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From 3e94c3b6fcb5361bc30e87cacfa0ff46bde37a2c Mon Sep 17 00:00:00 2001
From: Cupcake <1357715449@qq.com>
Date: Mon, 1 Jan 2024 03:27:07 +0800
Subject: [PATCH 22/36] Code cleanup and small optimizations in
RecastFilter.cpp rcFilterLedgeSpans (#672)
* Code cleanup and minor refactor in RecastFilter.cpp rcFilterLedgeSpans
Because span.smax is always > 0, bot > 0 as well, and (-walkableClimb - bot) is always < -walkableClimb. Furthermore, as long as minNeighborHeight < -walkableClimb' at least once, there is no need to continue the traversal.
* Code cleanup and minor refactor in RecastFilter.cpp rcFilterLedgeSpans
Because span.smax is always > 0, bot > 0 as well, and (-walkableClimb - bot) is always < -walkableClimb. Furthermore, as long as minNeighborHeight < -walkableClimb' at least once, there is no need to continue the traversal.
* Update RecastFilter.cpp
Revise Comment
---
Recast/Source/RecastFilter.cpp | 31 ++++++++++++++++++-------------
1 file changed, 18 insertions(+), 13 deletions(-)
diff --git a/Recast/Source/RecastFilter.cpp b/Recast/Source/RecastFilter.cpp
index b5adba4..8f3414b 100644
--- a/Recast/Source/RecastFilter.cpp
+++ b/Recast/Source/RecastFilter.cpp
@@ -96,42 +96,47 @@ void rcFilterLedgeSpans(rcContext* context, const int walkableHeight, const int
for (int direction = 0; direction < 4; ++direction)
{
int dx = x + rcGetDirOffsetX(direction);
- int dy = z + rcGetDirOffsetY(direction);
+ int dz = z + rcGetDirOffsetY(direction);
// Skip neighbours which are out of bounds.
- if (dx < 0 || dy < 0 || dx >= xSize || dy >= zSize)
+ if (dx < 0 || dz < 0 || dx >= xSize || dz >= zSize)
{
- minNeighborHeight = rcMin(minNeighborHeight, -walkableClimb - bot);
- continue;
+ minNeighborHeight = (-walkableClimb - 1) ;
+ break;
}
// From minus infinity to the first span.
- const rcSpan* neighborSpan = heightfield.spans[dx + dy * xSize];
- int neighborBot = -walkableClimb;
+ const rcSpan* neighborSpan = heightfield.spans[dx + dz * xSize];
int neighborTop = neighborSpan ? (int)neighborSpan->smin : MAX_HEIGHT;
// Skip neighbour if the gap between the spans is too small.
- if (rcMin(top, neighborTop) - rcMax(bot, neighborBot) > walkableHeight)
+ if (rcMin(top, neighborTop) - bot >= walkableHeight)
{
- minNeighborHeight = rcMin(minNeighborHeight, neighborBot - bot);
+ minNeighborHeight = (-walkableClimb - 1);
+ break;
}
// Rest of the spans.
- for (neighborSpan = heightfield.spans[dx + dy * xSize]; neighborSpan; neighborSpan = neighborSpan->next)
+ for (neighborSpan = heightfield.spans[dx + dz * xSize]; neighborSpan; neighborSpan = neighborSpan->next)
{
- neighborBot = (int)neighborSpan->smax;
+ int neighborBot = (int)neighborSpan->smax;
neighborTop = neighborSpan->next ? (int)neighborSpan->next->smin : MAX_HEIGHT;
// Skip neighbour if the gap between the spans is too small.
- if (rcMin(top, neighborTop) - rcMax(bot, neighborBot) > walkableHeight)
+ if (rcMin(top, neighborTop) - rcMax(bot, neighborBot) >= walkableHeight)
{
- minNeighborHeight = rcMin(minNeighborHeight, neighborBot - bot);
+ int accessibleNeighbourHeight = neighborBot - bot;
+ minNeighborHeight = rcMin(minNeighborHeight, accessibleNeighbourHeight);
// Find min/max accessible neighbour height.
- if (rcAbs(neighborBot - bot) <= walkableClimb)
+ if (rcAbs(accessibleNeighbourHeight) <= walkableClimb)
{
if (neighborBot < accessibleNeighborMinHeight) accessibleNeighborMinHeight = neighborBot;
if (neighborBot > accessibleNeighborMaxHeight) accessibleNeighborMaxHeight = neighborBot;
}
+ else if (accessibleNeighbourHeight < -walkableClimb)
+ {
+ break;
+ }
}
}
--
2.43.0
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