/AStarPathfinder.cs

+3
Original file line numberDiff line numberDiff line change
@@ -82,6 +82,7 @@ public void Search(T start, HashSet<T> goals, int additionalDepth)
8282

8383
public void ContinueSearch()
8484
{
85+
this.ResultPath.Clear();
8586
if (tmpGoals.Count == 0)
8687
{
8788
return;
@@ -92,6 +93,7 @@ public void ContinueSearch()
9293

9394
public void ContinueSearch(int additionalDepth)
9495
{
96+
this.ResultPath.Clear();
9597
var (target, isFound) = InternalSearch(additionalDepth);
9698
if (isFound)
9799
{
@@ -146,6 +148,7 @@ private T GetFirstGoal()
146148

147149
private void PrepareSearch()
148150
{
151+
this.ResultPath.Clear();
149152
this.frontier.Clear();
150153
this.VisitedNodes.Clear();
151154
this.tmpGoals.Clear();

‎BrainAI/Pathfinding/BreadthFirst/BreadthFirstPathfinder.cs

+2
Original file line numberDiff line numberDiff line change
@@ -83,6 +83,7 @@ public void Search(T start, HashSet<T> goals, int additionalDepth)
8383

8484
public void ContinueSearch()
8585
{
86+
this.ResultPath.Clear();
8687
if (tmpGoals.Count == 0)
8788
{
8889
return;
@@ -93,6 +94,7 @@ public void ContinueSearch()
9394

9495
public void ContinueSearch(int additionalDepth)
9596
{
97+
this.ResultPath.Clear();
9698
var (target, isFound) = InternalSearch(additionalDepth);
9799
if (isFound)
98100
{

‎BrainAI/Pathfinding/Dijkstra/WeightedPathfinder.cs

+3
Original file line numberDiff line numberDiff line change
@@ -85,6 +85,7 @@ public void Search(T start, HashSet<T> goals, int additionalDepth)
8585

8686
public void ContinueSearch()
8787
{
88+
this.ResultPath.Clear();
8889
if (tmpGoals.Count == 0)
8990
{
9091
return;
@@ -95,6 +96,7 @@ public void ContinueSearch()
9596

9697
public void ContinueSearch(int additionalDepth)
9798
{
99+
this.ResultPath.Clear();
98100
var (target, isFound) = InternalSearch(additionalDepth);
99101
if (isFound)
100102
{
@@ -137,6 +139,7 @@ private ValueTuple<T, bool> InternalSearch(int additionalDepth)
137139

138140
private void PrepareSearch()
139141
{
142+
this.ResultPath.Clear();
140143
this.frontier.Clear();
141144
this.VisitedNodes.Clear();
142145
this.tmpGoals.Clear();

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