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Recast: optimizations for getPortalPoints

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Don't loop over the linked list again to find the corresponding link while we already have a pointer to it.
This commit is contained in:
Kawe Mazidjatari 2024-08-31 15:58:28 +02:00
parent 54f1e217de
commit 14225dccc1
2 changed files with 18 additions and 15 deletions
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2
src/thirdparty/recast/Detour/Include/DetourNavMeshQuery.h vendored
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@ -617,7 +617,7 @@ private:
unsigned char& fromType, unsigned char& toType) const;
dtStatus getPortalPoints(dtPolyRef from, const dtPoly* fromPoly, const dtMeshTile* fromTile,
dtPolyRef to, const dtPoly* toPoly, const dtMeshTile* toTile,
float* left, float* right) const;
const dtLink* inLink, float* left, float* right) const;
// Appends vertex to a straight path
dtStatus appendVertex(const float* pos, const unsigned char flags, const dtPolyRef ref,

31
src/thirdparty/recast/Detour/Source/DetourNavMeshQuery.cpp vendored
View File

@ -417,7 +417,7 @@ dtStatus dtNavMeshQuery::findRandomPointAroundCircle(dtPolyRef startRef, const f
// Find edge and calc distance to the edge.
float va[3], vb[3];
if (!getPortalPoints(bestRef, bestPoly, bestTile, neighbourRef, neighbourPoly, neighbourTile, va, vb))
if (!getPortalPoints(bestRef, bestPoly, bestTile, neighbourRef, neighbourPoly, neighbourTile, link, va, vb))
continue;
// If the circle is not touching the next polygon, skip it.
@ -1741,7 +1741,7 @@ dtStatus dtNavMeshQuery::appendPortals(const int startIdx, const int endIdx, con
return DT_FAILURE | DT_INVALID_PARAM;
float left[3], right[3];
if (dtStatusFailed(getPortalPoints(from, fromPoly, fromTile, to, toPoly, toTile, left, right)))
if (dtStatusFailed(getPortalPoints(from, fromPoly, fromTile, to, toPoly, toTile, 0, left, right)))
break;
if (options & DT_STRAIGHTPATH_AREA_CROSSINGS)
@ -2257,22 +2257,25 @@ dtStatus dtNavMeshQuery::getPortalPoints(dtPolyRef from, dtPolyRef to, float* le
return DT_FAILURE | DT_INVALID_PARAM;
toType = toPoly->getType();
return getPortalPoints(from, fromPoly, fromTile, to, toPoly, toTile, left, right);
return getPortalPoints(from, fromPoly, fromTile, to, toPoly, toTile, 0, left, right);
}
// Returns portal points between two polygons.
dtStatus dtNavMeshQuery::getPortalPoints(dtPolyRef from, const dtPoly* fromPoly, const dtMeshTile* fromTile,
dtPolyRef to, const dtPoly* toPoly, const dtMeshTile* toTile,
float* left, float* right) const
const dtLink* inLink, float* left, float* right) const
{
// Find the link that points to the 'to' polygon.
const dtLink* link = 0;
for (unsigned int i = fromPoly->firstLink; i != DT_NULL_LINK; i = fromTile->links[i].next)
const dtLink* link = inLink;
if (!link)
{
if (fromTile->links[i].ref == to)
for (unsigned int i = fromPoly->firstLink; i != DT_NULL_LINK; i = fromTile->links[i].next)
{
link = &fromTile->links[i];
break;
if (fromTile->links[i].ref == to)
{
link = &fromTile->links[i];
break;
}
}
}
if (!link)
@ -2350,7 +2353,7 @@ dtStatus dtNavMeshQuery::getEdgeMidPoint(dtPolyRef from, const dtPoly* fromPoly,
float* mid) const
{
float left[3], right[3];
if (dtStatusFailed(getPortalPoints(from, fromPoly, fromTile, to, toPoly, toTile, left, right)))
if (dtStatusFailed(getPortalPoints(from, fromPoly, fromTile, to, toPoly, toTile, 0, left, right)))
return DT_FAILURE | DT_INVALID_PARAM;
rdVsad(mid, left,right, 0.5f);
return DT_SUCCESS;
@ -2373,7 +2376,7 @@ dtStatus dtNavMeshQuery::getEdgeNormal(dtPolyRef from, const dtPoly* fromPoly, c
float* norm) const
{
float left[3], right[3];
if (dtStatusFailed(getPortalPoints(from, fromPoly, fromTile, to, toPoly, toTile, left, right)))
if (dtStatusFailed(getPortalPoints(from, fromPoly, fromTile, to, toPoly, toTile, 0, left, right)))
return DT_FAILURE | DT_INVALID_PARAM;
float dir[3];
rdVsub(dir, right,left);
@ -2827,7 +2830,7 @@ dtStatus dtNavMeshQuery::findPolysAroundCircle(dtPolyRef startRef, const float*
// Find edge and calc distance to the edge.
float va[3], vb[3];
if (!getPortalPoints(bestRef, bestPoly, bestTile, neighbourRef, neighbourPoly, neighbourTile, va, vb))
if (!getPortalPoints(bestRef, bestPoly, bestTile, neighbourRef, neighbourPoly, neighbourTile, link, va, vb))
continue;
// If the circle is not touching the next polygon, skip it.
@ -3008,7 +3011,7 @@ dtStatus dtNavMeshQuery::findPolysAroundShape(dtPolyRef startRef, const float* v
// Find edge and calc distance to the edge.
float va[3], vb[3];
if (!getPortalPoints(bestRef, bestPoly, bestTile, neighbourRef, neighbourPoly, neighbourTile, va, vb))
if (!getPortalPoints(bestRef, bestPoly, bestTile, neighbourRef, neighbourPoly, neighbourTile, link, va, vb))
continue;
// If the poly is not touching the edge to the next polygon, skip the connection it.
@ -3205,7 +3208,7 @@ dtStatus dtNavMeshQuery::findLocalNeighbourhood(dtPolyRef startRef, const float*
// Find edge and calc distance to the edge.
float va[3], vb[3];
if (!getPortalPoints(curRef, curPoly, curTile, neighbourRef, neighbourPoly, neighbourTile, va, vb))
if (!getPortalPoints(curRef, curPoly, curTile, neighbourRef, neighbourPoly, neighbourTile, link, va, vb))
continue;
// If the circle is not touching the next polygon, skip it.