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Use range iterators in LocalVector loops

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This commit is contained in:
kobewi
2022-12-29 01:24:45 +01:00
parent 277d5361df
commit 615c517034
41 changed files with 409 additions and 503 deletions
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57
modules/navigation/nav_map.cpp
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@@ -103,9 +103,7 @@ Vector<Vector3> NavMap::get_path(Vector3 p_origin, Vector3 p_destination, bool p
float begin_d = 1e20;
float end_d = 1e20;
// Find the initial poly and the end poly on this map.
for (size_t i(0); i < polygons.size(); i++) {
const gd::Polygon &p = polygons[i];
for (const gd::Polygon &p : polygons) {
// Only consider the polygon if it in a region with compatible layers.
if ((p_navigation_layers & p.owner->get_navigation_layers()) == 0) {
continue;
@@ -190,9 +188,7 @@ Vector<Vector3> NavMap::get_path(Vector3 p_origin, Vector3 p_destination, bool p
while (true) {
// Takes the current least_cost_poly neighbors (iterating over its edges) and compute the traveled_distance.
for (size_t i = 0; i < navigation_polys[least_cost_id].poly->edges.size(); i++) {
const gd::Edge &edge = navigation_polys[least_cost_id].poly->edges[i];
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++) {
const gd::Edge::Connection &connection = edge.connections[connection_index];
@@ -465,9 +461,7 @@ Vector3 NavMap::get_closest_point_to_segment(const Vector3 &p_from, const Vector
Vector3 closest_point;
real_t closest_point_d = 1e20;
for (size_t i(0); i < polygons.size(); i++) {
const gd::Polygon &p = polygons[i];
for (const gd::Polygon &p : polygons) {
// For each face check the distance to the segment
for (size_t point_id = 2; point_id < p.points.size(); point_id += 1) {
const Face3 f(p.points[0].pos, p.points[point_id - 1].pos, p.points[point_id].pos);
@@ -623,20 +617,20 @@ void NavMap::sync() {
// Check if we need to update the links.
if (regenerate_polygons) {
for (uint32_t r = 0; r < regions.size(); r++) {
regions[r]->scratch_polygons();
for (NavRegion *region : regions) {
region->scratch_polygons();
}
regenerate_links = true;
}
for (uint32_t r = 0; r < regions.size(); r++) {
if (regions[r]->sync()) {
for (NavRegion *region : regions) {
if (region->sync()) {
regenerate_links = true;
}
}
for (uint32_t l = 0; l < links.size(); l++) {
if (links[l]->check_dirty()) {
for (NavLink *link : links) {
if (link->check_dirty()) {
regenerate_links = true;
}
}
@@ -649,34 +643,32 @@ void NavMap::sync() {
_new_pm_edge_free_count = 0;
// Remove regions connections.
for (uint32_t r = 0; r < regions.size(); r++) {
regions[r]->get_connections().clear();
for (NavRegion *region : regions) {
region->get_connections().clear();
}
// Resize the polygon count.
int count = 0;
for (uint32_t r = 0; r < regions.size(); r++) {
count += regions[r]->get_polygons().size();
for (const NavRegion *region : regions) {
count += region->get_polygons().size();
}
polygons.resize(count);
// Copy all region polygons in the map.
count = 0;
for (uint32_t r = 0; r < regions.size(); r++) {
const LocalVector<gd::Polygon> &polygons_source = regions[r]->get_polygons();
for (const NavRegion *region : regions) {
const LocalVector<gd::Polygon> &polygons_source = region->get_polygons();
for (uint32_t n = 0; n < polygons_source.size(); n++) {
polygons[count + n] = polygons_source[n];
}
count += regions[r]->get_polygons().size();
count += region->get_polygons().size();
}
_new_pm_polygon_count = polygons.size();
// Group all edges per key.
HashMap<gd::EdgeKey, Vector<gd::Edge::Connection>, gd::EdgeKey> connections;
for (uint32_t poly_id = 0; poly_id < polygons.size(); poly_id++) {
gd::Polygon &poly(polygons[poly_id]);
for (gd::Polygon &poly : polygons) {
for (uint32_t p = 0; p < poly.points.size(); p++) {
int next_point = (p + 1) % poly.points.size();
gd::EdgeKey ek(poly.points[p].key, poly.points[next_point].key);
@@ -787,8 +779,7 @@ void NavMap::sync() {
link_polygons.resize(links.size());
// Search for polygons within range of a nav link.
for (uint32_t l = 0; l < links.size(); l++) {
const NavLink *link = links[l];
for (const NavLink *link : links) {
const Vector3 start = link->get_start_location();
const Vector3 end = link->get_end_location();
@@ -820,9 +811,7 @@ void NavMap::sync() {
}
// Find any polygons within the search radius of the end point.
for (uint32_t end_index = 0; end_index < polygons.size(); end_index++) {
gd::Polygon &end_poly = polygons[end_index];
for (gd::Polygon &end_poly : polygons) {
// For each face check the distance to the end
for (uint32_t end_point_id = 2; end_point_id < end_poly.points.size(); end_point_id += 1) {
const Face3 end_face(end_poly.points[0].pos, end_poly.points[end_point_id - 1].pos, end_poly.points[end_point_id].pos);
@@ -906,8 +895,8 @@ void NavMap::sync() {
// cannot use LocalVector here as RVO library expects std::vector to build KdTree
std::vector<RVO::Agent *> raw_agents;
raw_agents.reserve(agents.size());
for (size_t i(0); i < agents.size(); i++) {
raw_agents.push_back(agents[i]->get_agent());
for (RvoAgent *agent : agents) {
raw_agents.push_back(agent->get_agent());
}
rvo.buildAgentTree(raw_agents);
}
@@ -941,8 +930,8 @@ void NavMap::step(real_t p_deltatime) {
}
void NavMap::dispatch_callbacks() {
for (int i(0); i < static_cast<int>(controlled_agents.size()); i++) {
controlled_agents[i]->dispatch_callback();
for (RvoAgent *agent : controlled_agents) {
agent->dispatch_callback();
}
}