BWP test requested by another developer

A developer on Reddit asked a question, which made me curious as well, so I decided to run a test.

No path
pathCase: noPath
BW Path
(0, 1)
(1, 2)
(1, 4)
(3, 5)
(3, 6)
(3, 7)
(5, 7)

Start: (0, 1) -> Goal: (8, 1)

BW Path Count: 7
BW Total Elapsed time: 56ms

A* Path Count: 25
A* Total Elapsed time: 4ms

As expected, BWP failed to find the path in a single attempt.
In the case of A*, it found the path in a single attempt with a computation time of just 4ms.

pathCase: reachableAlongOneDirection
BW Path
(5, 7)
(0, 8)
(0, 9)
(8, 9)
(8, 1)

Start: (5, 7) -> Goal: (8, 1)

BW Path Count: 5
BW Total Elapsed time: 31ms

A* Path Count: 24
A* Total Elapsed time: 3ms

BWP attempted again from the point where it stopped in the first attempt, and this time it successfully found a path to the destination. However, as expected, the computation time was significantly higher.

That said, the returned path is waypoint-based, making it much simpler compared to A. ( half of A* )

In the future, if complex obstacles appear at close distances in BW, I plan to use A* for pathfinding.