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SOH #41

This commit is contained in:
ikpil 2024-05-09 00:34:22 +09:00
parent 59849e1dac
commit e926c23195
5 changed files with 45 additions and 27 deletions
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15
src/DotRecast.Detour.Crowd/DtPathCorridor.cs
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@ -317,11 +317,12 @@ namespace DotRecast.Detour.Crowd
public bool MovePosition(RcVec3f npos, DtNavMeshQuery navquery, IDtQueryFilter filter)
{
// Move along navmesh and update new position.
var visited = new List<long>();
var status = navquery.MoveAlongSurface(m_path[0], m_pos, npos, filter, out var result, ref visited);
const int MAX_VISITED = 16;
Span<long> visited = stackalloc long[MAX_VISITED];
var status = navquery.MoveAlongSurface(m_path[0], m_pos, npos, filter, out var result, visited, out var nvisited, MAX_VISITED);
if (status.Succeeded())
{
m_npath = DtPathUtils.MergeCorridorStartMoved(ref m_path, m_npath, m_maxPath, visited, visited.Count);
m_npath = DtPathUtils.MergeCorridorStartMoved(ref m_path, m_npath, m_maxPath, visited, nvisited);
// Adjust the position to stay on top of the navmesh.
m_pos = result;
@ -359,11 +360,13 @@ namespace DotRecast.Detour.Crowd
public bool MoveTargetPosition(RcVec3f npos, DtNavMeshQuery navquery, IDtQueryFilter filter)
{
// Move along navmesh and update new position.
var visited = new List<long>();
var status = navquery.MoveAlongSurface(m_path[^1], m_target, npos, filter, out var result, ref visited);
const int MAX_VISITED = 16;
Span<long> visited = stackalloc long[MAX_VISITED];
int nvisited = 0;
var status = navquery.MoveAlongSurface(m_path[^1], m_target, npos, filter, out var result, visited, out nvisited, MAX_VISITED);
if (status.Succeeded())
{
m_npath = DtPathUtils.MergeCorridorEndMoved(ref m_path, m_npath, m_maxPath, visited, visited.Count);
m_npath = DtPathUtils.MergeCorridorEndMoved(ref m_path, m_npath, m_maxPath, visited, nvisited);
// TODO: should we do that?
// Adjust the position to stay on top of the navmesh.

19
src/DotRecast.Detour/DtNavMeshQuery.cs
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@ -1790,12 +1790,11 @@ namespace DotRecast.Detour
/// @returns The status flags for the query.
public DtStatus MoveAlongSurface(long startRef, RcVec3f startPos, RcVec3f endPos,
IDtQueryFilter filter,
out RcVec3f resultPos, ref List<long> visited)
out RcVec3f resultPos, Span<long> visited, out int visitedCount, int maxVisitedSize)
{
resultPos = RcVec3f.Zero;
if (null != visited)
visited.Clear();
visitedCount = 0;
// Validate input
if (!m_nav.IsValidPolyRef(startRef) || !startPos.IsFinite()
@ -1804,6 +1803,8 @@ namespace DotRecast.Detour
return DtStatus.DT_FAILURE | DtStatus.DT_INVALID_PARAM;
}
DtStatus status = DtStatus.DT_SUCCESS;
m_tinyNodePool.Clear();
DtNode startNode = m_tinyNodePool.GetNode(startRef);
@ -1938,6 +1939,7 @@ namespace DotRecast.Detour
}
}
int n = 0;
if (bestNode != null)
{
// Reverse the path.
@ -1955,14 +1957,21 @@ namespace DotRecast.Detour
node = prev;
do
{
visited.Add(node.id);
visited[n++] = node.id;
if (n >= maxVisitedSize)
{
status |= DtStatus.DT_BUFFER_TOO_SMALL;;
break;
}
node = m_tinyNodePool.GetNodeAtIdx(node.pidx);
} while (node != null);
}
resultPos = bestPos;
visitedCount = n;
return DtStatus.DT_SUCCESS;
return status;
}
protected DtStatus GetPortalPoints(long from, long to, out RcVec3f left, out RcVec3f right, out int fromType, out int toType)

9
src/DotRecast.Detour/DtPathUtils.cs
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@ -146,7 +146,7 @@ namespace DotRecast.Detour
return npath;
}
public static int MergeCorridorStartMoved(ref List<long> path, int npath, int maxPath, List<long> visited, int nvisited)
public static int MergeCorridorStartMoved(ref List<long> path, int npath, int maxPath, Span<long> visited, int nvisited)
{
int furthestPath = -1;
int furthestVisited = -1;
@ -193,7 +193,7 @@ namespace DotRecast.Detour
return result.Count;
}
public static int MergeCorridorEndMoved(ref List<long> path, int npath, int maxPath, List<long> visited, int nvisited)
public static int MergeCorridorEndMoved(ref List<long> path, int npath, int maxPath, Span<long> visited, int nvisited)
{
int furthestPath = -1;
int furthestVisited = -1;
@ -226,7 +226,10 @@ namespace DotRecast.Detour
// Concatenate paths.
List<long> result = path.GetRange(0, furthestPath);
result.AddRange(visited.GetRange(furthestVisited, nvisited - furthestVisited));
foreach (var v in visited.Slice(furthestVisited, nvisited - furthestVisited))
{
result.Add(v);
}
path = result;
return result.Count;

20
src/DotRecast.Recast.Toolset/Tools/RcTestNavMeshTool.cs
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@ -37,16 +37,16 @@ namespace DotRecast.Recast.Toolset.Tools
pathIterPolys.Clear();
pathIterPolyCount = 0;
smoothPath.Clear();
var opt = new DtFindPathOption(enableRaycast ? DtFindPathOptions.DT_FINDPATH_ANY_ANGLE : 0, float.MaxValue);
navQuery.FindPath(startRef, endRef, startPt, endPt, filter, ref pathIterPolys, opt);
if (0 >= pathIterPolys.Count)
return DtStatus.DT_FAILURE;
pathIterPolyCount = pathIterPolys.Count;
// Iterate over the path to find smooth path on the detail mesh surface.
navQuery.ClosestPointOnPoly(startRef, startPt, out var iterPos, out var _);
navQuery.ClosestPointOnPoly(pathIterPolys[pathIterPolys.Count - 1], endPt, out var targetPos, out var _);
@ -56,8 +56,10 @@ namespace DotRecast.Recast.Toolset.Tools
smoothPath.Clear();
smoothPath.Add(iterPos);
var visited = new List<long>();
Span<long> visited = stackalloc long[16];
int nvisited = 0;
// Move towards target a small advancement at a time until target reached or
// when ran out of memory to store the path.
@ -69,7 +71,7 @@ namespace DotRecast.Recast.Toolset.Tools
{
break;
}
bool endOfPath = (steerPosFlag & DtStraightPathFlags.DT_STRAIGHTPATH_END) != 0
? true
: false;
@ -89,15 +91,15 @@ namespace DotRecast.Recast.Toolset.Tools
{
len = STEP_SIZE / len;
}
RcVec3f moveTgt = RcVecUtils.Mad(iterPos, delta, len);
// Move
navQuery.MoveAlongSurface(pathIterPolys[0], iterPos, moveTgt, filter, out var result, ref visited);
navQuery.MoveAlongSurface(pathIterPolys[0], iterPos, moveTgt, filter, out var result, visited, out nvisited, 16);
iterPos = result;
pathIterPolyCount = DtPathUtils.MergeCorridorStartMoved(ref pathIterPolys, pathIterPolyCount, MAX_POLYS, visited, visited.Count);
pathIterPolyCount = DtPathUtils.MergeCorridorStartMoved(ref pathIterPolys, pathIterPolyCount, MAX_POLYS, visited, nvisited);
pathIterPolyCount = DtPathUtils.FixupShortcuts(ref pathIterPolys, pathIterPolyCount, navQuery);
var status = navQuery.GetPolyHeight(pathIterPolys[0], result, out var h);

9
test/DotRecast.Detour.Test/MoveAlongSurfaceTest.cs
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@ -16,13 +16,13 @@ freely, subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
using System;
using System.Collections.Generic;
using DotRecast.Core.Numerics;
using NUnit.Framework;
namespace DotRecast.Detour.Test;
public class MoveAlongSurfaceTest : AbstractDetourTest
{
private static readonly long[][] VISITED =
@ -69,20 +69,21 @@ public class MoveAlongSurfaceTest : AbstractDetourTest
public void TestMoveAlongSurface()
{
IDtQueryFilter filter = new DtQueryDefaultFilter();
var visited = new List<long>();
const int MAX_VISITED = 32;
Span<long> visited = stackalloc long[MAX_VISITED];
for (int i = 0; i < startRefs.Length; i++)
{
long startRef = startRefs[i];
RcVec3f startPos = startPoss[i];
RcVec3f endPos = endPoss[i];
var status = query.MoveAlongSurface(startRef, startPos, endPos, filter, out var result, ref visited);
var status = query.MoveAlongSurface(startRef, startPos, endPos, filter, out var result, visited, out var nvisited, MAX_VISITED);
Assert.That(status.Succeeded(), Is.True);
Assert.That(result.X, Is.EqualTo(POSITION[i].X).Within(0.01f));
Assert.That(result.Y, Is.EqualTo(POSITION[i].Y).Within(0.01f));
Assert.That(result.Z, Is.EqualTo(POSITION[i].Z).Within(0.01f));
Assert.That(visited.Count, Is.EqualTo(VISITED[i].Length));
Assert.That(nvisited, Is.EqualTo(VISITED[i].Length));
for (int j = 0; j < 3; j++)
{
Assert.That(visited[j], Is.EqualTo(VISITED[i][j]));