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removed brackets

Browse Source 
Initial plan

Initial exploration and analysis complete

Co-authored-by: orange-cpp <59374393+orange-cpp@users.noreply.github.com>

Optimize performance: A* pathfinding, Vector3 hash, pattern scanner, AVX2 code, and serialization

Co-authored-by: orange-cpp <59374393+orange-cpp@users.noreply.github.com>

Add bounds check for navigation mesh serialization

Co-authored-by: orange-cpp <59374393+orange-cpp@users.noreply.github.com>

Document serialization limitation for large neighbor counts

Co-authored-by: orange-cpp <59374393+orange-cpp@users.noreply.github.com>

Add _codeql_build_dir to gitignore

Co-authored-by: orange-cpp <59374393+orange-cpp@users.noreply.github.com>

Removes codeql detected source root

Eliminates the automatically generated file that was causing issues.

This file was added by codeql and no longer needed.

revert
cleaned up gitignore

moved to anon namespace

Improves navigation mesh serialization and clamping

Ensures correct serialization of navigation meshes by clamping neighbor counts to prevent data corruption when exceeding uint16_t limits.

Updates data types to `std::uint8_t` and `std::size_t` for consistency.
Uses `std::copy_n` instead of `std::memcpy` for deserialization.
This commit is contained in:
Orange
2025-10-30 05:38:11 +03:00
parent 765d5e7216
commit eec34c1efb
5 changed files with 133 additions and 99 deletions
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58
source/pathfinding/a_star.cpp
View File

@@ -4,9 +4,25 @@
#include "omath/pathfinding/a_star.hpp"
#include <algorithm>
#include <optional>
#include <queue>
#include <unordered_map>
#include <unordered_set>
namespace
{
struct OpenListNode final
{
omath::Vector3<float> position;
float f_cost;
[[nodiscard]]
bool operator>(const OpenListNode& other) const noexcept
{
return f_cost > other.f_cost;
}
};
}
namespace omath::pathfinding
{
struct PathNode final
@@ -37,23 +53,13 @@ namespace omath::pathfinding
std::ranges::reverse(path);
return path;
}
auto Astar::get_perfect_node(const std::unordered_map<Vector3<float>, PathNode>& open_list,
const Vector3<float>& end_vertex) noexcept
{
return std::ranges::min_element(open_list,
[&end_vertex](const auto& a, const auto& b)
{
const float fa = a.second.g_cost + a.first.distance_to(end_vertex);
const float fb = b.second.g_cost + b.first.distance_to(end_vertex);
return fa < fb;
});
}
std::vector<Vector3<float>> Astar::find_path(const Vector3<float>& start, const Vector3<float>& end,
const NavigationMesh& nav_mesh) noexcept
{
std::unordered_map<Vector3<float>, PathNode> closed_list;
std::unordered_map<Vector3<float>, PathNode> open_list;
std::unordered_map<Vector3<float>, PathNode> node_data;
std::priority_queue<OpenListNode, std::vector<OpenListNode>, std::greater<>> open_list;
auto maybe_start_vertex = nav_mesh.get_closest_vertex(start);
auto maybe_end_vertex = nav_mesh.get_closest_vertex(end);
@@ -64,20 +70,27 @@ namespace omath::pathfinding
const auto start_vertex = maybe_start_vertex.value();
const auto end_vertex = maybe_end_vertex.value();
open_list.emplace(start_vertex, PathNode{std::nullopt, 0.f});
node_data.emplace(start_vertex, PathNode{std::nullopt, 0.f});
open_list.push({start_vertex, start_vertex.distance_to(end_vertex)});
while (!open_list.empty())
{
auto current_it = get_perfect_node(open_list, end_vertex);
auto current = open_list.top().position;
open_list.pop();
const auto current = current_it->first;
const auto current_node = current_it->second;
if (closed_list.contains(current))
continue;
auto current_node_it = node_data.find(current);
if (current_node_it == node_data.end())
continue;
const auto current_node = current_node_it->second;
if (current == end_vertex)
return reconstruct_final_path(closed_list, current);
closed_list.emplace(current, current_node);
open_list.erase(current_it);
for (const auto& neighbor: nav_mesh.get_neighbors(current))
{
@@ -86,11 +99,14 @@ namespace omath::pathfinding
const float tentative_g_cost = current_node.g_cost + neighbor.distance_to(current);
// ReSharper disable once CppTooWideScopeInitStatement
const auto open_it = open_list.find(neighbor);
auto node_it = node_data.find(neighbor);
if (open_it == open_list.end() || tentative_g_cost < open_it->second.g_cost)
open_list[neighbor] = PathNode{current, tentative_g_cost};
if (node_it == node_data.end() || tentative_g_cost < node_it->second.g_cost)
{
node_data[neighbor] = PathNode{current, tentative_g_cost};
const float f_cost = tentative_g_cost + neighbor.distance_to(end_vertex);
open_list.push({neighbor, f_cost});
}
}
}