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Changed new RcVec3f[3] to stackalloc RcVec3f[3] in DtNavMesh.GetPolyHeight() to reduce heap allocation.

This commit is contained in:
ikpil 2024-07-14 00:09:08 +09:00
parent eccce01cff
commit c562f8f6a1
7 changed files with 17 additions and 10 deletions
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1
CHANGELOG.md
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@ -14,6 +14,7 @@ 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
### Removed ### Removed
- Nothing - Nothing

12
src/DotRecast.Detour/DtNavMesh.cs
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@ -66,7 +66,7 @@ namespace DotRecast.Detour
m_tiles = new DtMeshTile[m_maxTiles]; m_tiles = new DtMeshTile[m_maxTiles];
m_posLookup = new DtMeshTile[m_tileLutSize]; m_posLookup = new DtMeshTile[m_tileLutSize];
m_nextFree = null; m_nextFree = null;
for (int i = m_maxTiles-1; i >= 0; --i) for (int i = m_maxTiles - 1; i >= 0; --i)
{ {
m_tiles[i] = new DtMeshTile(i); m_tiles[i] = new DtMeshTile(i);
m_tiles[i].salt = 1; m_tiles[i].salt = 1;
@ -1045,6 +1045,7 @@ namespace DotRecast.Detour
RcVec3f pmin = new RcVec3f(); RcVec3f pmin = new RcVec3f();
RcVec3f pmax = new RcVec3f(); RcVec3f pmax = new RcVec3f();
Span<RcVec3f> tempV = stackalloc RcVec3f[3];
if (tile.data.detailMeshes != null) if (tile.data.detailMeshes != null)
{ {
ref DtPolyDetail pd = ref tile.data.detailMeshes[ip]; ref DtPolyDetail pd = ref tile.data.detailMeshes[ip];
@ -1057,7 +1058,7 @@ namespace DotRecast.Detour
continue; continue;
} }
RcVec3f[] v = new RcVec3f[3]; Span<RcVec3f> v = tempV;
for (int j = 0; j < 3; ++j) for (int j = 0; j < 3; ++j)
{ {
if (tris[ti + j] < poly.vertCount) if (tris[ti + j] < poly.vertCount)
@ -1105,7 +1106,7 @@ namespace DotRecast.Detour
} }
else else
{ {
RcVec3f[] v = new RcVec3f[2]; Span<RcVec3f> v = tempV.Slice(0, 2);
for (int j = 0; j < poly.vertCount; ++j) for (int j = 0; j < poly.vertCount; ++j)
{ {
int k = (j + 1) % poly.vertCount; int k = (j + 1) % poly.vertCount;
@ -1156,13 +1157,14 @@ namespace DotRecast.Detour
} }
// Find height at the location. // Find height at the location.
Span<RcVec3f> tempV = stackalloc RcVec3f[3];
if (tile.data.detailMeshes != null) if (tile.data.detailMeshes != null)
{ {
ref DtPolyDetail pd = ref tile.data.detailMeshes[ip]; ref DtPolyDetail pd = ref tile.data.detailMeshes[ip];
for (int j = 0; j < pd.triCount; ++j) for (int j = 0; j < pd.triCount; ++j)
{ {
int t = (pd.triBase + j) * 4; int t = (pd.triBase + j) * 4;
RcVec3f[] v = new RcVec3f[3]; Span<RcVec3f> v = tempV;
for (int k = 0; k < 3; ++k) for (int k = 0; k < 3; ++k)
{ {
if (tile.data.detailTris[t + k] < poly.vertCount) if (tile.data.detailTris[t + k] < poly.vertCount)
@ -1196,7 +1198,7 @@ namespace DotRecast.Detour
} }
else else
{ {
RcVec3f[] v = new RcVec3f[3]; Span<RcVec3f> v = tempV;
v[0].X = tile.data.verts[poly.verts[0] * 3]; v[0].X = tile.data.verts[poly.verts[0] * 3];
v[0].Y = tile.data.verts[poly.verts[0] * 3 + 1]; v[0].Y = tile.data.verts[poly.verts[0] * 3 + 1];
v[0].Z = tile.data.verts[poly.verts[0] * 3 + 2]; v[0].Z = tile.data.verts[poly.verts[0] * 3 + 2];

4
src/DotRecast.Detour/DtNavMeshRaycast.cs
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@ -17,6 +17,7 @@ freely, subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution. 3. This notice may not be removed or altered from any source distribution.
*/ */
using System;
using DotRecast.Core; using DotRecast.Core;
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
@ -48,6 +49,7 @@ namespace DotRecast.Detour
private static bool Raycast(DtMeshTile tile, RcVec3f sp, RcVec3f sq, out float hitTime) private static bool Raycast(DtMeshTile tile, RcVec3f sp, RcVec3f sq, out float hitTime)
{ {
hitTime = 0.0f; hitTime = 0.0f;
Span<RcVec3f> tempVerts = stackalloc RcVec3f[3];
for (int i = 0; i < tile.data.header.polyCount; ++i) for (int i = 0; i < tile.data.header.polyCount; ++i)
{ {
DtPoly p = tile.data.polys[i]; DtPoly p = tile.data.polys[i];
@ -58,7 +60,7 @@ namespace DotRecast.Detour
ref DtPolyDetail pd = ref tile.data.detailMeshes[i]; ref DtPolyDetail pd = ref tile.data.detailMeshes[i];
RcVec3f[] verts = new RcVec3f[3]; Span<RcVec3f> verts = tempVerts;
for (int j = 0; j < pd.triCount; ++j) for (int j = 0; j < pd.triCount; ++j)
{ {
int t = (pd.triBase + j) * 4; int t = (pd.triBase + j) * 4;

2
src/DotRecast.Recast.Toolset/Gizmos/RcCapsuleGizmo.cs
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@ -19,7 +19,7 @@ namespace DotRecast.Recast.Toolset.Gizmos
0.5f * (start.Z + end.Z) 0.5f * (start.Z + end.Z)
}; };
RcVec3f axis = new RcVec3f(end.X - start.X, end.Y - start.Y, end.Z - start.Z); RcVec3f axis = new RcVec3f(end.X - start.X, end.Y - start.Y, end.Z - start.Z);
RcVec3f[] normals = new RcVec3f[3]; Span<RcVec3f> normals = stackalloc RcVec3f[3];
normals[1] = new RcVec3f(end.X - start.X, end.Y - start.Y, end.Z - start.Z); normals[1] = new RcVec3f(end.X - start.X, end.Y - start.Y, end.Z - start.Z);
normals[1] = RcVec3f.Normalize(normals[1]); normals[1] = RcVec3f.Normalize(normals[1]);
normals[0] = GetSideVector(axis); normals[0] = GetSideVector(axis);

2
src/DotRecast.Recast.Toolset/Gizmos/RcCylinderGizmo.cs
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@ -19,7 +19,7 @@ namespace DotRecast.Recast.Toolset.Gizmos
0.5f * (start.Z + end.Z) 0.5f * (start.Z + end.Z)
); );
RcVec3f axis = new RcVec3f(end.X - start.X, end.Y - start.Y, end.Z - start.Z); RcVec3f axis = new RcVec3f(end.X - start.X, end.Y - start.Y, end.Z - start.Z);
RcVec3f[] normals = new RcVec3f[3]; Span<RcVec3f> normals = stackalloc RcVec3f[3];
normals[1] = new RcVec3f(end.X - start.X, end.Y - start.Y, end.Z - start.Z); normals[1] = new RcVec3f(end.X - start.X, end.Y - start.Y, end.Z - start.Z);
normals[1] = RcVec3f.Normalize(normals[1]); normals[1] = RcVec3f.Normalize(normals[1]);
normals[0] = GetSideVector(axis); normals[0] = GetSideVector(axis);

2
src/DotRecast.Recast.Toolset/Tools/RcTestNavMeshTool.cs
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@ -380,7 +380,7 @@ namespace DotRecast.Recast.Toolset.Tools
float nx = (epos.Z - spos.Z) * 0.25f; float nx = (epos.Z - spos.Z) * 0.25f;
float nz = -(epos.X - spos.X) * 0.25f; float nz = -(epos.X - spos.X) * 0.25f;
var tempQueryPoly = new RcVec3f[4]; RcVec3f[] tempQueryPoly = new RcVec3f[4];
tempQueryPoly[0].X = spos.X + nx * 1.2f; tempQueryPoly[0].X = spos.X + nx * 1.2f;
tempQueryPoly[0].Y = spos.Y + agentHeight / 2; tempQueryPoly[0].Y = spos.Y + agentHeight / 2;
tempQueryPoly[0].Z = spos.Z + nz * 1.2f; tempQueryPoly[0].Z = spos.Z + nz * 1.2f;

4
src/DotRecast.Recast/RcPolyMeshRaycast.cs
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@ -17,6 +17,7 @@ freely, subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution. 3. This notice may not be removed or altered from any source distribution.
*/ */
using System;
using System.Collections.Generic; using System.Collections.Generic;
using DotRecast.Core; using DotRecast.Core;
using DotRecast.Core.Numerics; using DotRecast.Core.Numerics;
@ -45,6 +46,7 @@ namespace DotRecast.Recast
private static bool Raycast(RcPolyMesh poly, RcPolyMeshDetail meshDetail, RcVec3f sp, RcVec3f sq, out float hitTime) private static bool Raycast(RcPolyMesh poly, RcPolyMeshDetail meshDetail, RcVec3f sp, RcVec3f sq, out float hitTime)
{ {
hitTime = 0; hitTime = 0;
Span<RcVec3f> tempVs = stackalloc RcVec3f[3];
if (meshDetail != null) if (meshDetail != null)
{ {
for (int i = 0; i < meshDetail.nmeshes; ++i) for (int i = 0; i < meshDetail.nmeshes; ++i)
@ -57,7 +59,7 @@ namespace DotRecast.Recast
int tris = btris * 4; int tris = btris * 4;
for (int j = 0; j < ntris; ++j) for (int j = 0; j < ntris; ++j)
{ {
RcVec3f[] vs = new RcVec3f[3]; Span<RcVec3f> vs = tempVs;
for (int k = 0; k < 3; ++k) for (int k = 0; k < 3; ++k)
{ {
vs[k].X = meshDetail.verts[verts + meshDetail.tris[tris + j * 4 + k] * 3]; vs[k].X = meshDetail.verts[verts + meshDetail.tris[tris + j * 4 + k] * 3];