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DotRecastNetSim
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refactor: 2 step loop -> 1 step loop

This commit is contained in:
ikpil 2024-01-10 13:47:42 +09:00
parent 85c3cfdcf6
commit 278fb6cc1b
1 changed files with 34 additions and 37 deletions
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71
src/DotRecast.Recast/RcCompacts.cs
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@ -37,7 +37,6 @@ namespace DotRecast.Recast
/// @name Compact Heightfield Functions
/// @see rcCompactHeightfield
/// @{
/// Builds a compact heightfield representing open space, from a heightfield representing solid space.
///
/// This is just the beginning of the process of fully building a compact heightfield.
@ -61,27 +60,27 @@ namespace DotRecast.Recast
{
using var timer = context.ScopedTimer(RcTimerLabel.RC_TIMER_BUILD_COMPACTHEIGHTFIELD);
RcCompactHeightfield chf = new RcCompactHeightfield();
int w = heightfield.width;
int h = heightfield.height;
int xSize = heightfield.width;
int zSize = heightfield.height;
int spanCount = GetHeightFieldSpanCount(context, heightfield);
// Fill in header.
chf.width = w;
chf.height = h;
chf.borderSize = heightfield.borderSize;
chf.spanCount = spanCount;
chf.walkableHeight = walkableHeight;
chf.walkableClimb = walkableClimb;
chf.maxRegions = 0;
chf.bmin = heightfield.bmin;
chf.bmax = heightfield.bmax;
chf.bmax.Y += walkableHeight * heightfield.ch;
chf.cs = heightfield.cs;
chf.ch = heightfield.ch;
chf.cells = new RcCompactCell[w * h];
RcCompactHeightfield compactHeightfield = new RcCompactHeightfield();
compactHeightfield.width = xSize;
compactHeightfield.height = zSize;
compactHeightfield.borderSize = heightfield.borderSize;
compactHeightfield.spanCount = spanCount;
compactHeightfield.walkableHeight = walkableHeight;
compactHeightfield.walkableClimb = walkableClimb;
compactHeightfield.maxRegions = 0;
compactHeightfield.bmin = heightfield.bmin;
compactHeightfield.bmax = heightfield.bmax;
compactHeightfield.bmax.Y += walkableHeight * heightfield.ch;
compactHeightfield.cs = heightfield.cs;
compactHeightfield.ch = heightfield.ch;
compactHeightfield.cells = new RcCompactCell[xSize * zSize];
//chf.spans = new RcCompactSpan[spanCount];
chf.areas = new int[spanCount];
compactHeightfield.areas = new int[spanCount];
var tempSpans = Enumerable
.Range(0, spanCount)
@ -90,11 +89,11 @@ namespace DotRecast.Recast
// Fill in cells and spans.
int idx = 0;
for (int y = 0; y < h; ++y)
for (int y = 0; y < zSize; ++y)
{
for (int x = 0; x < w; ++x)
for (int x = 0; x < xSize; ++x)
{
RcSpan s = heightfield.spans[x + y * w];
RcSpan s = heightfield.spans[x + y * xSize];
// If there are no spans at this cell, just leave the data to index=0, count=0.
if (s == null)
continue;
@ -109,7 +108,7 @@ namespace DotRecast.Recast
int top = s.next != null ? (int)s.next.smin : MAX_HEIGHT;
tempSpans[idx].y = Math.Clamp(bot, 0, MAX_HEIGHT);
tempSpans[idx].h = Math.Clamp(top - bot, 0, MAX_HEIGHT);
chf.areas[idx] = s.area;
compactHeightfield.areas[idx] = s.area;
idx++;
tmpCount++;
}
@ -117,17 +116,17 @@ namespace DotRecast.Recast
s = s.next;
}
chf.cells[x + y * w] = new RcCompactCell(tmpIdx, tmpCount);
compactHeightfield.cells[x + y * xSize] = new RcCompactCell(tmpIdx, tmpCount);
}
}
// Find neighbour connections.
int tooHighNeighbour = 0;
for (int y = 0; y < h; ++y)
for (int y = 0; y < zSize; ++y)
{
for (int x = 0; x < w; ++x)
for (int x = 0; x < xSize; ++x)
{
ref RcCompactCell c = ref chf.cells[x + y * w];
ref RcCompactCell c = ref compactHeightfield.cells[x + y * xSize];
for (int i = c.index, ni = c.index + c.count; i < ni; ++i)
{
ref RcCompactSpanBuilder s = ref tempSpans[i];
@ -138,12 +137,12 @@ namespace DotRecast.Recast
int nx = x + GetDirOffsetX(dir);
int ny = y + GetDirOffsetY(dir);
// First check that the neighbour cell is in bounds.
if (nx < 0 || ny < 0 || nx >= w || ny >= h)
if (nx < 0 || ny < 0 || nx >= xSize || ny >= zSize)
continue;
// Iterate over all neighbour spans and check if any of the is
// accessible from current cell.
ref RcCompactCell nc = ref chf.cells[nx + ny * w];
ref RcCompactCell nc = ref compactHeightfield.cells[nx + ny * xSize];
for (int k = nc.index, nk = nc.index + nc.count; k < nk; ++k)
{
ref RcCompactSpanBuilder ns = ref tempSpans[k];
@ -177,9 +176,9 @@ namespace DotRecast.Recast
+ " (max: " + MAX_LAYERS + ")");
}
chf.spans = tempSpans.Select(x => x.Build()).ToArray();
compactHeightfield.spans = tempSpans.Select(x => x.Build()).ToArray();
return chf;
return compactHeightfield;
}
/// Returns the number of spans contained in the specified heightfield.
@ -189,17 +188,15 @@ namespace DotRecast.Recast
/// @returns The number of spans in the heightfield.
private static int GetHeightFieldSpanCount(RcContext context, RcHeightfield heightfield)
{
int w = heightfield.width;
int h = heightfield.height;
int numCols = heightfield.width * heightfield.height;
int spanCount = 0;
for (int y = 0; y < h; ++y)
for (int columnIndex = 0; columnIndex < numCols; ++columnIndex)
{
for (int x = 0; x < w; ++x)
for (RcSpan span = heightfield.spans[columnIndex]; span != null; span = span.next)
{
for (RcSpan s = heightfield.spans[x + y * w]; s != null; s = s.next)
if (span.area != RC_NULL_AREA)
{
if (s.area != RC_NULL_AREA)
spanCount++;
spanCount++;
}
}
}