use a static thread-safe arena allocator for storing temporary AABB search data
This commit is contained in:
Joe
parent
f4cd952ccd
commit
d28d212821
4 changed files with 248 additions and 205 deletions
172
Cargo.lock
generated
172
Cargo.lock
generated
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@ -11,62 +11,24 @@ dependencies = [
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"memchr",
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]
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[[package]]
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name = "allocator-api2"
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version = "0.2.21"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "683d7910e743518b0e34f1186f92494becacb047c7b6bf616c96772180fef923"
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[[package]]
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name = "anes"
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version = "0.1.6"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "4b46cbb362ab8752921c97e041f5e366ee6297bd428a31275b9fcf1e380f7299"
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[[package]]
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name = "anstream"
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version = "0.6.21"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "43d5b281e737544384e969a5ccad3f1cdd24b48086a0fc1b2a5262a26b8f4f4a"
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dependencies = [
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"anstyle",
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"anstyle-parse",
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"anstyle-query",
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"anstyle-wincon",
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"colorchoice",
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"is_terminal_polyfill",
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"utf8parse",
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]
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[[package]]
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name = "anstyle"
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version = "1.0.13"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "5192cca8006f1fd4f7237516f40fa183bb07f8fbdfedaa0036de5ea9b0b45e78"
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[[package]]
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name = "anstyle-parse"
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version = "0.2.7"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "4e7644824f0aa2c7b9384579234ef10eb7efb6a0deb83f9630a49594dd9c15c2"
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dependencies = [
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"utf8parse",
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]
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[[package]]
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name = "anstyle-query"
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version = "1.1.4"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "9e231f6134f61b71076a3eab506c379d4f36122f2af15a9ff04415ea4c3339e2"
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dependencies = [
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"windows-sys 0.60.2",
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]
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[[package]]
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name = "anstyle-wincon"
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version = "3.0.10"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "3e0633414522a32ffaac8ac6cc8f748e090c5717661fddeea04219e2344f5f2a"
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dependencies = [
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"anstyle",
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"once_cell_polyfill",
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"windows-sys 0.60.2",
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]
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[[package]]
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name = "async-task"
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version = "4.7.1"
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@ -89,6 +51,22 @@ version = "1.5.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "c08606f8c3cbf4ce6ec8e28fb0014a2c086708fe954eaa885384a6165172e7e8"
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[[package]]
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name = "bitflags"
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version = "2.9.4"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "2261d10cca569e4643e526d8dc2e62e433cc8aba21ab764233731f8d369bf394"
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[[package]]
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name = "blink-alloc"
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version = "0.3.1"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "e669f146bb8b2327006ed94c69cf78c8ec81c100192564654230a40b4f091d82"
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dependencies = [
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"allocator-api2",
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"parking_lot",
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]
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[[package]]
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name = "bumpalo"
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version = "3.19.0"
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@ -149,10 +127,8 @@ version = "4.5.49"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "0025e98baa12e766c67ba13ff4695a887a1eba19569aad00a472546795bd6730"
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dependencies = [
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"anstream",
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"anstyle",
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"clap_lex",
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"strsim",
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]
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[[package]]
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@ -161,12 +137,6 @@ version = "0.7.6"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "a1d728cc89cf3aee9ff92b05e62b19ee65a02b5702cff7d5a377e32c6ae29d8d"
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[[package]]
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name = "colorchoice"
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version = "1.0.4"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "b05b61dc5112cbb17e4b6cd61790d9845d13888356391624cbe7e41efeac1e75"
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[[package]]
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name = "criterion"
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version = "0.7.0"
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@ -237,6 +207,18 @@ version = "1.15.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "48c757948c5ede0e46177b7add2e67155f70e33c07fea8284df6576da70b3719"
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[[package]]
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name = "equivalent"
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version = "1.0.2"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "877a4ace8713b0bcf2a4e7eec82529c029f1d0619886d18145fea96c3ffe5c0f"
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[[package]]
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name = "foldhash"
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version = "0.2.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "77ce24cb58228fbb8aa041425bb1050850ac19177686ea6e0f41a70416f56fdb"
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[[package]]
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name = "forte"
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version = "1.0.0-alpha.4"
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@ -273,10 +255,16 @@ dependencies = [
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]
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[[package]]
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name = "is_terminal_polyfill"
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version = "1.70.1"
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name = "hashbrown"
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version = "0.16.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "7943c866cc5cd64cbc25b2e01621d07fa8eb2a1a23160ee81ce38704e97b8ecf"
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checksum = "5419bdc4f6a9207fbeba6d11b604d481addf78ecd10c11ad51e76c2f6482748d"
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dependencies = [
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"allocator-api2",
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"equivalent",
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"foldhash",
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"rustc-std-workspace-alloc",
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]
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[[package]]
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name = "itertools"
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@ -315,6 +303,15 @@ version = "0.2.177"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "2874a2af47a2325c2001a6e6fad9b16a53b802102b528163885171cf92b15976"
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[[package]]
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name = "lock_api"
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version = "0.4.14"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "224399e74b87b5f3557511d98dff8b14089b3dadafcab6bb93eab67d3aace965"
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dependencies = [
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"scopeguard",
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]
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[[package]]
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name = "log"
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version = "0.4.28"
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@ -351,18 +348,35 @@ version = "1.21.3"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "42f5e15c9953c5e4ccceeb2e7382a716482c34515315f7b03532b8b4e8393d2d"
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[[package]]
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name = "once_cell_polyfill"
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version = "1.70.1"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "a4895175b425cb1f87721b59f0f286c2092bd4af812243672510e1ac53e2e0ad"
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[[package]]
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name = "oorandom"
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version = "11.1.5"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "d6790f58c7ff633d8771f42965289203411a5e5c68388703c06e14f24770b41e"
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[[package]]
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name = "parking_lot"
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version = "0.12.5"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "93857453250e3077bd71ff98b6a65ea6621a19bb0f559a85248955ac12c45a1a"
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dependencies = [
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"lock_api",
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"parking_lot_core",
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]
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[[package]]
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name = "parking_lot_core"
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version = "0.9.12"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "2621685985a2ebf1c516881c026032ac7deafcda1a2c9b7850dc81e3dfcb64c1"
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dependencies = [
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"cfg-if",
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"libc",
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"redox_syscall",
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"smallvec",
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"windows-link",
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]
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[[package]]
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name = "pin-project-lite"
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version = "0.2.16"
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@ -488,6 +502,15 @@ dependencies = [
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"crossbeam-utils",
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]
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[[package]]
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name = "redox_syscall"
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version = "0.5.18"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "ed2bf2547551a7053d6fdfafda3f938979645c44812fbfcda098faae3f1a362d"
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dependencies = [
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"bitflags",
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]
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[[package]]
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name = "regex"
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version = "1.12.2"
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@ -517,6 +540,12 @@ version = "0.8.8"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "7a2d987857b319362043e95f5353c0535c1f58eec5336fdfcf626430af7def58"
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[[package]]
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name = "rustc-std-workspace-alloc"
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version = "1.0.1"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "f9d441c3b2ebf55cebf796bfdc265d67fa09db17b7bb6bd4be75c509e1e8fec3"
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[[package]]
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name = "rustversion"
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version = "1.0.22"
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@ -538,6 +567,12 @@ dependencies = [
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"winapi-util",
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]
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[[package]]
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name = "scopeguard"
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version = "1.2.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "94143f37725109f92c262ed2cf5e59bce7498c01bcc1502d7b9afe439a4e9f49"
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[[package]]
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name = "serde"
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version = "1.0.228"
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@ -600,19 +635,14 @@ checksum = "67b1b7a3b5fe4f1376887184045fcf45c69e92af734b7aaddc05fb777b6fbd03"
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name = "spacedog"
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version = "0.1.0"
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dependencies = [
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"clap",
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"blink-alloc",
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"criterion",
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"forte",
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"hashbrown",
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"rand",
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"rand_hc",
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]
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[[package]]
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name = "strsim"
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version = "0.11.1"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "7da8b5736845d9f2fcb837ea5d9e2628564b3b043a70948a3f0b778838c5fb4f"
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[[package]]
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name = "syn"
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version = "2.0.106"
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@ -706,12 +736,6 @@ version = "1.0.19"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "f63a545481291138910575129486daeaf8ac54aee4387fe7906919f7830c7d9d"
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[[package]]
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name = "utf8parse"
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version = "0.2.2"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "06abde3611657adf66d383f00b093d7faecc7fa57071cce2578660c9f1010821"
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[[package]]
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name = "valuable"
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version = "0.1.1"
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17
Cargo.toml
17
Cargo.toml
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@ -3,17 +3,16 @@ name = "spacedog"
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version = "0.1.0"
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edition = "2024"
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[dependencies]
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blink-alloc = { version = "0.3", features = ["alloc", "nightly", "sync"] }
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forte = "1.0.0-alpha.4"
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hashbrown = { version = "0.16", features = ["alloc", "nightly"] }
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[dev-dependencies]
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clap = "4.5.49"
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criterion = "0.7.0"
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rand = "0.9.2"
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rand_hc = "0.4.0"
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criterion = "0.7"
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rand = "0.9"
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rand_hc = "0.4"
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[[bench]]
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name = "benchmarks"
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harness = false
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[dependencies]
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forte = "1.0.0-alpha.4"
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rand = "0.9.2"
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rand_hc = "0.4.0"
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@ -3,25 +3,16 @@ use spacedog::*;
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use rand::{Rng, SeedableRng};
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use rand_hc::Hc128Rng;
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fn create_random_points(num_points: usize, seed: &[u8; 32]) -> Vec<[f64; 2]> {
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let mut rng = Hc128Rng::from_seed(*seed);
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(0..num_points).map(|_| rng.random()).collect()
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}
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use criterion::Criterion;
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use criterion::{criterion_group, criterion_main};
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const SEED_1: &[u8; 32] = b"Gv0aHMtHkBGsUXNspGU9fLRuCWkZWHZx";
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// const SEED_2: &[u8; 32] = b"km7DO4GeaFZfTcDXVpnO7ZJlgUY7hZiS";
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const DEFAULT_NUM_POINTS: usize = 100_000;
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fn new_index(c: &mut Criterion) {
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c.bench_function("new index", move |b| {
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let points: Vec<_> = create_random_points(DEFAULT_NUM_POINTS, SEED_1)
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.into_iter()
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.map(|[x, y]| Point2d { x, y })
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.collect();
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let points: Vec<_> = create_random_points(DEFAULT_NUM_POINTS, SEED_1);
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b.iter(|| {
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Spindex2d::new(&points);
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@ -31,19 +22,16 @@ fn new_index(c: &mut Criterion) {
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fn update_positions(c: &mut Criterion) {
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c.bench_function("update positions", move |b| {
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let points: Vec<_> = create_random_points(DEFAULT_NUM_POINTS, SEED_1)
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.into_iter()
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.map(|[x, y]| Point2d { x, y })
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.collect();
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let points: Vec<_> = create_random_points(DEFAULT_NUM_POINTS, SEED_1);
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let mut rng = Hc128Rng::from_seed(*SEED_1);
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let jitters: Vec<_> = points
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.iter()
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.map(|p| {
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let x = p.x + rng.random_range(-5.0..=5.0);
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let y = p.y + rng.random_range(-5.0..=5.0);
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Point2d { x, y }
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let x = p.x + rng.random_range(-0.5..=0.5);
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let y = p.y + rng.random_range(-0.5..=0.5);
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Point2d::new(x, y)
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})
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.collect();
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@ -61,11 +49,8 @@ fn update_positions(c: &mut Criterion) {
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}
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fn nearest_default_horizon(c: &mut Criterion) {
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c.bench_function("nearst point with default horizon", move |b| {
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let points: Vec<_> = create_random_points(DEFAULT_NUM_POINTS, SEED_1)
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.into_iter()
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.map(|[x, y]| Point2d { x, y })
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.collect();
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c.bench_function("nearest default", move |b| {
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let points: Vec<_> = create_random_points(DEFAULT_NUM_POINTS, SEED_1);
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let index = Spindex2d::new(&points);
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@ -78,41 +63,46 @@ fn nearest_default_horizon(c: &mut Criterion) {
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}
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fn nearest_short_horizon(c: &mut Criterion) {
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c.bench_function("nearst point with short horizon", move |b| {
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let points: Vec<_> = create_random_points(DEFAULT_NUM_POINTS, SEED_1)
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.into_iter()
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.map(|[x, y]| Point2d { x, y })
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.collect();
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c.bench_function("nearest short", move |b| {
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let points: Vec<_> = create_random_points(DEFAULT_NUM_POINTS, SEED_1);
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let index = Spindex2d::new(&points).with_horizon(20);
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let end = points.len() - 1;
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let len = points.len();
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let mut i = 0;
|
||||
b.iter(|| {
|
||||
i += 1;
|
||||
index.nearest(&points[(i - 1).min(end)]).is_some()
|
||||
i = (i + 1) % len;
|
||||
index.nearest(&points[i]).is_some()
|
||||
});
|
||||
});
|
||||
}
|
||||
|
||||
fn aabb_search(c: &mut Criterion) {
|
||||
c.bench_function(
|
||||
"search an axis-aligned bounding box 10 units a side",
|
||||
move |b| {
|
||||
let points: Vec<_> = create_random_points(DEFAULT_NUM_POINTS, SEED_1)
|
||||
.into_iter()
|
||||
.map(|[x, y]| Point2d { x, y })
|
||||
.collect();
|
||||
c.bench_function("aabb", move |b| {
|
||||
let points: Vec<_> = create_random_points(DEFAULT_NUM_POINTS, SEED_1);
|
||||
|
||||
let index = Spindex2d::new(&points);
|
||||
|
||||
let mut i = 0;
|
||||
b.iter(|| {
|
||||
i += 1;
|
||||
!index.aabb(&points[i - 1], 10.0).is_empty()
|
||||
!index.aabb(&points[i - 1], 0.05).is_empty()
|
||||
});
|
||||
});
|
||||
}
|
||||
|
||||
fn radius_search(c: &mut Criterion) {
|
||||
c.bench_function("radius 0.1", move |b| {
|
||||
let points: Vec<_> = create_random_points(DEFAULT_NUM_POINTS, SEED_1);
|
||||
|
||||
let index = Spindex2d::new(&points);
|
||||
|
||||
let mut i = 0;
|
||||
b.iter(|| {
|
||||
i += 1;
|
||||
!index.radius(&points[i - 1], 0.1).is_empty()
|
||||
});
|
||||
});
|
||||
},
|
||||
);
|
||||
}
|
||||
|
||||
criterion_group!(
|
||||
|
|
@ -121,6 +111,14 @@ criterion_group!(
|
|||
update_positions,
|
||||
nearest_default_horizon,
|
||||
nearest_short_horizon,
|
||||
aabb_search
|
||||
aabb_search,
|
||||
radius_search
|
||||
);
|
||||
criterion_main!(benches);
|
||||
|
||||
fn create_random_points(num_points: usize, seed: &[u8; 32]) -> Vec<Point2d> {
|
||||
let mut rng = Hc128Rng::from_seed(*seed);
|
||||
(0..num_points)
|
||||
.map(|_| rng.random::<[f64; 2]>().into())
|
||||
.collect()
|
||||
}
|
||||
|
|
|
|||
40
src/lib.rs
40
src/lib.rs
|
|
@ -1,4 +1,9 @@
|
|||
use std::{collections::HashMap, sync::RwLock, thread};
|
||||
use std::{
|
||||
collections::HashMap,
|
||||
sync::{Mutex, RwLock},
|
||||
};
|
||||
|
||||
use blink_alloc::SyncBlinkAlloc;
|
||||
|
||||
static THREAD_POOL: forte::ThreadPool = forte::ThreadPool::new();
|
||||
|
||||
|
|
@ -8,6 +13,13 @@ pub struct Point2d {
|
|||
pub y: f64,
|
||||
}
|
||||
|
||||
impl From<[f64; 2]> for Point2d {
|
||||
fn from(value: [f64; 2]) -> Self {
|
||||
let [x, y] = value;
|
||||
Point2d::new(x, y)
|
||||
}
|
||||
}
|
||||
|
||||
impl Point2d {
|
||||
pub fn new(x: f64, y: f64) -> Self {
|
||||
Self { x, y }
|
||||
|
|
@ -69,6 +81,7 @@ pub struct Spindex2d {
|
|||
pub xs: RwLock<Vec<PVal>>,
|
||||
pub ys: RwLock<Vec<PVal>>,
|
||||
horizon: usize,
|
||||
alloc: Mutex<blink_alloc::SyncBlinkAlloc>,
|
||||
}
|
||||
|
||||
impl Spindex2d {
|
||||
|
|
@ -100,6 +113,7 @@ impl Spindex2d {
|
|||
xs: xs.into(),
|
||||
ys: ys.into(),
|
||||
horizon,
|
||||
alloc: SyncBlinkAlloc::new().into(),
|
||||
};
|
||||
|
||||
index.sort();
|
||||
|
|
@ -141,15 +155,21 @@ impl Spindex2d {
|
|||
|
||||
/// Search within a given `radius` from `point`.
|
||||
pub fn radius(&self, point: &Point2d, radius: f64) -> Vec<Point2d> {
|
||||
todo!()
|
||||
let d2 = radius.powi(2);
|
||||
self.aabb(point, radius * 2.0)
|
||||
.into_iter()
|
||||
.filter(|v| v.distance_squared(point) <= d2)
|
||||
.collect()
|
||||
}
|
||||
|
||||
/// Search an axis-aligned bounding box whose sides are `span` away from the given point.
|
||||
pub fn aabb(&self, point: &Point2d, span: f64) -> Vec<Point2d> {
|
||||
let span = span / 2.0;
|
||||
let sz = { self.xs.read().unwrap().len() / 2 };
|
||||
let mut nxs = HashMap::with_capacity(sz);
|
||||
let mut nys = HashMap::with_capacity(sz);
|
||||
|
||||
let neighbors = {
|
||||
let alloc = self.alloc.lock().unwrap();
|
||||
let mut nys = hashbrown::HashMap::new_in(alloc.local());
|
||||
let mut nxs = hashbrown::HashMap::new_in(alloc.local());
|
||||
|
||||
THREAD_POOL.scope(|s| {
|
||||
// x axis
|
||||
|
|
@ -162,6 +182,7 @@ impl Spindex2d {
|
|||
|
||||
let mut i = nx;
|
||||
// first walk backwards
|
||||
//let mut nxs = nxs.lock().unwrap();
|
||||
while i > 0 {
|
||||
i -= 1;
|
||||
let p = xs[i];
|
||||
|
|
@ -227,6 +248,9 @@ impl Spindex2d {
|
|||
}
|
||||
}
|
||||
neighbors
|
||||
};
|
||||
self.alloc.lock().unwrap().reset();
|
||||
neighbors
|
||||
}
|
||||
|
||||
pub fn nearest(&self, point: &Point2d) -> Option<Point2d> {
|
||||
|
|
@ -269,13 +293,11 @@ impl Spindex2d {
|
|||
}
|
||||
}
|
||||
|
||||
points.sort_unstable_by(|a, b| {
|
||||
points.into_iter().min_by(|a, b| {
|
||||
let adist = a.distance_squared(point);
|
||||
let bdist = b.distance_squared(point);
|
||||
adist.total_cmp(&bdist)
|
||||
});
|
||||
|
||||
points.first().cloned()
|
||||
})
|
||||
}
|
||||
|
||||
pub fn points(&self) -> Vec<Point2d> {
|
||||
|
|
|
|||
Loading…
Reference in a new issue