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rese DtNode in DtNodePool

This commit is contained in:
ikpil 2024-02-05 00:45:16 +09:00 committed by Ikpil
parent 73bb475ef7
commit 3ce4f59002
3 changed files with 42 additions and 21 deletions
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25
src/DotRecast.Detour/DtNavMeshQuery.cs
View File

@ -31,14 +31,17 @@ namespace DotRecast.Detour
/// < Add a vertex at every polygon edge crossing.
protected readonly DtNavMesh m_nav;
protected readonly DtNodePool m_tinyNodePool;
protected readonly DtNodePool m_nodePool;
protected readonly DtNodeQueue m_openList;
protected DtQueryData m_query;
/// < Sliced query state.
public DtNavMeshQuery(DtNavMesh nav)
{
m_nav = nav;
m_tinyNodePool = new DtNodePool();
m_nodePool = new DtNodePool();
m_openList = new DtNodeQueue();
}
@ -1799,9 +1802,9 @@ namespace DotRecast.Detour
return DtStatus.DT_FAILURE | DtStatus.DT_INVALID_PARAM;
}
DtNodePool tinyNodePool = new DtNodePool();
m_tinyNodePool.Clear();
DtNode startNode = tinyNodePool.GetNode(startRef);
DtNode startNode = m_tinyNodePool.GetNode(startRef);
startNode.pidx = 0;
startNode.cost = 0;
startNode.total = 0;
@ -1906,7 +1909,7 @@ namespace DotRecast.Detour
{
for (int k = 0; k < nneis; ++k)
{
DtNode neighbourNode = tinyNodePool.GetNode(neis[k]);
DtNode neighbourNode = m_tinyNodePool.GetNode(neis[k]);
// Skip if already visited.
if ((neighbourNode.flags & DtNodeFlags.DT_NODE_CLOSED) != 0)
{
@ -1924,7 +1927,7 @@ namespace DotRecast.Detour
}
// Mark as the node as visited and push to queue.
neighbourNode.pidx = tinyNodePool.GetNodeIdx(curNode);
neighbourNode.pidx = m_tinyNodePool.GetNodeIdx(curNode);
neighbourNode.flags |= DtNodeFlags.DT_NODE_CLOSED;
stack.AddLast(neighbourNode);
}
@ -1939,8 +1942,8 @@ namespace DotRecast.Detour
DtNode node = bestNode;
do
{
DtNode next = tinyNodePool.GetNodeAtIdx(node.pidx);
node.pidx = tinyNodePool.GetNodeIdx(prev);
DtNode next = m_tinyNodePool.GetNodeAtIdx(node.pidx);
node.pidx = m_tinyNodePool.GetNodeIdx(prev);
prev = node;
node = next;
} while (node != null);
@ -1950,7 +1953,7 @@ namespace DotRecast.Detour
do
{
visited.Add(node.id);
node = tinyNodePool.GetNodeAtIdx(node.pidx);
node = m_tinyNodePool.GetNodeAtIdx(node.pidx);
} while (node != null);
}
@ -2856,9 +2859,9 @@ namespace DotRecast.Detour
resultRef.Clear();
resultParent.Clear();
DtNodePool tinyNodePool = new DtNodePool();
m_tinyNodePool.Clear();
DtNode startNode = tinyNodePool.GetNode(startRef);
DtNode startNode = m_tinyNodePool.GetNode(startRef);
startNode.pidx = 0;
startNode.id = startRef;
startNode.flags = DtNodeFlags.DT_NODE_CLOSED;
@ -2894,7 +2897,7 @@ namespace DotRecast.Detour
continue;
}
DtNode neighbourNode = tinyNodePool.GetNode(neighbourRef);
DtNode neighbourNode = m_tinyNodePool.GetNode(neighbourRef);
// Skip visited.
if ((neighbourNode.flags & DtNodeFlags.DT_NODE_CLOSED) != 0)
{
@ -2934,7 +2937,7 @@ namespace DotRecast.Detour
// Mark node visited, this is done before the overlap test so that
// we will not visit the poly again if the test fails.
neighbourNode.flags |= DtNodeFlags.DT_NODE_CLOSED;
neighbourNode.pidx = tinyNodePool.GetNodeIdx(curNode);
neighbourNode.pidx = m_tinyNodePool.GetNodeIdx(curNode);
// Check that the polygon does not collide with existing polygons.

6
src/DotRecast.Detour/DtNode.cs
View File

@ -25,7 +25,7 @@ namespace DotRecast.Detour
{
public class DtNode
{
public readonly int index;
public readonly int ptr;
public RcVec3f pos; // Position of the node.
public float cost; // Cost from previous node to current node.
@ -36,9 +36,9 @@ namespace DotRecast.Detour
public long id; // Polygon ref the node corresponds to.
public List<long> shortcut; // Shortcut found by raycast.
public DtNode(int index)
public DtNode(int ptr)
{
this.index = index;
this.ptr = ptr;
}
public static int ComparisonNodeTotal(DtNode a, DtNode b)

32
src/DotRecast.Detour/DtNodePool.cs
View File

@ -25,6 +25,8 @@ namespace DotRecast.Detour
public class DtNodePool
{
private readonly Dictionary<long, List<DtNode>> m_map;
private int m_nodeCount;
private readonly List<DtNode> m_nodes;
public DtNodePool()
@ -35,8 +37,8 @@ namespace DotRecast.Detour
public void Clear()
{
m_nodes.Clear();
m_map.Clear();
m_nodeCount = 0;
}
public int FindNodes(long id, out List<DtNode> nodes)
@ -52,7 +54,7 @@ namespace DotRecast.Detour
public DtNode FindNode(long id)
{
var hasNode = m_map.TryGetValue(id, out var nodes);
m_map.TryGetValue(id, out var nodes);
if (nodes != null && 0 != nodes.Count)
{
return nodes[0];
@ -63,7 +65,7 @@ namespace DotRecast.Detour
public DtNode GetNode(long id, int state)
{
var hasNode = m_map.TryGetValue(id, out var nodes);
m_map.TryGetValue(id, out var nodes);
if (nodes != null)
{
foreach (DtNode node in nodes)
@ -85,10 +87,22 @@ namespace DotRecast.Detour
private DtNode Create(long id, int state, List<DtNode> nodes)
{
DtNode node = new DtNode(m_nodes.Count + 1);
if (m_nodes.Count <= m_nodeCount)
{
var newNode = new DtNode(m_nodeCount);
m_nodes.Add(newNode);
}
int i = m_nodeCount;
m_nodeCount++;
var node = m_nodes[i];
node.pidx = 0;
node.cost = 0;
node.total = 0;
node.id = id;
node.state = state;
m_nodes.Add(node);
node.flags = 0;
node.shortcut = null;
nodes.Add(node);
return node;
@ -96,12 +110,16 @@ namespace DotRecast.Detour
public int GetNodeIdx(DtNode node)
{
return node != null ? node.index : 0;
return node != null
? node.ptr + 1
: 0;
}
public DtNode GetNodeAtIdx(int idx)
{
return idx != 0 ? m_nodes[idx - 1] : null;
return idx != 0
? m_nodes[idx - 1]
: null;
}
public DtNode GetNode(long refs)