63 lines
2.6 KiB
C++
63 lines
2.6 KiB
C++
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#include <catch2/catch.hpp>
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#include "libslic3r/BoundingBox.hpp"
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#include "libslic3r/AStar.hpp"
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#include "libslic3r/Execution/ExecutionSeq.hpp"
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#include "libslic3r/PointGrid.hpp"
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using namespace Slic3r;
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struct PointGridTracer {
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using Node = size_t;
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const PointGrid<float> &grid;
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size_t final;
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PointGridTracer(const PointGrid<float> &g, size_t goal) :
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grid{g}, final{goal} {}
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template<class Fn>
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void foreach_reachable(size_t from, Fn &&fn) const
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{
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Vec3i from_crd = grid.get_coord(from);
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REQUIRE(grid.get_idx(from_crd) == from);
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if (size_t i = grid.get_idx(from_crd + Vec3i{ 1, 0, 0}); i < grid.point_count()) fn(i);
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if (size_t i = grid.get_idx(from_crd + Vec3i{ 0, 1, 0}); i < grid.point_count()) fn(i);
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if (size_t i = grid.get_idx(from_crd + Vec3i{ 0, 0, 1}); i < grid.point_count()) fn(i);
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if (size_t i = grid.get_idx(from_crd + Vec3i{ 1, 1, 0}); i < grid.point_count()) fn(i);
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if (size_t i = grid.get_idx(from_crd + Vec3i{ 0, 1, 1}); i < grid.point_count()) fn(i);
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if (size_t i = grid.get_idx(from_crd + Vec3i{ 1, 1, 1}); i < grid.point_count()) fn(i);
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if (size_t i = grid.get_idx(from_crd + Vec3i{-1, 0, 0}); from_crd.x() > 0 && i < grid.point_count()) fn(i);
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if (size_t i = grid.get_idx(from_crd + Vec3i{ 0, -1, 0}); from_crd.y() > 0 && i < grid.point_count()) fn(i);
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if (size_t i = grid.get_idx(from_crd + Vec3i{ 0, 0, -1}); from_crd.z() > 0 && i < grid.point_count()) fn(i);
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if (size_t i = grid.get_idx(from_crd + Vec3i{-1, -1, 0}); from_crd.x() > 0 && from_crd.y() > 0 && i < grid.point_count()) fn(i);
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if (size_t i = grid.get_idx(from_crd + Vec3i{ 0, -1, -1}); from_crd.y() > 0 && from_crd.z() && i < grid.point_count()) fn(i);
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if (size_t i = grid.get_idx(from_crd + Vec3i{-1, -1, -1}); from_crd.x() > 0 && from_crd.y() > 0 && from_crd.z() && i < grid.point_count()) fn(i);
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}
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float distance(size_t a, size_t b) const
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{
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return (grid.get(a) - grid.get(b)).squaredNorm();
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}
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float goal_heuristic(size_t n) const
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{
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return n == final ? -1.f : (grid.get(n) - grid.get(final)).squaredNorm();
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}
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size_t unique_id(size_t n) const { return n; }
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};
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TEST_CASE("astar algorithm test over 3D point grid", "[AStar]") {
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auto vol = BoundingBox3Base<Vec3f>{{0.f, 0.f, 0.f}, {1.f, 1.f, 1.f}};
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auto pgrid = point_grid(ex_seq, vol, {0.1f, 0.1f, 0.1f});
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PointGridTracer pgt{pgrid, pgrid.point_count() - 1};
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std::vector<size_t> out;
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bool found = astar::search_route(pgt, size_t(0), std::back_inserter(out));
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REQUIRE(found);
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}
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