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SOH-2 - Span<float> pat = stackalloc float[(DT_MAX_PATTERN_DIVS * DT_MAX_PATTERN_RINGS + 1) * 2]; 

- https://github.com/ikpil/DotRecast/issues/41
This commit is contained in:
ikpil 2024-05-01 13:03:34 +09:00
parent a84d66195e
commit 1e0ef4f5cc
1 changed files with 9 additions and 9 deletions
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18
src/DotRecast.Detour.Crowd/DtObstacleAvoidanceQuery.cs
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@ -19,6 +19,7 @@ freely, subject to the following restrictions:
*/
using System;
using System.Runtime.CompilerServices;
using DotRecast.Core;
using DotRecast.Core.Numerics;
@ -27,11 +28,9 @@ namespace DotRecast.Detour.Crowd
{
public class DtObstacleAvoidanceQuery
{
public const int DT_MAX_PATTERN_DIVS = 32;
/// < Max numver of adaptive divs.
public const int DT_MAX_PATTERN_DIVS = 32; // < Max numver of adaptive divs.
public const int DT_MAX_PATTERN_RINGS = 4;
public const float DT_PI = 3.14159265f;
private DtObstacleAvoidanceParams m_params;
private float m_invHorizTime;
@ -362,7 +361,8 @@ namespace DotRecast.Detour.Crowd
}
// vector normalization that ignores the y-component.
void DtNormalize2D(float[] v)
[MethodImpl(MethodImplOptions.AggressiveInlining)]
void DtNormalize2D(Span<float> v)
{
float d = MathF.Sqrt(v[0] * v[0] + v[2] * v[2]);
if (d == 0)
@ -373,7 +373,8 @@ namespace DotRecast.Detour.Crowd
}
// vector normalization that ignores the y-component.
RcVec3f DtRotate2D(float[] v, float ang)
[MethodImpl(MethodImplOptions.AggressiveInlining)]
RcVec3f DtRotate2D(Span<float> v, float ang)
{
RcVec3f dest = new RcVec3f();
float c = MathF.Cos(ang);
@ -384,7 +385,6 @@ namespace DotRecast.Detour.Crowd
return dest;
}
static readonly float DT_PI = 3.14159265f;
public int SampleVelocityAdaptive(RcVec3f pos, float rad, float vmax, RcVec3f vel, RcVec3f dvel, out RcVec3f nvel,
DtObstacleAvoidanceParams option,
@ -402,7 +402,7 @@ namespace DotRecast.Detour.Crowd
debug.Reset();
// Build sampling pattern aligned to desired velocity.
float[] pat = new float[(DT_MAX_PATTERN_DIVS * DT_MAX_PATTERN_RINGS + 1) * 2];
Span<float> pat = stackalloc float[(DT_MAX_PATTERN_DIVS * DT_MAX_PATTERN_RINGS + 1) * 2];
int npat = 0;
int ndivs = m_params.adaptiveDivs;
@ -416,7 +416,7 @@ namespace DotRecast.Detour.Crowd
float sa = MathF.Sin(da);
// desired direction
float[] ddir = new float[6];
Span<float> ddir = stackalloc float[6];
ddir[0] = dvel.X;
ddir[1] = dvel.Y;
ddir[2] = dvel.Z;