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remove intermediate type
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@mockersf
mockersf committed Jul 19, 2024
1 parent 66b2907 commit 8a65364
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Showing 5 changed files with 171 additions and 276 deletions.
18 changes: 9 additions & 9 deletions src/async_helpers.rs
View file
Original file line number Diff line number Diff line change
Expand Up @@ -5,8 +5,8 @@ use std::{fmt, future::Future, task::Poll};
use glam::Vec2;

use crate::{
instance::{InstanceStep, SearchInstance},
Mesh, Path, PolygonInMesh, POLYGON_NOT_FOUND,
instance::{InstanceStep, SearchInstance, U32Layer},
Mesh, Path,
};

/// A future that will resolve to a [`Option<Path>`].
Expand All @@ -17,7 +17,7 @@ pub struct FuturePath<'m> {
pub(crate) to: Vec2,
pub(crate) mesh: &'m Mesh,
pub(crate) instance: Option<SearchInstance<'m>>,
pub(crate) ending_polygon: PolygonInMesh,
pub(crate) ending_polygon: u32,
}

impl<'m> fmt::Debug for FuturePath<'m> {
Expand Down Expand Up @@ -51,20 +51,20 @@ impl<'m> Future for FuturePath<'m> {
let start = Instant::now();

let starting_polygon_index = self.mesh.get_point_location(self.from);
if starting_polygon_index == POLYGON_NOT_FOUND {
if starting_polygon_index == u32::MAX {
return Poll::Ready(None);
}
let ending_polygon = self.mesh.get_point_location(self.to);
if ending_polygon == POLYGON_NOT_FOUND {
if ending_polygon == u32::MAX {
return Poll::Ready(None);
}
if starting_polygon_index.layer == ending_polygon.layer {
if let Some(islands) = self.mesh.layers[starting_polygon_index.layer as usize]
if starting_polygon_index.layer() == ending_polygon.layer() {
if let Some(islands) = self.mesh.layers[starting_polygon_index.layer() as usize]
.islands
.as_ref()
{
let start_island = islands.get(starting_polygon_index.polygon as usize);
let end_island = islands.get(ending_polygon.polygon as usize);
let start_island = islands.get(starting_polygon_index as usize);
let end_island = islands.get(ending_polygon as usize);
if start_island.is_some() && end_island.is_some() && start_island != end_island
{
return Poll::Ready(None);
Expand Down
129 changes: 65 additions & 64 deletions src/instance.rs
View file
Original file line number Diff line number Diff line change
Expand Up @@ -12,7 +12,7 @@ use hashbrown::{hash_map::Entry, HashMap};

use crate::{
helpers::{heuristic, line_intersect_segment, turning_point, Vec2Helper},
Mesh, Path, PolygonInMesh, SearchNode, POLYGON_NOT_FOUND, PRECISION,
Mesh, Path, SearchNode, PRECISION,
};

pub(crate) struct Root(Vec2);
Expand Down Expand Up @@ -62,7 +62,7 @@ pub(crate) struct SearchInstance<'m> {
pub(crate) root_history: HashMap<Root, f32>,
pub(crate) from: Vec2,
pub(crate) to: Vec2,
pub(crate) polygon_to: PolygonInMesh,
pub(crate) polygon_to: u32,
pub(crate) mesh: &'m Mesh,
#[cfg(feature = "stats")]
pub(crate) start: Instant,
Expand All @@ -88,15 +88,40 @@ pub(crate) enum InstanceStep {
Continue,
}

pub(crate) trait U32Layer {
fn layer(&self) -> u8;

fn polygon(&self) -> u32;

fn from_layer_and_polygon(layer: u8, polygon: u32) -> Self;
}

impl U32Layer for u32 {
#[inline(always)]
fn layer(&self) -> u8 {
(*self >> 24) as u8
}

#[inline(always)]
fn polygon(&self) -> u32 {
*self & 0b00000000111111111111111111111111
}

#[inline(always)]
fn from_layer_and_polygon(layer: u8, polygon: u32) -> u32 {
((layer as u32) << 24) | polygon
}
}

impl<'m> SearchInstance<'m> {
pub(crate) fn setup(
mesh: &'m Mesh,
from: (Vec2, PolygonInMesh),
to: (Vec2, PolygonInMesh),
from: (Vec2, u32),
to: (Vec2, u32),
#[cfg(feature = "stats")] start: Instant,
) -> Self {
let starting_polygon =
&mesh.layers[from.1.layer as usize].polygons[from.1.polygon as usize];
&mesh.layers[from.1.layer() as usize].polygons[from.1.polygon() as usize];

let mut search_instance = SearchInstance {
queue: BinaryHeap::with_capacity(15),
Expand Down Expand Up @@ -130,26 +155,22 @@ impl<'m> SearchInstance<'m> {
root: from.0,
interval: (Vec2::new(0.0, 0.0), Vec2::new(0.0, 0.0)),
edge: (0, 0),
polygon_from: POLYGON_NOT_FOUND,
polygon_from: u32::MAX,
polygon_to: from.1,
previous_polygon_layer: to.1.layer,
previous_polygon_layer: to.1.layer(),
f: 0.0,
g: 0.0,
};

let from_layer = &mesh.layers[from.1.layer() as usize];

for edge in starting_polygon.edges_index().iter() {
let start = if let Some(v) = mesh.layers[from.1.layer as usize]
.vertices
.get(edge.0 as usize)
{
let start = if let Some(v) = from_layer.vertices.get(edge.0 as usize) {
v
} else {
continue;
};
let end = if let Some(v) = mesh.layers[from.1.layer as usize]
.vertices
.get(edge.1 as usize)
{
let end = if let Some(v) = from_layer.vertices.get(edge.1 as usize) {
v
} else {
continue;
Expand All @@ -158,24 +179,20 @@ impl<'m> SearchInstance<'m> {
.polygons
.iter()
.filter(|i| **i != u32::MAX && end.polygons.contains(*i))
.map(|i| PolygonInMesh {
layer: (*i >> 24) as u8,
polygon: *i & 0b00000000111111111111111111111111,
})
.find(|poly| poly != &from.1)
.unwrap_or(POLYGON_NOT_FOUND);

if other_side == to.1
|| (other_side != POLYGON_NOT_FOUND
&& !search_instance.mesh.layers[other_side.layer as usize]
.find(|poly| *poly != &from.1)
.unwrap_or(&u32::MAX);

if other_side == &to.1
|| (other_side != &u32::MAX
&& !search_instance.mesh.layers[other_side.layer() as usize]
.polygons
.get(other_side.polygon as usize)
.get(other_side.polygon() as usize)
.unwrap()
.is_one_way)
{
search_instance.add_node(
from.0,
other_side,
*other_side,
(start.coords, edge.0),
(end.coords, edge.1),
&empty_node,
Expand Down Expand Up @@ -267,8 +284,9 @@ impl<'m> SearchInstance<'m> {
pub(crate) fn edges_between(&self, node: &SearchNode) -> SmallVec<[Successor; 10]> {
let mut successors = SmallVec::new();

let polygon = &self.mesh.layers[node.polygon_to.layer as usize].polygons
[node.polygon_to.polygon as usize];
let target_layer = &self.mesh.layers[node.polygon_to.layer() as usize];

let polygon = &target_layer.polygons[node.polygon_to.polygon() as usize];

// if node.interval.0.distance(node.root) < 1.0e-5
// || node.interval.1.distance(node.root) < 1.0e-5
Expand All @@ -287,11 +305,7 @@ impl<'m> SearchInstance<'m> {
let edge = self.mesh.layers[node.previous_polygon_layer as usize].vertices
[node.edge.1 as usize]
.coords;
while self.mesh.layers[node.polygon_to.layer as usize].vertices
[polygon.vertices[temp] as usize]
.coords
!= edge
{
while target_layer.vertices[polygon.vertices[temp] as usize].coords != edge {
temp += 1;
}
temp + 1
Expand All @@ -300,23 +314,15 @@ impl<'m> SearchInstance<'m> {

let mut ty = SuccessorType::RightNonObservable;
for edge in &polygon.circular_edges_index(right_index..=left_index) {
if edge.0.max(edge.1) as usize
> self.mesh.layers[node.polygon_to.layer as usize]
.vertices
.len()
{
if edge.0.max(edge.1) as usize > target_layer.vertices.len() {
continue;
}
// Bounds are checked just before
#[allow(unsafe_code)]
let (start, end) = unsafe {
(
self.mesh.layers[node.polygon_to.layer as usize]
.vertices
.get_unchecked(edge.0 as usize),
self.mesh.layers[node.polygon_to.layer as usize]
.vertices
.get_unchecked(edge.1 as usize),
target_layer.vertices.get_unchecked(edge.0 as usize),
target_layer.vertices.get_unchecked(edge.1 as usize),
)
};
let mut start_point = start.coords;
Expand Down Expand Up @@ -449,7 +455,7 @@ impl<'m> SearchInstance<'m> {
pub(crate) fn add_node(
&mut self,
root: Vec2,
other_side: PolygonInMesh,
other_side: u32,
start: (Vec2, u32),
end: (Vec2, u32),
node: &SearchNode,
Expand Down Expand Up @@ -482,7 +488,7 @@ impl<'m> SearchInstance<'m> {
edge: (start.1, end.1),
polygon_from: node.polygon_to,
polygon_to: other_side,
previous_polygon_layer: node.polygon_to.layer,
previous_polygon_layer: node.polygon_to.layer(),
f: new_f,
g: heuristic,
};
Expand Down Expand Up @@ -552,11 +558,12 @@ impl<'m> SearchInstance<'m> {
// we know they exist, it's checked in `edges_between`
#[allow(unsafe_code)]
let (start, end) = unsafe {
let target_layer = &self.mesh.layers[node.polygon_to.layer() as usize];
(
self.mesh.layers[node.polygon_to.layer as usize]
target_layer
.vertices
.get_unchecked(successor.edge.0 as usize),
self.mesh.layers[node.polygon_to.layer as usize]
target_layer
.vertices
.get_unchecked(successor.edge.1 as usize),
)
Expand All @@ -571,20 +578,16 @@ impl<'m> SearchInstance<'m> {
.polygons
.iter()
.filter(|i| **i != u32::MAX && end.polygons.contains(*i))
.map(|i| PolygonInMesh {
layer: (*i >> 24) as u8,
polygon: *i & 0b00000000111111111111111111111111,
})
.find(|poly| poly != &node.polygon_to)
.unwrap_or(POLYGON_NOT_FOUND);
.find(|poly| poly != &&node.polygon_to)
.unwrap_or(&u32::MAX);

#[cfg(debug_assertions)]
if self.debug {
println!("| going to {other_side:?}");
}

// prune edges that don't have a polygon on the other side: cul de sac pruning
if other_side == POLYGON_NOT_FOUND {
if other_side == &u32::MAX {
#[cfg(debug_assertions)]
if self.debug {
println!("x cul de sac");
Expand All @@ -594,11 +597,9 @@ impl<'m> SearchInstance<'m> {
}

// prune edges that only lead to one other polygon, and not the target: dead end pruning
if self.polygon_to != other_side
&& self.mesh.layers[other_side.layer as usize]
.polygons
.get(other_side.polygon as usize)
.unwrap()
if &self.polygon_to != other_side
&& self.mesh.layers[other_side.layer() as usize].polygons
[other_side.polygon() as usize]
.is_one_way
{
#[cfg(debug_assertions)]
Expand All @@ -619,7 +620,7 @@ impl<'m> SearchInstance<'m> {
}
continue;
}
let vertex = self.mesh.layers[node.polygon_to.layer as usize]
let vertex = self.mesh.layers[node.polygon_to.layer() as usize]
.vertices
.get(node.edge.0 as usize)
.unwrap();
Expand All @@ -644,7 +645,7 @@ impl<'m> SearchInstance<'m> {
}
continue;
}
let vertex = self.mesh.layers[node.polygon_to.layer as usize]
let vertex = self.mesh.layers[node.polygon_to.layer() as usize]
.vertices
.get(node.edge.1 as usize)
.unwrap();
Expand All @@ -669,7 +670,7 @@ impl<'m> SearchInstance<'m> {

self.add_node(
root,
other_side,
*other_side,
(successor.interval.0, successor.edge.0),
(successor.interval.1, successor.edge.1),
&node,
Expand Down
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