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Merge pull request #93005 from CozyCubeGames/sqr-dist-optimization

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Replace some distance checks with square distance checks in NavMap
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Clay John 2024-10-17 16:41:02 -07:00 committed by GitHub
commit c6b94ca9b4
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1 changed files with 12 additions and 10 deletions
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22
modules/navigation/nav_map.cpp
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@ -480,6 +480,8 @@ 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;
for (int 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;
@ -510,7 +512,7 @@ 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_to(self1) > edge_connection_margin) {
if (other1.distance_squared_to(self1) > sqr_edge_connection_margin) {
continue;
}
@ -521,7 +523,7 @@ 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_to(self2) > edge_connection_margin) {
if (other2.distance_squared_to(self2) > sqr_edge_connection_margin) {
continue;
}
@ -549,11 +551,11 @@ void NavMap::sync() {
const Vector3 end = link->get_end_position();
gd::Polygon *closest_start_polygon = nullptr;
real_t closest_start_distance = link_connection_radius;
real_t closest_start_sqr_dist = link_connection_radius * link_connection_radius;
Vector3 closest_start_point;
gd::Polygon *closest_end_polygon = nullptr;
real_t closest_end_distance = link_connection_radius;
real_t closest_end_sqr_dist = link_connection_radius * link_connection_radius;
Vector3 closest_end_point;
// Create link to any polygons within the search radius of the start point.
@ -564,11 +566,11 @@ void NavMap::sync() {
for (uint32_t start_point_id = 2; start_point_id < start_poly.points.size(); start_point_id += 1) {
const Face3 start_face(start_poly.points[0].pos, start_poly.points[start_point_id - 1].pos, start_poly.points[start_point_id].pos);
const Vector3 start_point = start_face.get_closest_point_to(start);
const real_t start_distance = start_point.distance_to(start);
const real_t sqr_dist = start_point.distance_squared_to(start);
// Pick the polygon that is within our radius and is closer than anything we've seen yet.
if (start_distance <= link_connection_radius && start_distance < closest_start_distance) {
closest_start_distance = start_distance;
if (sqr_dist < closest_start_sqr_dist) {
closest_start_sqr_dist = sqr_dist;
closest_start_point = start_point;
closest_start_polygon = &start_poly;
}
@ -581,11 +583,11 @@ void NavMap::sync() {
for (uint32_t end_point_id = 2; end_point_id < end_poly.points.size(); end_point_id += 1) {
const Face3 end_face(end_poly.points[0].pos, end_poly.points[end_point_id - 1].pos, end_poly.points[end_point_id].pos);
const Vector3 end_point = end_face.get_closest_point_to(end);
const real_t end_distance = end_point.distance_to(end);
const real_t sqr_dist = end_point.distance_squared_to(end);
// Pick the polygon that is within our radius and is closer than anything we've seen yet.
if (end_distance <= link_connection_radius && end_distance < closest_end_distance) {
closest_end_distance = end_distance;
if (sqr_dist < closest_end_sqr_dist) {
closest_end_sqr_dist = sqr_dist;
closest_end_point = end_point;
closest_end_polygon = &end_poly;
}