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Merge branch 'refs/heads/pr/fix-small-object-heap-issue' 

# Conflicts:
#	src/DotRecast.Detour/DtNavMeshQuery.cs
This commit is contained in:
wrenge 2024-04-23 11:16:42 +03:00
parent 331e35ecbb 6a57c067ac
commit 897748285f
5 changed files with 86 additions and 31 deletions
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1
src/DotRecast.Detour.Crowd/DtCrowd.cs
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@ -22,6 +22,7 @@ using System;
using System.Collections.Generic; using System.Collections.Generic;
using System.Threading.Tasks; using System.Threading.Tasks;
using DotRecast.Core; using DotRecast.Core;
using DotRecast.Core.Buffers;
using DotRecast.Core.Collections; using DotRecast.Core.Collections;
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;

3
src/DotRecast.Detour.Crowd/DtObstacleAvoidanceQuery.cs
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@ -20,6 +20,7 @@ freely, subject to the following restrictions:
using System; using System;
using DotRecast.Core; using DotRecast.Core;
using DotRecast.Core.Buffers;
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
@ -402,7 +403,7 @@ 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]; using var pat = RcRentedArray.Rent<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;

7
src/DotRecast.Detour/DtNavMesh.cs
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@ -21,6 +21,7 @@ freely, subject to the following restrictions:
using System; using System;
using System.Collections.Generic; using System.Collections.Generic;
using DotRecast.Core; using DotRecast.Core;
using DotRecast.Core.Buffers;
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
namespace DotRecast.Detour namespace DotRecast.Detour
@ -1246,14 +1247,14 @@ namespace DotRecast.Detour
int ip = poly.index; int ip = poly.index;
float[] verts = new float[m_maxVertPerPoly * 3]; using var verts = RcRentedArray.Rent<float>(m_maxVertPerPoly * 3);
int nv = poly.vertCount; int nv = poly.vertCount;
for (int i = 0; i < nv; ++i) for (int i = 0; i < nv; ++i)
{ {
RcArrays.Copy(tile.data.verts, poly.verts[i] * 3, verts, i * 3, 3); RcArrays.Copy(tile.data.verts, poly.verts[i] * 3, verts.AsArray(), i * 3, 3);
} }
if (!DtUtils.PointInPolygon(pos, verts, nv)) if (!DtUtils.PointInPolygon(pos, verts.AsArray(), nv))
{ {
return false; return false;
} }

57
src/DotRecast.Detour/DtNavMeshQuery.cs
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@ -21,6 +21,7 @@ freely, subject to the following restrictions:
using System; using System;
using System.Collections.Generic; using System.Collections.Generic;
using DotRecast.Core; using DotRecast.Core;
using DotRecast.Core.Buffers;
using DotRecast.Core.Collections; using DotRecast.Core.Collections;
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
@ -41,9 +42,9 @@ namespace DotRecast.Detour
public DtNavMeshQuery(DtNavMesh nav) public DtNavMeshQuery(DtNavMesh nav)
{ {
m_nav = nav; m_nav = nav;
m_tinyNodePool = new DtNodePool();
m_nodePool = new DtNodePool(); m_nodePool = new DtNodePool();
m_openList = new DtNodeQueue(); m_openList = new DtNodeQueue();
m_tinyNodePool = new DtNodePool();
} }
/// Returns random location on navmesh. /// Returns random location on navmesh.
@ -137,18 +138,18 @@ namespace DotRecast.Detour
} }
// Randomly pick point on polygon. // Randomly pick point on polygon.
float[] verts = new float[3 * m_nav.GetMaxVertsPerPoly()]; using var verts = RcRentedArray.Rent<float>(3 * m_nav.GetMaxVertsPerPoly());
float[] areas = new float[m_nav.GetMaxVertsPerPoly()]; using var areas = RcRentedArray.Rent<float>(m_nav.GetMaxVertsPerPoly());
RcArrays.Copy(tile.data.verts, poly.verts[0] * 3, verts, 0, 3); RcArrays.Copy(tile.data.verts, poly.verts[0] * 3, verts.AsArray(), 0, 3);
for (int j = 1; j < poly.vertCount; ++j) for (int j = 1; j < poly.vertCount; ++j)
{ {
RcArrays.Copy(tile.data.verts, poly.verts[j] * 3, verts, j * 3, 3); RcArrays.Copy(tile.data.verts, poly.verts[j] * 3, verts.AsArray(), j * 3, 3);
} }
float s = frand.Next(); float s = frand.Next();
float t = frand.Next(); float t = frand.Next();
var pt = DtUtils.RandomPointInConvexPoly(verts, poly.vertCount, areas, s, t); var pt = DtUtils.RandomPointInConvexPoly(verts.AsArray(), poly.vertCount, areas.AsArray(), s, t);
ClosestPointOnPoly(polyRef, pt, out var closest, out var _); ClosestPointOnPoly(polyRef, pt, out var closest, out var _);
randomRef = polyRef; randomRef = polyRef;
@ -386,8 +387,8 @@ namespace DotRecast.Detour
float s = frand.Next(); float s = frand.Next();
float t = frand.Next(); float t = frand.Next();
float[] areas = new float[randomPolyVerts.Length / 3]; using var areas = RcRentedArray.Rent<float>(randomPolyVerts.Length / 3);
RcVec3f pt = DtUtils.RandomPointInConvexPoly(randomPolyVerts, randomPolyVerts.Length / 3, areas, s, t); RcVec3f pt = DtUtils.RandomPointInConvexPoly(randomPolyVerts, randomPolyVerts.Length / 3, areas.AsArray(), s, t);
ClosestPointOnPoly(randomPolyRef, pt, out var closest, out var _); ClosestPointOnPoly(randomPolyRef, pt, out var closest, out var _);
randomRef = randomPolyRef; randomRef = randomPolyRef;
@ -457,16 +458,16 @@ namespace DotRecast.Detour
} }
// Collect vertices. // Collect vertices.
float[] verts = new float[m_nav.GetMaxVertsPerPoly() * 3]; using var verts = RcRentedArray.Rent<float>(m_nav.GetMaxVertsPerPoly() * 3);
float[] edged = new float[m_nav.GetMaxVertsPerPoly()]; using var edged = RcRentedArray.Rent<float>(m_nav.GetMaxVertsPerPoly());
float[] edget = new float[m_nav.GetMaxVertsPerPoly()]; using var edget = RcRentedArray.Rent<float>(m_nav.GetMaxVertsPerPoly());
int nv = poly.vertCount; int nv = poly.vertCount;
for (int i = 0; i < nv; ++i) for (int i = 0; i < nv; ++i)
{ {
RcArrays.Copy(tile.data.verts, poly.verts[i] * 3, verts, i * 3, 3); RcArrays.Copy(tile.data.verts, poly.verts[i] * 3, verts.AsArray(), i * 3, 3);
} }
if (DtUtils.DistancePtPolyEdgesSqr(pos, verts, nv, edged, edget)) if (DtUtils.DistancePtPolyEdgesSqr(pos, verts.AsArray(), nv, edged.AsArray(), edget.AsArray()))
{ {
closest = pos; closest = pos;
} }
@ -486,7 +487,7 @@ namespace DotRecast.Detour
int va = imin * 3; int va = imin * 3;
int vb = ((imin + 1) % nv) * 3; int vb = ((imin + 1) % nv) * 3;
closest = RcVecUtils.Lerp(verts, va, vb, edget[imin]); closest = RcVecUtils.Lerp(verts.AsArray(), va, vb, edget[imin]);
} }
return DtStatus.DT_SUCCESS; return DtStatus.DT_SUCCESS;
@ -1793,7 +1794,9 @@ namespace DotRecast.Detour
resultPos = RcVec3f.Zero; resultPos = RcVec3f.Zero;
if (null != visited) if (null != visited)
{
visited.Clear(); visited.Clear();
}
// Validate input // Validate input
if (!m_nav.IsValidPolyRef(startRef) || !startPos.IsFinite() if (!m_nav.IsValidPolyRef(startRef) || !startPos.IsFinite()
@ -1822,7 +1825,7 @@ namespace DotRecast.Detour
var searchPos = RcVec3f.Lerp(startPos, endPos, 0.5f); var searchPos = RcVec3f.Lerp(startPos, endPos, 0.5f);
float searchRadSqr = RcMath.Sqr(RcVec3f.Distance(startPos, endPos) / 2.0f + 0.001f); float searchRadSqr = RcMath.Sqr(RcVec3f.Distance(startPos, endPos) / 2.0f + 0.001f);
float[] verts = new float[m_nav.GetMaxVertsPerPoly() * 3]; using var verts = RcRentedArray.Rent<float>(m_nav.GetMaxVertsPerPoly() * 3);
const int MAX_NEIS = 8; const int MAX_NEIS = 8;
Span<long> neis = stackalloc long[MAX_NEIS]; Span<long> neis = stackalloc long[MAX_NEIS];
@ -1842,11 +1845,11 @@ namespace DotRecast.Detour
int nverts = curPoly.vertCount; int nverts = curPoly.vertCount;
for (int i = 0; i < nverts; ++i) for (int i = 0; i < nverts; ++i)
{ {
RcArrays.Copy(curTile.data.verts, curPoly.verts[i] * 3, verts, i * 3, 3); RcArrays.Copy(curTile.data.verts, curPoly.verts[i] * 3, verts.AsArray(), i * 3, 3);
} }
// If target is inside the poly, stop search. // If target is inside the poly, stop search.
if (DtUtils.PointInPolygon(endPos, verts, nverts)) if (DtUtils.PointInPolygon(endPos, verts.AsArray(), nverts))
{ {
bestNode = curNode; bestNode = curNode;
bestPos = endPos; bestPos = endPos;
@ -1897,11 +1900,11 @@ namespace DotRecast.Detour
// Wall edge, calc distance. // Wall edge, calc distance.
int vj = j * 3; int vj = j * 3;
int vi = i * 3; int vi = i * 3;
var distSqr = DtUtils.DistancePtSegSqr2D(endPos, verts, vj, vi, out var tseg); var distSqr = DtUtils.DistancePtSegSqr2D(endPos, verts.AsArray(), vj, vi, out var tseg);
if (distSqr < bestDist) if (distSqr < bestDist)
{ {
// Update nearest distance. // Update nearest distance.
bestPos = RcVecUtils.Lerp(verts, vj, vi, tseg); bestPos = RcVecUtils.Lerp(verts.AsArray(), vj, vi, tseg);
bestDist = distSqr; bestDist = distSqr;
bestNode = curNode; bestNode = curNode;
} }
@ -1921,7 +1924,7 @@ namespace DotRecast.Detour
// TODO: Maybe should use GetPortalPoints(), but this one is way faster. // TODO: Maybe should use GetPortalPoints(), but this one is way faster.
int vj = j * 3; int vj = j * 3;
int vi = i * 3; int vi = i * 3;
var distSqr = DtUtils.DistancePtSegSqr2D(searchPos, verts, vj, vi, out var _); var distSqr = DtUtils.DistancePtSegSqr2D(searchPos, verts.AsArray(), vj, vi, out var _);
if (distSqr > searchRadSqr) if (distSqr > searchRadSqr)
{ {
continue; continue;
@ -2245,7 +2248,7 @@ namespace DotRecast.Detour
hit.path.Clear(); hit.path.Clear();
hit.pathCost = 0; hit.pathCost = 0;
RcVec3f[] verts = new RcVec3f[m_nav.GetMaxVertsPerPoly() + 1]; using var verts = RcRentedArray.Rent<RcVec3f>(m_nav.GetMaxVertsPerPoly() + 1);
RcVec3f curPos = RcVec3f.Zero; RcVec3f curPos = RcVec3f.Zero;
RcVec3f lastPos = RcVec3f.Zero; RcVec3f lastPos = RcVec3f.Zero;
@ -2279,7 +2282,7 @@ namespace DotRecast.Detour
nv++; nv++;
} }
bool intersects = DtUtils.IntersectSegmentPoly2D(startPos, endPos, verts, nv, out var tmin, out var tmax, out var segMin, out var segMax); bool intersects = DtUtils.IntersectSegmentPoly2D(startPos, endPos, verts.AsArray(), nv, out var tmin, out var tmax, out var segMin, out var segMax);
if (!intersects) if (!intersects)
{ {
// Could not hit the polygon, keep the old t and report hit. // Could not hit the polygon, keep the old t and report hit.
@ -2874,8 +2877,8 @@ namespace DotRecast.Detour
float radiusSqr = RcMath.Sqr(radius); float radiusSqr = RcMath.Sqr(radius);
float[] pa = new float[m_nav.GetMaxVertsPerPoly() * 3]; using var pa = RcRentedArray.Rent<float>(m_nav.GetMaxVertsPerPoly() * 3);
float[] pb = new float[m_nav.GetMaxVertsPerPoly() * 3]; using var pb = RcRentedArray.Rent<float>(m_nav.GetMaxVertsPerPoly() * 3);
while (0 < stack.Count) while (0 < stack.Count)
{ {
@ -2946,7 +2949,7 @@ namespace DotRecast.Detour
int npa = neighbourPoly.vertCount; int npa = neighbourPoly.vertCount;
for (int k = 0; k < npa; ++k) for (int k = 0; k < npa; ++k)
{ {
RcArrays.Copy(neighbourTile.data.verts, neighbourPoly.verts[k] * 3, pa, k * 3, 3); RcArrays.Copy(neighbourTile.data.verts, neighbourPoly.verts[k] * 3, pa.AsArray(), k * 3, 3);
} }
bool overlap = false; bool overlap = false;
@ -2977,10 +2980,10 @@ namespace DotRecast.Detour
int npb = pastPoly.vertCount; int npb = pastPoly.vertCount;
for (int k = 0; k < npb; ++k) for (int k = 0; k < npb; ++k)
{ {
RcArrays.Copy(pastTile.data.verts, pastPoly.verts[k] * 3, pb, k * 3, 3); RcArrays.Copy(pastTile.data.verts, pastPoly.verts[k] * 3, pb.AsArray(), k * 3, 3);
} }
if (DtUtils.OverlapPolyPoly2D(pa, npa, pb, npb)) if (DtUtils.OverlapPolyPoly2D(pa.AsArray(), npa, pb.AsArray(), npb))
{ {
overlap = true; overlap = true;
break; break;

49
test/DotRecast.Core.Test/RcRentedArrayTest.cs
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@ -1,6 +1,9 @@
using System; using System;
using System.Collections.Generic; using System.Collections.Generic;
using System.Linq;
using System.Xml;
using DotRecast.Core.Buffers; using DotRecast.Core.Buffers;
using Microsoft.VisualStudio.TestPlatform.CommunicationUtilities.Serialization;
using NUnit.Framework; using NUnit.Framework;
namespace DotRecast.Core.Test; namespace DotRecast.Core.Test;
@ -56,4 +59,50 @@ public class RcRentedArrayTest
Assert.Throws<NullReferenceException>(() => rentedArray[^1] = 0); Assert.Throws<NullReferenceException>(() => rentedArray[^1] = 0);
} }
} }
[Test]
public void TestSame()
{
// not same
{
using var r1 = RcRentedArray.Rent<float>(1024);
using var r2 = RcRentedArray.Rent<float>(1024);
Assert.That(r2.AsArray() != r1.AsArray(), Is.EqualTo(true));
}
// same
{
// error case
float[] r1Array;
using (var r1 = RcRentedArray.Rent<float>(1024))
{
r1Array = r1.AsArray();
for (int i = 0; i < r1.Length; ++i)
{
r1[i] = 123;
}
}
using var r2 = RcRentedArray.Rent<float>(1024);
Assert.That(r2.AsArray() == r1Array, Is.EqualTo(true));
Assert.That(r2.AsArray().Sum(), Is.EqualTo(0));
}
}
[Test]
public void TestDispose()
{
var r1 = RcRentedArray.Rent<float>(1024);
for (int i = 0; i < r1.Length; ++i)
{
r1[i] = 123;
}
Assert.That(r1.IsDisposed, Is.EqualTo(false));
r1.Dispose();
Assert.That(r1.IsDisposed, Is.EqualTo(true));
Assert.That(r1.AsArray(), Is.Null);
}
} }