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Enchance the performance of AStar by using a LocalVector(2)

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This commit is contained in:
Yuri Rubinsky
2023-01-27 13:56:23 +03:00
parent 518b9e5801
commit cc0a243ce0
3 changed files with 16 additions and 16 deletions
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14
core/math/a_star.cpp
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@@ -327,7 +327,7 @@ bool AStar3D::_solve(Point *begin_point, Point *end_point) {
bool found_route = false; bool found_route = false;
Vector<Point *> open_list; LocalVector<Point *> open_list;
SortArray<Point *, SortPoints> sorter; SortArray<Point *, SortPoints> sorter;
begin_point->g_score = 0; begin_point->g_score = 0;
@@ -335,19 +335,19 @@ bool AStar3D::_solve(Point *begin_point, Point *end_point) {
open_list.push_back(begin_point); open_list.push_back(begin_point);
while (!open_list.is_empty()) { while (!open_list.is_empty()) {
Point *p = open_list[0]; // The currently processed point Point *p = open_list[0]; // The currently processed point.
if (p == end_point) { if (p == end_point) {
found_route = true; found_route = true;
break; break;
} }
sorter.pop_heap(0, open_list.size(), open_list.ptrw()); // Remove the current point from the open list sorter.pop_heap(0, open_list.size(), open_list.ptr()); // Remove the current point from the open list.
open_list.remove_at(open_list.size() - 1); open_list.remove_at(open_list.size() - 1);
p->closed_pass = pass; // Mark the point as closed p->closed_pass = pass; // Mark the point as closed.
for (OAHashMap<int64_t, Point *>::Iterator it = p->neighbors.iter(); it.valid; it = p->neighbors.next_iter(it)) { for (OAHashMap<int64_t, Point *>::Iterator it = p->neighbors.iter(); it.valid; it = p->neighbors.next_iter(it)) {
Point *e = *(it.value); // The neighbor point Point *e = *(it.value); // The neighbor point.
if (!e->enabled || e->closed_pass == pass) { if (!e->enabled || e->closed_pass == pass) {
continue; continue;
@@ -370,9 +370,9 @@ bool AStar3D::_solve(Point *begin_point, Point *end_point) {
e->f_score = e->g_score + _estimate_cost(e->id, end_point->id); e->f_score = e->g_score + _estimate_cost(e->id, end_point->id);
if (new_point) { // The position of the new points is already known. if (new_point) { // The position of the new points is already known.
sorter.push_heap(0, open_list.size() - 1, 0, e, open_list.ptrw()); sorter.push_heap(0, open_list.size() - 1, 0, e, open_list.ptr());
} else { } else {
sorter.push_heap(0, open_list.find(e), 0, e, open_list.ptrw()); sorter.push_heap(0, open_list.find(e), 0, e, open_list.ptr());
} }
} }
} }

16
core/math/a_star_grid_2d.cpp
View File

@@ -265,7 +265,7 @@ AStarGrid2D::Point *AStarGrid2D::_jump(Point *p_from, Point *p_to) {
return nullptr; return nullptr;
} }
void AStarGrid2D::_get_nbors(Point *p_point, List<Point *> &r_nbors) { void AStarGrid2D::_get_nbors(Point *p_point, LocalVector<Point *> &r_nbors) {
bool ts0 = false, td0 = false, bool ts0 = false, td0 = false,
ts1 = false, td1 = false, ts1 = false, td1 = false,
ts2 = false, td2 = false, ts2 = false, td2 = false,
@@ -378,7 +378,7 @@ bool AStarGrid2D::_solve(Point *p_begin_point, Point *p_end_point) {
bool found_route = false; bool found_route = false;
Vector<Point *> open_list; LocalVector<Point *> open_list;
SortArray<Point *, SortPoints> sorter; SortArray<Point *, SortPoints> sorter;
p_begin_point->g_score = 0; p_begin_point->g_score = 0;
@@ -394,14 +394,14 @@ bool AStarGrid2D::_solve(Point *p_begin_point, Point *p_end_point) {
break; break;
} }
sorter.pop_heap(0, open_list.size(), open_list.ptrw()); // Remove the current point from the open list. sorter.pop_heap(0, open_list.size(), open_list.ptr()); // Remove the current point from the open list.
open_list.remove_at(open_list.size() - 1); open_list.remove_at(open_list.size() - 1);
p->closed_pass = pass; // Mark the point as closed. p->closed_pass = pass; // Mark the point as closed.
List<Point *> nbors; LocalVector<Point *> nbors;
_get_nbors(p, nbors); _get_nbors(p, nbors);
for (List<Point *>::Element *E = nbors.front(); E; E = E->next()) {
Point *e = E->get(); // The neighbor point. for (Point *e : nbors) {
real_t weight_scale = 1.0; real_t weight_scale = 1.0;
if (jumping_enabled) { if (jumping_enabled) {
@@ -433,9 +433,9 @@ bool AStarGrid2D::_solve(Point *p_begin_point, Point *p_end_point) {
e->f_score = e->g_score + _estimate_cost(e->id, p_end_point->id); e->f_score = e->g_score + _estimate_cost(e->id, p_end_point->id);
if (new_point) { // The position of the new points is already known. if (new_point) { // The position of the new points is already known.
sorter.push_heap(0, open_list.size() - 1, 0, e, open_list.ptrw()); sorter.push_heap(0, open_list.size() - 1, 0, e, open_list.ptr());
} else { } else {
sorter.push_heap(0, open_list.find(e), 0, e, open_list.ptrw()); sorter.push_heap(0, open_list.find(e), 0, e, open_list.ptr());
} }
} }
} }

2
core/math/a_star_grid_2d.h
View File

@@ -124,7 +124,7 @@ private: // Internal routines.
return &points[p_y][p_x]; return &points[p_y][p_x];
} }
void _get_nbors(Point *p_point, List<Point *> &r_nbors); void _get_nbors(Point *p_point, LocalVector<Point *> &r_nbors);
Point *_jump(Point *p_from, Point *p_to); Point *_jump(Point *p_from, Point *p_to);
bool _solve(Point *p_begin_point, Point *p_end_point); bool _solve(Point *p_begin_point, Point *p_end_point);