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Merge branch 'risky_optimizations'

This commit is contained in:
wrenge 2024-11-13 12:57:33 +03:00
parent 858e094ea0 418a39a576
commit 38a8029b6e
4 changed files with 54 additions and 34 deletions
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6
src/DotRecast.Core/Collections/CollectionExtensions.cs
View File

@ -45,5 +45,11 @@ namespace DotRecast.Core.Collections
(list[k], list[n]) = (list[n], list[k]);
}
}
public static void AddRange<T>(this IList<T> list, Span<T> span)
{
foreach (var i in span)
list.Add(i);
}
}
}

23
src/DotRecast.Detour.Crowd/DtPathCorridor.cs
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@ -33,7 +33,7 @@ namespace DotRecast.Detour.Crowd
private RcVec3f m_pos;
private RcVec3f m_target;
private List<long> m_path;
private List<long> m_path = new List<long>();
private int m_npath;
private int m_maxPath;
@ -89,7 +89,8 @@ namespace DotRecast.Detour.Crowd
/// @return True if the initialization succeeded.
public bool Init(int maxPath)
{
m_path = new List<long>(maxPath);
if (m_path.Capacity < maxPath)
m_path.Capacity = maxPath;
m_npath = 0;
m_maxPath = maxPath;
return true;
@ -218,7 +219,7 @@ namespace DotRecast.Detour.Crowd
{
if (res.Count > 1 && t > 0.99f)
{
m_npath = DtPathUtils.MergeCorridorStartShortcut(ref m_path, m_npath, m_maxPath, res, res.Count);
m_npath = DtPathUtils.MergeCorridorStartShortcut(m_path, m_npath, m_maxPath, res, res.Count);
}
}
}
@ -250,7 +251,7 @@ namespace DotRecast.Detour.Crowd
if (status.Succeeded() && res.Count > 0)
{
m_npath = DtPathUtils.MergeCorridorStartShortcut(ref m_path, m_npath, m_maxPath, res, res.Count);
m_npath = DtPathUtils.MergeCorridorStartShortcut(m_path, m_npath, m_maxPath, res, res.Count);
return true;
}
@ -276,7 +277,7 @@ namespace DotRecast.Detour.Crowd
}
// Prune path
m_path = m_path.GetRange(npos, m_npath - npos);
m_path.RemoveRange(0, npos);
m_npath -= npos;
refs[0] = prevRef;
@ -322,7 +323,7 @@ namespace DotRecast.Detour.Crowd
var status = navquery.MoveAlongSurface(m_path[0], m_pos, npos, filter, out var result, visited, out var nvisited, MAX_VISITED);
if (status.Succeeded())
{
m_npath = DtPathUtils.MergeCorridorStartMoved(ref m_path, m_npath, m_maxPath, visited, nvisited);
m_npath = DtPathUtils.MergeCorridorStartMoved(m_path, m_npath, m_maxPath, visited, nvisited);
// Adjust the position to stay on top of the navmesh.
m_pos = result;
@ -366,7 +367,7 @@ namespace DotRecast.Detour.Crowd
var status = navquery.MoveAlongSurface(m_path[^1], m_target, npos, filter, out var result, visited, out nvisited, MAX_VISITED);
if (status.Succeeded())
{
m_npath = DtPathUtils.MergeCorridorEndMoved(ref m_path, m_npath, m_maxPath, visited, nvisited);
m_npath = DtPathUtils.MergeCorridorEndMoved(m_path, m_npath, m_maxPath, visited, nvisited);
// TODO: should we do that?
// Adjust the position to stay on top of the navmesh.
@ -394,7 +395,11 @@ namespace DotRecast.Detour.Crowd
public void SetCorridor(RcVec3f target, List<long> path)
{
m_target = target;
m_path = new List<long>(path);
if(path != m_path)
{
m_path.Clear();
m_path.AddRange(path);
}
m_npath = path.Count;
}
@ -444,7 +449,7 @@ namespace DotRecast.Detour.Crowd
else if (n < m_npath)
{
// The path is partially usable.
m_path = m_path.GetRange(0, n);
m_path.RemoveRange(n, m_path.Count - n);
m_npath = n;
}

61
src/DotRecast.Detour/DtPathUtils.cs
View File

@ -20,7 +20,10 @@ freely, subject to the following restrictions:
using System;
using System.Collections.Generic;
using DotRecast.Core.Buffers;
using DotRecast.Core.Collections;
using DotRecast.Core.Numerics;
using CollectionExtensions = DotRecast.Core.Collections.CollectionExtensions;
namespace DotRecast.Detour
{
@ -148,7 +151,7 @@ namespace DotRecast.Detour
return npath;
}
public static int MergeCorridorStartMoved(ref List<long> path, int npath, int maxPath, Span<long> visited, int nvisited)
public static int MergeCorridorStartMoved(List<long> path, int npath, int maxPath, Span<long> visited, int nvisited)
{
int furthestPath = -1;
int furthestVisited = -1;
@ -180,22 +183,23 @@ namespace DotRecast.Detour
}
// Concatenate paths.
var endIndex = nvisited - 1;
var length1 = endIndex - furthestVisited;
var length2 = npath - furthestPath;
using var result = RcRentedArray.Rent<long>(length1 + length2);
// Adjust beginning of the buffer to include the visited.
List<long> result = new List<long>();
// Store visited
for (int i = nvisited - 1; i > furthestVisited; --i)
{
result.Add(visited[i]);
for (int i = 0; i < length1; ++i)
result[i] = visited[endIndex - i];
path.CopyTo(furthestPath, result.AsArray(), length1, length2);
path.Clear();
CollectionExtensions.AddRange(path, result.AsSpan());
return result.Length;
}
result.AddRange(path.GetRange(furthestPath, npath - furthestPath));
path = result;
return result.Count;
}
public static int MergeCorridorEndMoved(ref List<long> path, int npath, int maxPath, Span<long> visited, int nvisited)
public static int MergeCorridorEndMoved(List<long> path, int npath, int maxPath, Span<long> visited, int nvisited)
{
int furthestPath = -1;
int furthestVisited = -1;
@ -227,17 +231,18 @@ namespace DotRecast.Detour
}
// Concatenate paths.
List<long> result = path.GetRange(0, furthestPath);
foreach (var v in visited.Slice(furthestVisited, nvisited - furthestVisited))
{
result.Add(v);
var length1 = furthestPath;
var length2 = nvisited - furthestVisited;
using var result = RcRentedArray.Rent<long>(length1 + length2);
path.CopyTo(0, result.AsArray(), 0, length1);
visited.Slice(furthestVisited, nvisited - furthestVisited).CopyTo(result.AsSpan().Slice(length1, length2));
path.Clear();
CollectionExtensions.AddRange(path, result.AsSpan());
return path.Count;
}
path = result;
return result.Count;
}
public static int MergeCorridorStartShortcut(ref List<long> path, int npath, int maxPath, List<long> visited, int nvisited)
public static int MergeCorridorStartShortcut(List<long> path, int npath, int maxPath, List<long> visited, int nvisited)
{
int furthestPath = -1;
int furthestVisited = -1;
@ -271,11 +276,15 @@ namespace DotRecast.Detour
// Concatenate paths.
// Adjust beginning of the buffer to include the visited.
List<long> result = visited.GetRange(0, furthestVisited);
result.AddRange(path.GetRange(furthestPath, npath - furthestPath));
var length1 = furthestVisited;
var length2 = npath - furthestPath;
using var result = RcRentedArray.Rent<long>(length1 + length2);
visited.CopyTo(0, result.AsArray(), 0, length1);
path.CopyTo(furthestPath, result.AsArray(), length1, length2);
path = result;
return result.Count;
path.Clear();
CollectionExtensions.AddRange(path, result.AsSpan());
return path.Count;
}
}
}

2
src/DotRecast.Recast.Toolset/Tools/RcTestNavMeshTool.cs
View File

@ -98,7 +98,7 @@ namespace DotRecast.Recast.Toolset.Tools
iterPos = result;
pathIterPolyCount = DtPathUtils.MergeCorridorStartMoved(ref pathIterPolys, pathIterPolyCount, MAX_POLYS, visited, nvisited);
pathIterPolyCount = DtPathUtils.MergeCorridorStartMoved(pathIterPolys, pathIterPolyCount, MAX_POLYS, visited, nvisited);
pathIterPolyCount = DtPathUtils.FixupShortcuts(ref pathIterPolys, pathIterPolyCount, navQuery);
var status = navQuery.GetPolyHeight(pathIterPolys[0], result, out var h);