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Vertex pathfinder: skip vertices with worse g cost

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This reduces the number of expensive visibility checks we run,
leading to 5-10% better performance on average.
This commit is contained in:
Lancelot de Ferrière
2026-09-05 18:14:30 +02:00
parent e407363e13
commit 6a46e74443
1 changed files with 13 additions and 7 deletions
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source/simulation2/helpers/VertexPathfinder.cpp
+13 -7
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@@ -837,6 +837,17 @@ WaypointPath VertexPathfinder::ComputeShortPath(const ShortPathRequest& request,
continue;
}
// Skip visibility checks for paths that cannot improve the known cost.
if (m_Vertexes[n].status == Vertex::OPEN)
{
if (m_Vertexes[curr.id].g >= m_Vertexes[n].g)
continue;
const fixed remaining{m_Vertexes[n].g - m_Vertexes[curr.id].g};
if ((m_Vertexes[curr.id].p - npos).CompareLength(remaining) >= 0)
continue;
}
bool visible =
CheckVisibilityLeft(m_Vertexes[curr.id].p, npos, m_EdgesLeft) &&
CheckVisibilityRight(m_Vertexes[curr.id].p, npos, m_EdgesRight) &&
@@ -873,14 +884,9 @@ WaypointPath VertexPathfinder::ComputeShortPath(const ShortPathRequest& request,
hBest = m_Vertexes[n].h;
}
}
else // must be OPEN
else // must be OPEN with a better g cost as we check that above
{
// If we've already seen this tile, and the new path to this tile does not have a
// better cost, then stop now
if (g >= m_Vertexes[n].g)
continue;
// Otherwise, we have a better path, so replace the old one with the new cost/parent
// We have a better path, so replace the old one with the new cost/parent
fixed gprev = m_Vertexes[n].g;
m_Vertexes[n].g = g;
m_Vertexes[n].pred = curr.id;