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Use precached queue instead of linked list

This commit is contained in:
wrenge 2024-11-13 13:42:43 +03:00
parent 592ecebe1e
commit 815a83e3cb
1 changed files with 13 additions and 12 deletions
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25
src/DotRecast.Detour/DtNavMeshQuery.cs
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@ -1837,6 +1837,7 @@ namespace DotRecast.Detour
return DtStatus.DT_SUCCESS | (straightPathCount >= maxStraightPath ? DtStatus.DT_BUFFER_TOO_SMALL : DtStatus.DT_STATUS_NOTHING);
}
private readonly Queue<DtNode> MoveAlongSurface_queue = new Queue<DtNode>();
/// @par
///
/// This method is optimized for small delta movement and a small number of
@ -1892,8 +1893,8 @@ namespace DotRecast.Detour
startNode.total = 0;
startNode.id = startRef;
startNode.flags = DtNodeFlags.DT_NODE_CLOSED;
LinkedList<DtNode> stack = new LinkedList<DtNode>();
stack.AddLast(startNode);
MoveAlongSurface_queue.Clear();
MoveAlongSurface_queue.Enqueue(startNode);
RcVec3f bestPos = new RcVec3f();
float bestDist = float.MaxValue;
@ -1909,11 +1910,10 @@ namespace DotRecast.Detour
const int MAX_NEIS = 8;
Span<long> neis = stackalloc long[MAX_NEIS];
while (0 < stack.Count)
while (0 < MoveAlongSurface_queue.Count)
{
// Pop front.
DtNode curNode = stack.First?.Value;
stack.RemoveFirst();
DtNode curNode = MoveAlongSurface_queue.Dequeue();
// Get poly and tile.
// The API input has been checked already, skip checking internal data.
@ -2012,7 +2012,7 @@ namespace DotRecast.Detour
// Mark as the node as visited and push to queue.
neighbourNode.pidx = m_tinyNodePool.GetNodeIdx(curNode);
neighbourNode.flags |= DtNodeFlags.DT_NODE_CLOSED;
stack.AddLast(neighbourNode);
MoveAlongSurface_queue.Enqueue(neighbourNode);
}
}
}
@ -2903,6 +2903,7 @@ namespace DotRecast.Detour
return DtStatus.DT_SUCCESS;
}
private readonly Queue<DtNode> FindLocalNeighbourhood_queue = new Queue<DtNode>();
/// @par
///
/// This method is optimized for a small search radius and small number of result
@ -2954,8 +2955,8 @@ namespace DotRecast.Detour
startNode.pidx = 0;
startNode.id = startRef;
startNode.flags = DtNodeFlags.DT_NODE_CLOSED;
LinkedList<DtNode> stack = new LinkedList<DtNode>();
stack.AddLast(startNode);
FindLocalNeighbourhood_queue.Clear();
FindLocalNeighbourhood_queue.Enqueue(startNode);
resultRef.Add(startNode.id);
resultParent.Add(0L);
@ -2965,11 +2966,11 @@ namespace DotRecast.Detour
Span<float> pa = stackalloc float[m_nav.GetMaxVertsPerPoly() * 3];
Span<float> pb = stackalloc float[m_nav.GetMaxVertsPerPoly() * 3];
while (0 < stack.Count)
while (0 < FindLocalNeighbourhood_queue.Count)
{
// Pop front.
DtNode curNode = stack.First?.Value;
stack.RemoveFirst();
DtNode curNode = FindLocalNeighbourhood_queue.Dequeue();
// Get poly and tile.
// The API input has been checked already, skip checking internal data.
@ -3082,7 +3083,7 @@ namespace DotRecast.Detour
resultRef.Add(neighbourRef);
resultParent.Add(curRef);
stack.AddLast(neighbourNode);
FindLocalNeighbourhood_queue.Enqueue(neighbourNode);
}
}