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Changed memory handling to use stackalloc in DtNavMeshQuery.GetPolyWallSegments for reducing SOH 

Refactored to use stack-allocated Span<DtSegInterval> instead of dynamically allocating List<DtSegInterval>. This reduces potential heap allocations and improves performance by efficiently managing memory within a fixed size context.
This commit is contained in:
ikpil 2024-07-14 23:51:04 +09:00
parent c562f8f6a1
commit 84419b1d52
2 changed files with 45 additions and 25 deletions
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1
CHANGELOG.md
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@ -15,6 +15,7 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
### Changed ### Changed
- Changed data structure of 'neis' from List<byte> to byte[] for optimized memory usage and improved access speed in `DtLayerMonotoneRegion` - Changed data structure of 'neis' from List<byte> to byte[] for optimized memory usage and improved access speed in `DtLayerMonotoneRegion`
- Changed new RcVec3f[3] to stackalloc RcVec3f[3] in DtNavMesh.GetPolyHeight() to reduce heap allocation - Changed new RcVec3f[3] to stackalloc RcVec3f[3] in DtNavMesh.GetPolyHeight() to reduce heap allocation
- Changed memory handling to use stackalloc in DtNavMeshQuery.GetPolyWallSegments for reducing SOH
### Removed ### Removed
- Nothing - Nothing

41
src/DotRecast.Detour/DtNavMeshQuery.cs
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@ -3090,11 +3090,14 @@ namespace DotRecast.Detour
} }
protected void InsertInterval(List<DtSegInterval> ints, int tmin, int tmax, long refs) protected void InsertInterval(Span<DtSegInterval> ints, ref int nints, int maxInts, int tmin, int tmax, long refs)
{ {
if (nints + 1 > maxInts)
return;
// Find insertion point. // Find insertion point.
int idx = 0; int idx = 0;
while (idx < ints.Count) while (idx < nints)
{ {
if (tmax <= ints[idx].tmin) if (tmax <= ints[idx].tmin)
{ {
@ -3104,8 +3107,15 @@ namespace DotRecast.Detour
idx++; idx++;
} }
// Move current results.
if (0 != nints - idx)
{
RcSpans.Move(ints, idx, idx + 1, nints - idx);
}
// Store // Store
ints.Insert(idx, new DtSegInterval(refs, tmin, tmax)); ints[idx] = new DtSegInterval(refs, tmin, tmax);
nints++;
} }
/// @par /// @par
@ -3134,7 +3144,7 @@ namespace DotRecast.Detour
segmentVerts.Clear(); segmentVerts.Clear();
segmentRefs.Clear(); segmentRefs.Clear();
var status = m_nav.GetTileAndPolyByRef(refs, out var tile, out var poly); DtStatus status = m_nav.GetTileAndPolyByRef(refs, out var tile, out var poly);
if (status.Failed()) if (status.Failed())
{ {
return DtStatus.DT_FAILURE | DtStatus.DT_INVALID_PARAM; return DtStatus.DT_FAILURE | DtStatus.DT_INVALID_PARAM;
@ -3145,11 +3155,17 @@ namespace DotRecast.Detour
return DtStatus.DT_FAILURE | DtStatus.DT_INVALID_PARAM; return DtStatus.DT_FAILURE | DtStatus.DT_INVALID_PARAM;
} }
List<DtSegInterval> ints = new List<DtSegInterval>(16); int n = 0;
const int MAX_INTERVAL = 16;
Span<DtSegInterval> ints = stackalloc DtSegInterval[MAX_INTERVAL];
int nints;
status = DtStatus.DT_SUCCESS;
for (int i = 0, j = poly.vertCount - 1; i < poly.vertCount; j = i++) for (int i = 0, j = poly.vertCount - 1; i < poly.vertCount; j = i++)
{ {
// Skip non-solid edges. // Skip non-solid edges.
ints.Clear(); nints = 0;
if ((poly.neis[j] & DT_EXT_LINK) != 0) if ((poly.neis[j] & DT_EXT_LINK) != 0)
{ {
// Tile border. // Tile border.
@ -3163,7 +3179,7 @@ namespace DotRecast.Detour
m_nav.GetTileAndPolyByRefUnsafe(link.refs, out var neiTile, out var neiPoly); m_nav.GetTileAndPolyByRefUnsafe(link.refs, out var neiTile, out var neiPoly);
if (filter.PassFilter(link.refs, neiTile, neiPoly)) if (filter.PassFilter(link.refs, neiTile, neiPoly))
{ {
InsertInterval(ints, link.bmin, link.bmax, link.refs); InsertInterval(ints, ref nints, MAX_INTERVAL, link.bmin, link.bmax, link.refs);
} }
} }
} }
@ -3198,17 +3214,18 @@ namespace DotRecast.Detour
// RcArrays.Copy(tile.data.verts, ivi, seg, 3, 3); // RcArrays.Copy(tile.data.verts, ivi, seg, 3, 3);
segmentVerts.Add(seg); segmentVerts.Add(seg);
segmentRefs.Add(neiRef); segmentRefs.Add(neiRef);
n++;
continue; continue;
} }
// Add sentinels // Add sentinels
InsertInterval(ints, -1, 0, 0); InsertInterval(ints, ref nints, MAX_INTERVAL, -1, 0, 0);
InsertInterval(ints, 255, 256, 0); InsertInterval(ints, ref nints, MAX_INTERVAL, 255, 256, 0);
// Store segments. // Store segments.
int vj = poly.verts[j] * 3; int vj = poly.verts[j] * 3;
int vi = poly.verts[i] * 3; int vi = poly.verts[i] * 3;
for (int k = 1; k < ints.Count; ++k) for (int k = 1; k < nints; ++k)
{ {
// Portal segment. // Portal segment.
if (storePortals && ints[k].refs != 0) if (storePortals && ints[k].refs != 0)
@ -3220,6 +3237,7 @@ namespace DotRecast.Detour
seg.vmax = RcVec.Lerp(tile.data.verts, vj, vi, tmax); seg.vmax = RcVec.Lerp(tile.data.verts, vj, vi, tmax);
segmentVerts.Add(seg); segmentVerts.Add(seg);
segmentRefs.Add(ints[k].refs); segmentRefs.Add(ints[k].refs);
n++;
} }
// Wall segment. // Wall segment.
@ -3234,11 +3252,12 @@ namespace DotRecast.Detour
seg.vmax = RcVec.Lerp(tile.data.verts, vj, vi, tmax); seg.vmax = RcVec.Lerp(tile.data.verts, vj, vi, tmax);
segmentVerts.Add(seg); segmentVerts.Add(seg);
segmentRefs.Add(0L); segmentRefs.Add(0L);
n++;
} }
} }
} }
return DtStatus.DT_SUCCESS; return status;
} }
/// @par /// @par