forked from mirror/DotRecast
Code cleanup and small optimizations in RecastFilter.cpp rcFilterLedgeSpans (https://github.com/recastnavigation/recastnavigation/pull/672)
- 3e94c3b6fc
* Code cleanup and minor refactor in RecastFilter.cpp rcFilterLedgeSpans
Because span.smax is always > 0, bot > 0 as well, and (-walkableClimb - bot) is always < -walkableClimb. Furthermore, as long as minNeighborHeight < -walkableClimb' at least once, there is no need to continue the traversal.
* Code cleanup and minor refactor in RecastFilter.cpp rcFilterLedgeSpans
Because span.smax is always > 0, bot > 0 as well, and (-walkableClimb - bot) is always < -walkableClimb. Furthermore, as long as minNeighborHeight < -walkableClimb' at least once, there is no need to continue the traversal.
* Update RecastFilter.cpp
Revise Comment
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ikpil
Ikpil
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2d36b5f639
commit
9d01b5243f
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@ -84,70 +84,79 @@ namespace DotRecast.Recast
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/// A span is a ledge if: <tt>RcAbs(currentSpan.smax - neighborSpan.smax) > walkableClimb</tt>
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///
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/// @see rcHeightfield, rcConfig
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public static void FilterLedgeSpans(RcTelemetry ctx, int walkableHeight, int walkableClimb, RcHeightfield solid)
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public static void FilterLedgeSpans(RcTelemetry ctx, int walkableHeight, int walkableClimb, RcHeightfield heightfield)
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{
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using var timer = ctx.ScopedTimer(RcTimerLabel.RC_TIMER_FILTER_BORDER);
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int w = solid.width;
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int h = solid.height;
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int xSize = heightfield.width;
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int zSize = heightfield.height;
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// Mark border spans.
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for (int y = 0; y < h; ++y)
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for (int z = 0; z < zSize; ++z)
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{
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for (int x = 0; x < w; ++x)
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for (int x = 0; x < xSize; ++x)
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{
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for (RcSpan s = solid.spans[x + y * w]; s != null; s = s.next)
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for (RcSpan span = heightfield.spans[x + z * xSize]; span != null; span = span.next)
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{
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// Skip non walkable spans.
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if (s.area == RC_NULL_AREA)
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if (span.area == RC_NULL_AREA)
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{
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continue;
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}
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int bot = (s.smax);
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int top = s.next != null ? s.next.smin : SPAN_MAX_HEIGHT;
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int bot = (span.smax);
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int top = span.next != null ? span.next.smin : SPAN_MAX_HEIGHT;
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// Find neighbours minimum height.
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int minh = SPAN_MAX_HEIGHT;
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int minNeighborHeight = SPAN_MAX_HEIGHT;
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// Min and max height of accessible neighbours.
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int asmin = s.smax;
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int asmax = s.smax;
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int accessibleNeighborMinHeight = span.smax;
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int accessibleNeighborMaxHeight = span.smax;
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for (int dir = 0; dir < 4; ++dir)
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for (int direction = 0; direction < 4; ++direction)
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{
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int dx = x + GetDirOffsetX(dir);
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int dy = y + GetDirOffsetY(dir);
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int dx = x + GetDirOffsetX(direction);
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int dz = z + GetDirOffsetY(direction);
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// Skip neighbours which are out of bounds.
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if (dx < 0 || dy < 0 || dx >= w || dy >= h)
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if (dx < 0 || dz < 0 || dx >= xSize || dz >= zSize)
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{
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minh = Math.Min(minh, -walkableClimb - bot);
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continue;
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minNeighborHeight = (-walkableClimb - 1);
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break;
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}
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// From minus infinity to the first span.
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RcSpan ns = solid.spans[dx + dy * w];
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int nbot = -walkableClimb;
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int ntop = ns != null ? ns.smin : SPAN_MAX_HEIGHT;
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RcSpan neighborSpan = heightfield.spans[dx + dz * xSize];
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int neighborTop = neighborSpan != null ? neighborSpan.smin : SPAN_MAX_HEIGHT;
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// Skip neightbour if the gap between the spans is too small.
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if (Math.Min(top, ntop) - Math.Max(bot, nbot) > walkableHeight)
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minh = Math.Min(minh, nbot - bot);
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if (Math.Min(top, neighborTop) - bot >= walkableHeight)
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{
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minNeighborHeight = (-walkableClimb - 1);
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break;
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}
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// Rest of the spans.
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for (ns = solid.spans[dx + dy * w]; ns != null; ns = ns.next)
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for (neighborSpan = heightfield.spans[dx + dz * xSize]; neighborSpan != null; neighborSpan = neighborSpan.next)
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{
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nbot = ns.smax;
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ntop = ns.next != null ? ns.next.smin : SPAN_MAX_HEIGHT;
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int neighborBot = neighborSpan.smax;
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neighborTop = neighborSpan.next != null ? neighborSpan.next.smin : SPAN_MAX_HEIGHT;
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// Skip neightbour if the gap between the spans is too small.
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if (Math.Min(top, ntop) - Math.Max(bot, nbot) > walkableHeight)
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if (Math.Min(top, neighborTop) - Math.Max(bot, neighborBot) >= walkableHeight)
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{
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minh = Math.Min(minh, nbot - bot);
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int accessibleNeighbourHeight = neighborBot - bot;
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minNeighborHeight = Math.Min(minNeighborHeight, accessibleNeighbourHeight);
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// Find min/max accessible neighbour height.
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if (MathF.Abs(nbot - bot) <= walkableClimb)
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if (MathF.Abs(accessibleNeighbourHeight) <= walkableClimb)
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{
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if (nbot < asmin)
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asmin = nbot;
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if (nbot > asmax)
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asmax = nbot;
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if (neighborBot < accessibleNeighborMinHeight) accessibleNeighborMinHeight = neighborBot;
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if (neighborBot > accessibleNeighborMaxHeight) accessibleNeighborMaxHeight = neighborBot;
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}
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else if (accessibleNeighbourHeight < -walkableClimb)
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{
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break;
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}
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}
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}
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@ -155,14 +164,16 @@ namespace DotRecast.Recast
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// The current span is close to a ledge if the drop to any
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// neighbour span is less than the walkableClimb.
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if (minh < -walkableClimb)
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s.area = RC_NULL_AREA;
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if (minNeighborHeight < -walkableClimb)
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{
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span.area = RC_NULL_AREA;
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}
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// If the difference between all neighbours is too large,
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// we are at steep slope, mark the span as ledge.
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if ((asmax - asmin) > walkableClimb)
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if ((accessibleNeighborMaxHeight - accessibleNeighborMinHeight) > walkableClimb)
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{
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s.area = RC_NULL_AREA;
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span.area = RC_NULL_AREA;
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}
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}
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}
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