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Merge branch 'risky_optimizations'

This commit is contained in:
wrenge 2024-11-13 13:55:25 +03:00
parent 38a8029b6e 1fa0320845
commit 0876d3adcf
3 changed files with 28 additions and 17 deletions
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13
src/DotRecast.Detour.Crowd/DtCrowd.cs
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@ -130,7 +130,7 @@ namespace DotRecast.Detour.Crowd
private readonly DtObstacleAvoidanceParams[] _obstacleQueryParams;
private readonly DtObstacleAvoidanceQuery _obstacleQuery;
private DtProximityGrid _grid;
private readonly DtProximityGrid _grid;
private int _maxPathResult;
private readonly RcVec3f _agentPlacementHalfExtents;
@ -175,6 +175,7 @@ namespace DotRecast.Detour.Crowd
_agentIdx = new RcAtomicInteger(0);
_agents = new Dictionary<int, DtCrowdAgent>();
_activeAgents = new List<DtCrowdAgent>();
_grid = new DtProximityGrid(_config.maxAgentRadius * 3);
// The navQuery is mostly used for local searches, no need for large node pool.
SetNavMesh(nav);
@ -565,14 +566,18 @@ namespace DotRecast.Detour.Crowd
}
}
private readonly RcSortedQueue<DtCrowdAgent> UpdateMoveRequest_queue = new RcSortedQueue<DtCrowdAgent>((a1, a2) => a2.targetReplanTime.CompareTo(a1.targetReplanTime));
private readonly List<long> UpdateMoveRequest_reqPath = new List<long>();
private void UpdateMoveRequest(IList<DtCrowdAgent> agents, float dt)
{
using var timer = _telemetry.ScopedTimer(DtCrowdTimerLabel.UpdateMoveRequest);
RcSortedQueue<DtCrowdAgent> queue = new RcSortedQueue<DtCrowdAgent>((a1, a2) => a2.targetReplanTime.CompareTo(a1.targetReplanTime));
RcSortedQueue<DtCrowdAgent> queue = UpdateMoveRequest_queue;
queue.Clear();
// Fire off new requests.
List<long> reqPath = new List<long>();
List<long> reqPath = UpdateMoveRequest_reqPath;
reqPath.Clear();
for (var i = 0; i < agents.Count; i++)
{
var ag = agents[i];
@ -865,7 +870,7 @@ namespace DotRecast.Detour.Crowd
{
using var timer = _telemetry.ScopedTimer(DtCrowdTimerLabel.BuildProximityGrid);
_grid = new DtProximityGrid(_config.maxAgentRadius * 3);
_grid.Clear();
for (var i = 0; i < agents.Count; i++)
{

7
src/DotRecast.Detour.Crowd/DtProximityGrid.cs
View File

@ -22,6 +22,7 @@ using System;
using System.Collections.Generic;
using System.Linq;
using System.Runtime.CompilerServices;
using DotRecast.Core.Buffers;
namespace DotRecast.Detour.Crowd
{
@ -30,12 +31,14 @@ namespace DotRecast.Detour.Crowd
private readonly float _cellSize;
private readonly float _invCellSize;
private readonly Dictionary<long, List<DtCrowdAgent>> _items;
private readonly RcObjectPool<List<DtCrowdAgent>> _listPool;
public DtProximityGrid(float cellSize)
{
_cellSize = cellSize;
_invCellSize = 1.0f / cellSize;
_items = new Dictionary<long, List<DtCrowdAgent>>();
_listPool = new RcObjectPool<List<DtCrowdAgent>>(() => new List<DtCrowdAgent>());
}
[MethodImpl(MethodImplOptions.AggressiveInlining)]
@ -57,6 +60,8 @@ namespace DotRecast.Detour.Crowd
public void Clear()
{
foreach (var pair in _items)
_listPool.Return(pair.Value);
_items.Clear();
}
@ -74,7 +79,7 @@ namespace DotRecast.Detour.Crowd
long key = CombineKey(x, y);
if (!_items.TryGetValue(key, out var ids))
{
ids = new List<DtCrowdAgent>();
ids = _listPool.Get();
_items.Add(key, ids);
}

25
src/DotRecast.Detour/DtNavMeshQuery.cs
View File

@ -1842,6 +1842,7 @@ namespace DotRecast.Detour
return DtStatus.DT_SUCCESS | (straightPathCount >= maxStraightPath ? DtStatus.DT_BUFFER_TOO_SMALL : DtStatus.DT_STATUS_NOTHING);
}
private readonly Queue<DtNode> MoveAlongSurface_queue = new Queue<DtNode>();
/// @par
///
/// This method is optimized for small delta movement and a small number of
@ -1897,8 +1898,8 @@ namespace DotRecast.Detour
startNode.total = 0;
startNode.id = startRef;
startNode.flags = DtNodeFlags.DT_NODE_CLOSED;
LinkedList<DtNode> stack = new LinkedList<DtNode>();
stack.AddLast(startNode);
MoveAlongSurface_queue.Clear();
MoveAlongSurface_queue.Enqueue(startNode);
RcVec3f bestPos = new RcVec3f();
float bestDist = float.MaxValue;
@ -1914,11 +1915,10 @@ namespace DotRecast.Detour
const int MAX_NEIS = 8;
Span<long> neis = stackalloc long[MAX_NEIS];
while (0 < stack.Count)
while (0 < MoveAlongSurface_queue.Count)
{
// Pop front.
DtNode curNode = stack.First?.Value;
stack.RemoveFirst();
DtNode curNode = MoveAlongSurface_queue.Dequeue();
// Get poly and tile.
// The API input has been checked already, skip checking internal data.
@ -2017,7 +2017,7 @@ namespace DotRecast.Detour
// Mark as the node as visited and push to queue.
neighbourNode.pidx = m_tinyNodePool.GetNodeIdx(curNode);
neighbourNode.flags |= DtNodeFlags.DT_NODE_CLOSED;
stack.AddLast(neighbourNode);
MoveAlongSurface_queue.Enqueue(neighbourNode);
}
}
}
@ -2908,6 +2908,7 @@ namespace DotRecast.Detour
return DtStatus.DT_SUCCESS;
}
private readonly Queue<DtNode> FindLocalNeighbourhood_queue = new Queue<DtNode>();
/// @par
///
/// This method is optimized for a small search radius and small number of result
@ -2959,8 +2960,8 @@ namespace DotRecast.Detour
startNode.pidx = 0;
startNode.id = startRef;
startNode.flags = DtNodeFlags.DT_NODE_CLOSED;
LinkedList<DtNode> stack = new LinkedList<DtNode>();
stack.AddLast(startNode);
FindLocalNeighbourhood_queue.Clear();
FindLocalNeighbourhood_queue.Enqueue(startNode);
resultRef.Add(startNode.id);
resultParent.Add(0L);
@ -2970,11 +2971,11 @@ namespace DotRecast.Detour
Span<float> pa = stackalloc float[m_nav.GetMaxVertsPerPoly() * 3];
Span<float> pb = stackalloc float[m_nav.GetMaxVertsPerPoly() * 3];
while (0 < stack.Count)
while (0 < FindLocalNeighbourhood_queue.Count)
{
// Pop front.
DtNode curNode = stack.First?.Value;
stack.RemoveFirst();
DtNode curNode = FindLocalNeighbourhood_queue.Dequeue();
// Get poly and tile.
// The API input has been checked already, skip checking internal data.
@ -3087,7 +3088,7 @@ namespace DotRecast.Detour
resultRef.Add(neighbourRef);
resultParent.Add(curRef);
stack.AddLast(neighbourNode);
FindLocalNeighbourhood_queue.Enqueue(neighbourNode);
}
}