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Reduce allocations for NavMap synchronization #98866

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Nov 10, 2024
Merged

Reduce allocations for NavMap synchronization #98866

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2 changes: 1 addition & 1 deletion modules/navigation/3d/nav_mesh_queries_3d.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -234,7 +234,7 @@ Vector<Vector3> NavMeshQueries3D::polygons_get_path(const LocalVector<gd::Polygo
// Takes the current least_cost_poly neighbors (iterating over its edges) and compute the traveled_distance.
for (const gd::Edge &edge : navigation_polys[least_cost_id].poly->edges) {
// Iterate over connections in this edge, then compute the new optimized travel distance assigned to this polygon.
for (int connection_index = 0; connection_index < edge.connections.size(); connection_index++) {
for (uint32_t connection_index = 0; connection_index < edge.connections.size(); connection_index++) {
const gd::Edge::Connection &connection = edge.connections[connection_index];

// Only consider the connection to another polygon if this polygon is in a region with compatible layers.
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9 changes: 2 additions & 7 deletions modules/navigation/nav_map.cpp
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Expand Up @@ -426,13 +426,8 @@ void NavMap::sync() {

_new_pm_polygon_count = polygon_count;

struct ConnectionPair {
gd::Edge::Connection connections[2];
int size = 0;
};

// Group all edges per key.
HashMap<gd::EdgeKey, ConnectionPair, gd::EdgeKey> connection_pairs_map;
connection_pairs_map.clear();
connection_pairs_map.reserve(polygons.size());
int free_edges_count = 0; // How many ConnectionPairs have only one Connection.

Expand Down Expand Up @@ -469,7 +464,7 @@ void NavMap::sync() {
}
}

LocalVector<gd::Edge::Connection> free_edges;
free_edges.clear();
free_edges.reserve(free_edges_count);

for (const KeyValue<gd::EdgeKey, ConnectionPair> &pair_it : connection_pairs_map) {
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8 changes: 8 additions & 0 deletions modules/navigation/nav_map.h
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Expand Up @@ -128,6 +128,14 @@ class NavMap : public NavRid {

HashMap<NavRegion *, LocalVector<gd::Edge::Connection>> region_external_connections;

struct ConnectionPair {
gd::Edge::Connection connections[2];
int size = 0;
};

HashMap<gd::EdgeKey, ConnectionPair, gd::EdgeKey> connection_pairs_map;
LocalVector<gd::Edge::Connection> free_edges;

public:
NavMap();
~NavMap();
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2 changes: 1 addition & 1 deletion modules/navigation/nav_utils.h
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Expand Up @@ -94,7 +94,7 @@ struct Edge {
};

/// Connections from this edge to other polygons.
Vector<Connection> connections;
LocalVector<Connection> connections;
};

struct Polygon {
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