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#include "catch2/catch_all.hpp"
#include "DetourPathCorridor.h"
TEST_CASE("dtMergeCorridorStartMoved")
{
SECTION("Should handle empty input")
{
dtPolyRef* const path = nullptr;
const int npath = 0;
const int maxPath = 0;
const dtPolyRef* const visited = nullptr;
const int nvisited = 0;
const int result = dtMergeCorridorStartMoved(path, npath, maxPath, visited, nvisited);
CHECK(result == 0);
}
SECTION("Should handle empty visited")
{
dtPolyRef path[] = {1};
const int npath = 1;
const int maxPath = 1;
const dtPolyRef* const visited = nullptr;
const int nvisited = 0;
const int result = dtMergeCorridorStartMoved(path, npath, maxPath, visited, nvisited);
CHECK(result == 1);
const dtPolyRef expectedPath[] = {1};
CHECK_THAT(path, Catch::Matchers::RangeEquals(expectedPath));
}
SECTION("Should handle empty path")
{
dtPolyRef* const path = nullptr;
const int npath = 0;
const int maxPath = 0;
const dtPolyRef visited[] = {1};
const int nvisited = 1;
const int result = dtMergeCorridorStartMoved(path, npath, maxPath, visited, nvisited);
CHECK(result == 0);
}
SECTION("Should strip visited points from path except last")
{
dtPolyRef path[] = {1, 2};
const int npath = 2;
const int maxPath = 2;
const dtPolyRef visited[] = {1, 2};
const int nvisited = 2;
const int result = dtMergeCorridorStartMoved(path, npath, maxPath, visited, nvisited);
CHECK(result == 1);
const dtPolyRef expectedPath[] = {2, 2};
CHECK_THAT(path, Catch::Matchers::RangeEquals(expectedPath));
}
SECTION("Should add visited points not present in path in reverse order")
{
dtPolyRef path[] = {1, 2, 0};
const int npath = 2;
const int maxPath = 3;
const dtPolyRef visited[] = {1, 2, 3, 4};
const int nvisited = 4;
const int result = dtMergeCorridorStartMoved(path, npath, maxPath, visited, nvisited);
CHECK(result == 3);
const dtPolyRef expectedPath[] = {4, 3, 2};
CHECK_THAT(path, Catch::Matchers::RangeEquals(expectedPath));
}
SECTION("Should add visited points not present in path up to the path capacity")
{
dtPolyRef path[] = {1, 2, 0};
const int npath = 2;
const int maxPath = 3;
const dtPolyRef visited[] = {1, 2, 3, 4, 5};
const int nvisited = 5;
const int result = dtMergeCorridorStartMoved(path, npath, maxPath, visited, nvisited);
CHECK(result == 3);
const dtPolyRef expectedPath[] = {5, 4, 3};
CHECK_THAT(path, Catch::Matchers::RangeEquals(expectedPath));
}
SECTION("Should not change path if there is no intersection with visited")
{
dtPolyRef path[] = {1, 2};
const int npath = 2;
const int maxPath = 2;
const dtPolyRef visited[] = {3, 4};
const int nvisited = 2;
const int result = dtMergeCorridorStartMoved(path, npath, maxPath, visited, nvisited);
CHECK(result == 2);
const dtPolyRef expectedPath[] = {1, 2};
CHECK_THAT(path, Catch::Matchers::RangeEquals(expectedPath));
}
SECTION("Should save unvisited path points")
{
dtPolyRef path[] = {1, 2, 0};
const int npath = 2;
const int maxPath = 3;
const dtPolyRef visited[] = {1, 3};
const int nvisited = 2;
const int result = dtMergeCorridorStartMoved(path, npath, maxPath, visited, nvisited);
CHECK(result == 3);
const dtPolyRef expectedPath[] = {3, 1, 2};
CHECK_THAT(path, Catch::Matchers::RangeEquals(expectedPath));
}
SECTION("Should save unvisited path points up to the path capacity")
{
dtPolyRef path[] = {1, 2};
const int npath = 2;
const int maxPath = 2;
const dtPolyRef visited[] = {1, 3};
const int nvisited = 2;
const int result = dtMergeCorridorStartMoved(path, npath, maxPath, visited, nvisited);
CHECK(result == 2);
const dtPolyRef expectedPath[] = {3, 1};
CHECK_THAT(path, Catch::Matchers::RangeEquals(expectedPath));
}
}
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