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* The MIT License (MIT)
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* Copyright (c) 2015 Matthew Williams and David Williams
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* of this software and associated documentation files (the "Software"), to deal
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*******************************************************************************/

#include "TestAStarPathfinder.h"

#include "PolyVox/AStarPathfinder.h"
#include "PolyVox/Material.h"
#include "PolyVox/RawVolume.h"

#include <QtTest>

using namespace PolyVox;

template< typename VolumeType>
bool testVoxelValidator(const VolumeType* volData, const Vector3DInt32& v3dPos)
{
	//Voxels are considered valid candidates for the path if they are inside the volume...
	if(volData->getEnclosingRegion().containsPoint(v3dPos) == false)
	{
		return false;
	}

	typename VolumeType::VoxelType voxel = volData->getVoxel(v3dPos);
	if(voxel != 0)
	{
		return false;
	}

	return true;
}

void TestAStarPathfinder::testExecute()
{
	const Vector3DInt32 expectedResult[] = 
	{
		Vector3DInt32(0,0,0),
		Vector3DInt32(1,1,1),
		Vector3DInt32(2,1,2),
		Vector3DInt32(3,1,3),
		Vector3DInt32(3,1,4),
		Vector3DInt32(3,1,5),
		Vector3DInt32(3,1,6),
		Vector3DInt32(3,1,7),
		Vector3DInt32(4,2,8),
		Vector3DInt32(5,3,9),
		Vector3DInt32(5,3,10),
		Vector3DInt32(5,3,11),
		Vector3DInt32(6,4,12),
		Vector3DInt32(7,5,13),
		Vector3DInt32(8,6,13),
		Vector3DInt32(9,7,13),
		Vector3DInt32(9,8,13),
		Vector3DInt32(10,9,13),
		Vector3DInt32(11,10,14),
		Vector3DInt32(12,11,15),
		Vector3DInt32(13,12,15),
		Vector3DInt32(14,13,15),
		Vector3DInt32(14,14,15),
		Vector3DInt32(15,15,15)
	};

	const int32_t uVolumeSideLength = 16;

	//Create a volume
	RawVolume<uint8_t> volData(Region(Vector3DInt32(0,0,0), Vector3DInt32(uVolumeSideLength-1, uVolumeSideLength-1, uVolumeSideLength-1)));

	//Clear the volume
	for(int z = 0; z < uVolumeSideLength; z++)
	{
		for(int y = 0; y < uVolumeSideLength; y++)
		{
			for(int x = 0; x < uVolumeSideLength; x++)
			{
				uint8_t solidVoxel(0);
				volData.setVoxel(x,y,z,solidVoxel);
			}
		}
	}

	//Place a solid cube in the middle of it
	for(int z = 4; z < 12; z++)
	{
		for(int y = 4; y < 12; y++)
		{
			for(int x = 4; x < 12; x++)
			{
				uint8_t solidVoxel(1);
				volData.setVoxel(x,y,z,solidVoxel);
			}
		}
	}

	//List to store the resulting path
	std::list<Vector3DInt32> result;

	//Create an AStarPathfinder
	AStarPathfinderParams< RawVolume<uint8_t> > params(&volData, Vector3DInt32(0,0,0), Vector3DInt32(15,15,15), &result, 1.0f, 10000, TwentySixConnected, &testVoxelValidator<RawVolume<uint8_t> >);
	AStarPathfinder< RawVolume<uint8_t> > pathfinder(params);

	//Execute the pathfinder.
	QBENCHMARK {
		pathfinder.execute();
	}

	//Make sure the right number of steps were created.
	QCOMPARE(result.size(), static_cast<size_t>(24));

	//Make sure that each step is correct.
	uint32_t uExpectedIndex = 0;
	for(std::list<Vector3DInt32>::iterator iterResult = result.begin(); iterResult != result.end(); iterResult++)
	{
		Vector3DInt32 res = *iterResult;
		Vector3DInt32 exp = expectedResult[uExpectedIndex];
		QCOMPARE(res, exp);
		uExpectedIndex++;
	}
}

QTEST_MAIN(TestAStarPathfinder)