diff options
Diffstat (limited to 'modules/navigation/nav_map.cpp')
| -rw-r--r-- | modules/navigation/nav_map.cpp | 24 |
1 files changed, 17 insertions, 7 deletions
diff --git a/modules/navigation/nav_map.cpp b/modules/navigation/nav_map.cpp index 70d50999f9..cbc0adc574 100644 --- a/modules/navigation/nav_map.cpp +++ b/modules/navigation/nav_map.cpp @@ -30,7 +30,6 @@ #include "nav_map.h" -#include "core/os/threaded_array_processor.h" #include "nav_region.h" #include "rvo_agent.h" @@ -142,10 +141,10 @@ Vector<Vector3> NavMap::get_path(Vector3 p_origin, Vector3 p_destination, bool p bool is_reachable = true; while (true) { - gd::NavigationPoly *least_cost_poly = &navigation_polys[least_cost_id]; - // Takes the current least_cost_poly neighbors (iterating over its edges) and compute the traveled_distance. - for (size_t i = 0; i < least_cost_poly->poly->edges.size(); i++) { + for (size_t i = 0; i < navigation_polys[least_cost_id].poly->edges.size(); i++) { + gd::NavigationPoly *least_cost_poly = &navigation_polys[least_cost_id]; + const gd::Edge &edge = least_cost_poly->poly->edges[i]; // Iterate over connections in this edge, then compute the new optimized travel distance assigned to this polygon. @@ -226,6 +225,7 @@ Vector<Vector3> NavMap::get_path(Vector3 p_origin, Vector3 p_destination, bool p navigation_polys.push_back(np); to_visit.clear(); to_visit.push_back(0); + least_cost_id = 0; reachable_end = nullptr; @@ -245,6 +245,8 @@ Vector<Vector3> NavMap::get_path(Vector3 p_origin, Vector3 p_destination, bool p } } + ERR_BREAK(least_cost_id == -1); + // Stores the further reachable end polygon, in case our goal is not reachable. if (is_reachable) { float d = navigation_polys[least_cost_id].entry.distance_to(p_destination); @@ -254,8 +256,6 @@ Vector<Vector3> NavMap::get_path(Vector3 p_origin, Vector3 p_destination, bool p } } - ERR_BREAK(least_cost_id == -1); - // Check if we reached the end if (navigation_polys[least_cost_id].poly == end_poly) { found_route = true; @@ -673,7 +673,10 @@ void NavMap::compute_single_step(uint32_t index, RvoAgent **agent) { void NavMap::step(real_t p_deltatime) { deltatime = p_deltatime; if (controlled_agents.size() > 0) { - thread_process_array( + if (step_work_pool.get_thread_count() == 0) { + step_work_pool.init(); + } + step_work_pool.do_work( controlled_agents.size(), this, &NavMap::compute_single_step, @@ -718,3 +721,10 @@ void NavMap::clip_path(const std::vector<gd::NavigationPoly> &p_navigation_polys } } } + +NavMap::NavMap() { +} + +NavMap::~NavMap() { + step_work_pool.finish(); +} |