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Code cleanup and small optimizations in RecastFilter.cpp rcFilterLedgeSpans (#672)

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* 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

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This commit is contained in:
Cupcake
2024-01-01 03:27:07 +08:00
committed by GitHub
parent 246ca3c849
commit 3e94c3b6fc
1 changed files with 18 additions and 13 deletions
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31
Recast/Source/RecastFilter.cpp
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@@ -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;
}
}
}