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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;
using System.Runtime.CompilerServices;
using DotRecast.Core; using DotRecast.Core;
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
@ -27,11 +28,9 @@ namespace DotRecast.Detour.Crowd
{ {
public class DtObstacleAvoidanceQuery public class DtObstacleAvoidanceQuery
{ {
public const int DT_MAX_PATTERN_DIVS = 32; public const int DT_MAX_PATTERN_DIVS = 32; // < Max numver of adaptive divs.
/// < Max numver of adaptive divs.
public const int DT_MAX_PATTERN_RINGS = 4; public const int DT_MAX_PATTERN_RINGS = 4;
public const float DT_PI = 3.14159265f;
private DtObstacleAvoidanceParams m_params; private DtObstacleAvoidanceParams m_params;
private float m_invHorizTime; private float m_invHorizTime;
@ -362,7 +361,8 @@ namespace DotRecast.Detour.Crowd
} }
// vector normalization that ignores the y-component. // 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]); float d = MathF.Sqrt(v[0] * v[0] + v[2] * v[2]);
if (d == 0) if (d == 0)
@ -373,7 +373,8 @@ namespace DotRecast.Detour.Crowd
} }
// vector normalization that ignores the y-component. // 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(); RcVec3f dest = new RcVec3f();
float c = MathF.Cos(ang); float c = MathF.Cos(ang);
@ -384,7 +385,6 @@ namespace DotRecast.Detour.Crowd
return dest; 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, public int SampleVelocityAdaptive(RcVec3f pos, float rad, float vmax, RcVec3f vel, RcVec3f dvel, out RcVec3f nvel,
DtObstacleAvoidanceParams option, DtObstacleAvoidanceParams option,
@ -402,7 +402,7 @@ namespace DotRecast.Detour.Crowd
debug.Reset(); debug.Reset();
// Build sampling pattern aligned to desired velocity. // 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 npat = 0;
int ndivs = m_params.adaptiveDivs; int ndivs = m_params.adaptiveDivs;
@ -416,7 +416,7 @@ namespace DotRecast.Detour.Crowd
float sa = MathF.Sin(da); float sa = MathF.Sin(da);
// desired direction // desired direction
float[] ddir = new float[6]; Span<float> ddir = stackalloc float[6];
ddir[0] = dvel.X; ddir[0] = dvel.X;
ddir[1] = dvel.Y; ddir[1] = dvel.Y;
ddir[2] = dvel.Z; ddir[2] = dvel.Z;