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Merge pull request #90182 from Zylann/nav_map_optimizations

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Optimize some parts of `NavMap::sync`
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Thaddeus Crews 2024-11-04 21:51:52 -06:00
commit 6206578060
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1 changed files with 40 additions and 21 deletions
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61
modules/navigation/nav_map.cpp
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@ -426,26 +426,42 @@ void NavMap::sync() {
_new_pm_polygon_count = polygon_count;
struct ConnectionPair {
gd::Edge::Connection connections[2];
int size = 0;
};
// Group all edges per key.
HashMap<gd::EdgeKey, Vector<gd::Edge::Connection>, gd::EdgeKey> connections;
HashMap<gd::EdgeKey, ConnectionPair, gd::EdgeKey> connection_pairs_map;
connection_pairs_map.reserve(polygons.size());
int free_edges_count = 0; // How many ConnectionPairs have only one Connection.
for (gd::Polygon &poly : polygons) {
for (uint32_t p = 0; p < poly.points.size(); p++) {
int next_point = (p + 1) % poly.points.size();
gd::EdgeKey ek(poly.points[p].key, poly.points[next_point].key);
const int next_point = (p + 1) % poly.points.size();
const gd::EdgeKey ek(poly.points[p].key, poly.points[next_point].key);
HashMap<gd::EdgeKey, Vector<gd::Edge::Connection>, gd::EdgeKey>::Iterator connection = connections.find(ek);
if (!connection) {
connections[ek] = Vector<gd::Edge::Connection>();
HashMap<gd::EdgeKey, ConnectionPair, gd::EdgeKey>::Iterator pair_it = connection_pairs_map.find(ek);
if (!pair_it) {
pair_it = connection_pairs_map.insert(ek, ConnectionPair());
_new_pm_edge_count += 1;
++free_edges_count;
}
if (connections[ek].size() <= 1) {
ConnectionPair &pair = pair_it->value;
if (pair.size < 2) {
// Add the polygon/edge tuple to this key.
gd::Edge::Connection new_connection;
new_connection.polygon = &poly;
new_connection.edge = p;
new_connection.pathway_start = poly.points[p].pos;
new_connection.pathway_end = poly.points[next_point].pos;
connections[ek].push_back(new_connection);
pair.connections[pair.size] = new_connection;
++pair.size;
if (pair.size == 2) {
--free_edges_count;
}
} else {
// The edge is already connected with another edge, skip.
ERR_PRINT_ONCE("Navigation map synchronization error. Attempted to merge a navigation mesh polygon edge with another already-merged edge. This is usually caused by crossing edges, overlapping polygons, or a mismatch of the NavigationMesh / NavigationPolygon baked 'cell_size' and navigation map 'cell_size'. If you're certain none of above is the case, change 'navigation/3d/merge_rasterizer_cell_scale' to 0.001.");
@ -453,20 +469,23 @@ void NavMap::sync() {
}
}
Vector<gd::Edge::Connection> free_edges;
for (KeyValue<gd::EdgeKey, Vector<gd::Edge::Connection>> &E : connections) {
if (E.value.size() == 2) {
LocalVector<gd::Edge::Connection> free_edges;
free_edges.reserve(free_edges_count);
for (const KeyValue<gd::EdgeKey, ConnectionPair> &pair_it : connection_pairs_map) {
const ConnectionPair &pair = pair_it.value;
if (pair.size == 2) {
// Connect edge that are shared in different polygons.
gd::Edge::Connection &c1 = E.value.write[0];
gd::Edge::Connection &c2 = E.value.write[1];
const gd::Edge::Connection &c1 = pair.connections[0];
const gd::Edge::Connection &c2 = pair.connections[1];
c1.polygon->edges[c1.edge].connections.push_back(c2);
c2.polygon->edges[c2.edge].connections.push_back(c1);
// Note: The pathway_start/end are full for those connection and do not need to be modified.
_new_pm_edge_merge_count += 1;
} else {
CRASH_COND_MSG(E.value.size() != 1, vformat("Number of connection != 1. Found: %d", E.value.size()));
if (use_edge_connections && E.value[0].polygon->owner->get_use_edge_connections()) {
free_edges.push_back(E.value[0]);
CRASH_COND_MSG(pair.size != 1, vformat("Number of connection != 1. Found: %d", pair.size));
if (use_edge_connections && pair.connections[0].polygon->owner->get_use_edge_connections()) {
free_edges.push_back(pair.connections[0]);
}
}
}
@ -480,14 +499,14 @@ void NavMap::sync() {
// connection, integration and path finding.
_new_pm_edge_free_count = free_edges.size();
real_t sqr_edge_connection_margin = edge_connection_margin * edge_connection_margin;
const real_t edge_connection_margin_squared = edge_connection_margin * edge_connection_margin;
for (int i = 0; i < free_edges.size(); i++) {
for (uint32_t i = 0; i < free_edges.size(); i++) {
const gd::Edge::Connection &free_edge = free_edges[i];
Vector3 edge_p1 = free_edge.polygon->points[free_edge.edge].pos;
Vector3 edge_p2 = free_edge.polygon->points[(free_edge.edge + 1) % free_edge.polygon->points.size()].pos;
for (int j = 0; j < free_edges.size(); j++) {
for (uint32_t j = 0; j < free_edges.size(); j++) {
const gd::Edge::Connection &other_edge = free_edges[j];
if (i == j || free_edge.polygon->owner == other_edge.polygon->owner) {
continue;
@ -512,7 +531,7 @@ void NavMap::sync() {
} else {
other1 = other_edge_p1.lerp(other_edge_p2, (1.0 - projected_p1_ratio) / (projected_p2_ratio - projected_p1_ratio));
}
if (other1.distance_squared_to(self1) > sqr_edge_connection_margin) {
if (other1.distance_squared_to(self1) > edge_connection_margin_squared) {
continue;
}
@ -523,7 +542,7 @@ void NavMap::sync() {
} else {
other2 = other_edge_p1.lerp(other_edge_p2, (0.0 - projected_p1_ratio) / (projected_p2_ratio - projected_p1_ratio));
}
if (other2.distance_squared_to(self2) > sqr_edge_connection_margin) {
if (other2.distance_squared_to(self2) > edge_connection_margin_squared) {
continue;
}