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Changed to efficiently stack nearby DtCrowdAgents in `DtCrowd.GetNeighbours()`

This commit is contained in:
ikpil 2024-07-07 12:55:51 +09:00
parent 828b9644cc
commit 1894a56889
3 changed files with 16 additions and 7 deletions
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1
CHANGELOG.md
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@ -23,6 +23,7 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
- Changed vertCount and triCount to byte in `DtPolyDetail`
- Changed `new float[]` to `stackalloc float[]` in `DtConvexConvexIntersections.Intersect()`
- Changed agents management from list to dictionary in `DtCrowd`
- Changed to efficiently stack nearby DtCrowdAgents in `DtCrowd.GetNeighbours()`
### Removed
- Removed RcMeshDetails.VdistSq2(float[], float[])

16
src/DotRecast.Detour.Crowd/DtCrowd.cs
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@ -280,6 +280,11 @@ namespace DotRecast.Detour.Crowd
return ag;
}
public DtCrowdAgent GetAgent(int idx)
{
return _agents.GetValueOrDefault(idx);
}
// Add the agent from the crowd.
public void AddAgent(DtCrowdAgent agent)
{
@ -901,12 +906,15 @@ namespace DotRecast.Detour.Crowd
{
result.Clear();
int MAX_NEIS = 32;
var ids = new DtCrowdAgent[MAX_NEIS];
int nids = grid.QueryItems(pos.X - range, pos.Z - range, pos.X + range, pos.Z + range, ids, ids.Length);
const int MAX_NEIS = 32;
Span<int> ids = stackalloc int[MAX_NEIS];
int nids = grid.QueryItems(pos.X - range, pos.Z - range,
pos.X + range, pos.Z + range,
ids, ids.Length);
for (int i = 0; i < nids; ++i)
{
var ag = ids[i];
var ag = GetAgent(ids[i]);
if (ag == skip)
{
continue;

6
src/DotRecast.Detour.Crowd/DtProximityGrid.cs
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@ -83,7 +83,7 @@ namespace DotRecast.Detour.Crowd
}
}
public int QueryItems(float minx, float miny, float maxx, float maxy, DtCrowdAgent[] ids, int maxIds)
public int QueryItems(float minx, float miny, float maxx, float maxy, Span<int> ids, int maxIds)
{
int iminx = (int)MathF.Floor(minx * _invCellSize);
int iminy = (int)MathF.Floor(miny * _invCellSize);
@ -110,7 +110,7 @@ namespace DotRecast.Detour.Crowd
// Check if the id exists already.
int end = n;
int i = 0;
while (i != end && ids[i] != item)
while (i != end && ids[i] != item.idx)
{
++i;
}
@ -118,7 +118,7 @@ namespace DotRecast.Detour.Crowd
// Item not found, add it.
if (i == n)
{
ids[n++] = item;
ids[n++] = item.idx;
if (n >= maxIds)
return n;