server_common/recastnavigation_v1.6.0
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moving from creating several nodes at once for the same ref to creating as needed based on ref and state (where state is currently used only for border poly to keep the arrival side).

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This commit is contained in:
axelrodR 2014-01-31 11:26:12 +02:00
parent 9b57498406
commit 72b7123e72
3 changed files with 59 additions and 59 deletions
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14
Detour/Include/DetourNode.h
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@ -35,7 +35,8 @@ struct dtNode
float pos[3]; ///< Position of the node.
float cost; ///< Cost from previous node to current node.
float total; ///< Cost up to the node.
unsigned int pidx : 30; ///< Index to parent node.
unsigned int pidx : 28; ///< Index to parent node.
unsigned int state : 2; ///< extra state information. A polyRef can have multiple nodes with different extra info.
unsigned int flags : 2; ///< Node flags 0/open/closed.
dtPolyRef id; ///< Polygon ref the node corresponds to.
};
@ -49,12 +50,11 @@ public:
inline void operator=(const dtNodePool&) {}
void clear();
/* Get a dtNode by ref. If there is none then - allocate
* There can be more than one node for the same polyRef, in which case they are seqential
* nb [in] the number of extra nodes to allocate if needed
*/
dtNode* getNode(dtPolyRef id, int nExtra=0);
dtNode* findNode(dtPolyRef id);
// Get a dtNode by ref and extra state information. If there is none then - allocate
// There can be more than one node for the same polyRef but with different extra state information
dtNode* getNode(dtPolyRef id, unsigned char state=0);
dtNode* findNode(dtPolyRef id, unsigned char state);
unsigned int findNodes(dtPolyRef id, int bufsize, dtNode** buf);
inline unsigned int getNodeIdx(const dtNode* node) const
{

34
Detour/Source/DetourNavMeshQuery.cpp
View File

@ -1048,21 +1048,17 @@ dtStatus dtNavMeshQuery::findPath(dtPolyRef startRef, dtPolyRef endRef,
continue;
// deal explicitly with crossing tile boundaries
int crossSide = 0, extraNodes = 0;
unsigned char crossSide = 0;
if (bestTile->links[i].side != 0xff)
{
extraNodes = 3;
crossSide = bestTile->links[i].side >> 1;
}
// get the node
dtNode* neighbourNode = m_nodePool->getNode(neighbourRef, extraNodes);
dtNode* neighbourNode = m_nodePool->getNode(neighbourRef, crossSide);
if (!neighbourNode)
{
status |= DT_OUT_OF_NODES;
continue;
}
neighbourNode += crossSide;
// If the node is visited the first time, calculate node position.
if (neighbourNode->flags == 0)
@ -1315,20 +1311,16 @@ dtStatus dtNavMeshQuery::updateSlicedFindPath(const int maxIter, int* doneIters)
continue;
// deal explicitly with crossing tile boundaries
int crossSide = 0, extraNodes = 0;
unsigned char crossSide = 0;
if (bestTile->links[i].side != 0xff)
{
extraNodes = 3;
crossSide = bestTile->links[i].side >> 1;
}
dtNode* neighbourNode = m_nodePool->getNode(neighbourRef, extraNodes);
dtNode* neighbourNode = m_nodePool->getNode(neighbourRef, crossSide);
if (!neighbourNode)
{
m_query.status |= DT_OUT_OF_NODES;
continue;
}
neighbourNode += crossSide;
// If the node is visited the first time, calculate node position.
if (neighbourNode->flags == 0)
@ -1512,7 +1504,7 @@ dtStatus dtNavMeshQuery::finalizeSlicedFindPathPartial(const dtPolyRef* existing
dtNode* node = 0;
for (int i = existingSize-1; i >= 0; --i)
{
node = m_nodePool->findNode(existing[i]);
m_nodePool->findNodes(existing[i], 1, &node);
if (node)
break;
}
@ -3388,19 +3380,15 @@ bool dtNavMeshQuery::isValidPolyRef(dtPolyRef ref, const dtQueryFilter* filter)
bool dtNavMeshQuery::isInClosedList(dtPolyRef ref) const
{
if (!m_nodePool) return false;
const dtNode* node = m_nodePool->findNode(ref);
if (!node)
return false;
dtNode* nodes[4];
int n= m_nodePool->findNodes(ref, 4, nodes);
const dtNode* last=m_nodePool->getNodeAtIdx(m_nodePool->getNodeCount() -1);
do // several nodes might be allocated for the same ref
for (int i=0; i<n; i++)
{
if (node->flags & DT_NODE_CLOSED)
if (nodes[i]->flags & DT_NODE_CLOSED)
return true;
node++;
} while (node<last && node->id == ref);
}
return false;
}

70
Detour/Source/DetourNode.cpp
View File

@ -84,57 +84,69 @@ void dtNodePool::clear()
m_nodeCount = 0;
}
dtNode* dtNodePool::findNode(dtPolyRef id)
unsigned int dtNodePool::findNodes(dtPolyRef id, int bufSize, dtNode** buf)
{
int n = 0;
unsigned int bucket = dtHashRef(id) & (m_hashSize-1);
dtNodeIndex i = m_first[bucket];
while (i != DT_NULL_IDX)
{
if (m_nodes[i].id == id)
{
if (n >= bufSize)
return n;
buf[n++] = &m_nodes[i];
}
i = m_next[i];
}
return n;
}
dtNode* dtNodePool::findNode(dtPolyRef id, unsigned char state)
{
unsigned int bucket = dtHashRef(id) & (m_hashSize-1);
dtNodeIndex i = m_first[bucket];
while (i != DT_NULL_IDX)
{
if (m_nodes[i].id == id && m_nodes[i].state == state)
return &m_nodes[i];
i = m_next[i];
}
return 0;
}
dtNode* dtNodePool::getNode(dtPolyRef id, int nExtra)
dtNode* dtNodePool::getNode(dtPolyRef id, unsigned char state)
{
unsigned int bucket = dtHashRef(id) & (m_hashSize-1);
dtNodeIndex i = m_first[bucket];
dtNode* node = 0;
while (i != DT_NULL_IDX)
{
if (m_nodes[i].id == id)
if (m_nodes[i].id == id && m_nodes[i].state == state)
return &m_nodes[i];
i = m_next[i];
}
if (m_nodeCount + nExtra >= m_maxNodes)
if (m_nodeCount >= m_maxNodes)
return 0;
// add to hash table
int n = (dtNodeIndex)m_nodeCount;
dtNode* ret = &m_nodes[n];
// add the nodes from last to first
for (int j=n+nExtra ; j>=n; --j)
{
i = (dtNodeIndex)j;
m_nodeCount++;
// Init node
node = &m_nodes[i];
node->pidx = 0;
node->cost = 0;
node->total = 0;
node->id = id;
node->flags = 0;
m_next[i] = m_first[bucket];
m_first[bucket] = i;
}
return ret;
i = (dtNodeIndex)m_nodeCount;
m_nodeCount++;
// Init node
node = &m_nodes[i];
node->pidx = 0;
node->cost = 0;
node->total = 0;
node->id = id;
node->state = state;
node->flags = 0;
m_next[i] = m_first[bucket];
m_first[bucket] = i;
return node;
}