Ticket #3925: Clip.patch

source/simulation2/components/CCmpPathfinder_Vertex.cpp

@@ -698 +698 @@
         // to reduce the search space
     }
 
+    // Clip out vertices that are inside an edgeSquare (i.e. trivially unreachable)
+    for (size_t i = 0; i < edgeSquares.size(); ++i)
+    {
+        // If the start point is inside the square, ignore it
+        if (start.p.X >= edgeSquares[i].p0.X &&
+            start.p.Y >= edgeSquares[i].p0.Y &&
+            start.p.X <= edgeSquares[i].p1.X &&
+            start.p.Y <= edgeSquares[i].p1.Y)
+            continue;
+
+        // Remove every non-start/goal vertex that is inside an edgeSquare;
+        // since remove() would be inefficient, just mark it as closed instead.
+        for (size_t j = 2; j < vertexes.size(); ++j)
+            if (vertexes[j].p.X >= edgeSquares[i].p0.X &&
+                vertexes[j].p.Y >= edgeSquares[i].p0.Y &&
+                vertexes[j].p.X <= edgeSquares[i].p1.X &&
+                vertexes[j].p.Y <= edgeSquares[i].p1.Y)
+                vertexes[j].status = Vertex::CLOSED;
+    }
+
     ENSURE(vertexes.size() < 65536); // we store array indexes as u16
 
     // Render the debug overlay
@@ -806 +826 @@
             break;
         }
 
-        // Sort the edges so ones nearer this vertex are checked first by CheckVisibility,
-        // since they're more likely to block the rays
-        std::sort(edgeSquares.begin(), edgeSquares.end(), SquareSort(vertexes[curr.id].p));
+        // Sort the edges by distance in order to check those first that have a high probability of blocking a ray.
+        // The heuristic based on distance is very rough, especially for squares that are further away;
+        // we're also only really interested in the closest squares since they are the only ones that block a lot of rays.
+        // Thus we only do a partial sort; the threshold is just a somewhat reasonable value.
+        if (edgeSquares.size() > 8)
+            std::partial_sort(edgeSquares.begin(), edgeSquares.begin() + 8, edgeSquares.end(), SquareSort(vertexes[curr.id].p));
 
         std::vector<Edge> edgesUnaligned;
         std::vector<EdgeAA> edgesLeft;