DotRecast optimizations.

awgil · Mar 5, 2024 · ce2f884 · ce2f884
1 parent 4eb1d57
commit ce2f884
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Showing 5 changed files with 25 additions and 21 deletions.
diff --git a/DotRecast b/DotRecast
diff --git a/vnavmesh/Debug/DebugSolidHeightfield.cs b/vnavmesh/Debug/DebugSolidHeightfield.cs
@@ -32,14 +32,15 @@ public DebugSolidHeightfield(RcHeightfield hf, UITree tree, DebugDrawer dd)
             for (int x = 0; x < hf.width; ++x)
             {
                 _spanCellOffsets[x, z] = _numNullSpans + _numWalkableSpans;
-                var span = hf.spans[icell++];
-                while (span != null)
+                var spanIndex = hf.spans[icell++];
+                while (spanIndex != 0)
                 {
+                    ref var span = ref hf.Span(spanIndex);
                     if (span.area == 0)
                         ++_numNullSpans;
                     else
                         ++_numWalkableSpans;
-                    span = span.next;
+                    spanIndex = span.next;
                 }
             }
         }
@@ -70,8 +71,8 @@ public void Draw()
             UITree.NodeRaii? nz = null;
             for (int x = 0; x < _hf.width; ++x)
             {
-                var span = _hf.spans[z * _hf.width + x];
-                if (span == null)
+                var spanIndex = _hf.spans[z * _hf.width + x];
+                if (spanIndex == 0)
                     continue;
 
                 nz ??= _tree.Node($"[*x{z}]");
@@ -84,11 +85,12 @@ public void Draw()
                 if (nx.Opened)
                 {
                     int ispan = 0;
-                    while (span != null)
+                    while (spanIndex != 0)
                     {
+                        ref var span = ref _hf.Span(spanIndex);
                         if (_tree.LeafNode($"{span.smin}-{span.smax} = {span.area:X}").SelectedOrHovered)
                             VisualizeSpan(_spanCellOffsets[x, z] + ispan);
-                        span = span.next;
+                        spanIndex = span.next;
                         ++ispan;
                     }
                 }
@@ -118,14 +120,15 @@ private EffectMesh.Data GetOrInitVisualizer()
                 world.M41 = x0;
                 for (int x = 0; x < _hf.width; ++x)
                 {
-                    var span = _hf.spans[icell++];
-                    while (span != null)
+                    var spanIndex = _hf.spans[icell++];
+                    while (spanIndex != 0)
                     {
+                        ref var span = ref _hf.Span(spanIndex);
                         world.M22 = (span.smax - span.smin) * chh;
                         world.M42 = _hf.bmin.Y + (span.smin + span.smax) * chh;
                         builder.AddInstance(new(world, AreaColor(span.area)));
                         builder.AddMesh(box.FirstVertex, box.FirstPrimitive, box.NumPrimitives, icnt++, 1);
-                        span = span.next;
+                        spanIndex = span.next;
                     }
                     world.M41 += _hf.cs;
                 }
@@ -144,11 +147,11 @@ private void Visualize()
     private void VisualizeCell(int x, int z)
     {
         int numSpans = 0;
-        var span = _hf.spans[z * _hf.width + x];
-        while (span != null)
+        var spanIndex = _hf.spans[z * _hf.width + x];
+        while (spanIndex != 0)
         {
             ++numSpans;
-            span = span.next;
+            spanIndex = _hf.Span(spanIndex).next;
         }
         if (numSpans > 0)
             _dd.EffectMesh?.DrawSubset(_dd.RenderContext, GetOrInitVisualizer(), _spanCellOffsets[x, z], numSpans);

diff --git a/vnavmesh/NavVolume/VoxelMap.cs b/vnavmesh/NavVolume/VoxelMap.cs
@@ -246,13 +246,14 @@ public void AddFromHeightfield(RcHeightfield hf)
             float x = x0;
             for (int ix = hf.borderSize; ix < hf.width - hf.borderSize; ++ix)
             {
-                var span = hf.spans[iz * hf.width + ix];
-                while (span != null)
+                var spanIndex = hf.spans[iz * hf.width + ix];
+                while (spanIndex != 0)
                 {
+                    ref var span = ref hf.Span(spanIndex);
                     float y0 = hf.bmin.Y + span.smin * hf.ch;
                     float y1 = hf.bmin.Y + span.smax * hf.ch;
                     AddFromHeightfieldSpan(RootTile, x, z, y0, y1);
-                    span = span.next;
+                    spanIndex = span.next;
                 }
                 x += hf.cs;
             }

diff --git a/vnavmesh/NavmeshBuilder.cs b/vnavmesh/NavmeshBuilder.cs
@@ -11,7 +11,7 @@ namespace Navmesh;
 // individual tiles can be built concurrently
 public class NavmeshBuilder
 {
-    public RcTelemetry Telemetry = new();
+    public RcContext Telemetry = new();
     public NavmeshSettings Settings;
     public SceneExtractor Scene;
     public Vector3 BoundsMin;

diff --git a/vnavmesh/NavmeshRasterizer.cs b/vnavmesh/NavmeshRasterizer.cs
@@ -8,12 +8,12 @@ namespace Navmesh;
 public class NavmeshRasterizer
 {
     private RcHeightfield _heightfield;
-    private RcTelemetry _telemetry;
+    private RcContext _telemetry;
     private float[] _vertices = new float[3 * 256];
     private int _walkableClimbThreshold; // if two spans have maximums within this number of voxels, their area is 'merged' (higher is selected)
     private float _walkableNormalThreshold; // triangle is considered 'walkable' if it's world-space normal's Y coordinate is >= this
 
-    public NavmeshRasterizer(RcHeightfield heightfield, Angle walkableMaxSlope, int walkableMaxClimb, RcTelemetry telemetry)
+    public NavmeshRasterizer(RcHeightfield heightfield, Angle walkableMaxSlope, int walkableMaxClimb, RcContext telemetry)
     {
         _heightfield = heightfield;
         _telemetry = telemetry;
@@ -68,7 +68,7 @@ public unsafe void Rasterize(SceneExtractor geom, bool includeTerrain, bool incl
                         }
 
                         var areaId = walkable ? RcConstants.RC_WALKABLE_AREA : 0;
-                        RcRasterizations.RasterizeTriangle(_heightfield, _vertices, p.V1, p.V2, p.V3, areaId, _walkableClimbThreshold, _telemetry);
+                        RcRasterizations.RasterizeTriangle(_telemetry, _vertices, p.V1, p.V2, p.V3, areaId, _heightfield, _walkableClimbThreshold);
                     }
                 }
             }