PathingAPI use SignalR with MessagePack to transfer large chunk of geometry data from c# backend to BabylonJS frontend

Directory.Packages.props

@@ -9,8 +9,10 @@
     <PackageVersion Include="BenchmarkDotNet" Version="0.14.0" />
     <PackageVersion Include="Blazor.Bootstrap" Version="3.2.0" />
     <PackageVersion Include="MemoryPack" Version="1.21.3" />
+    <PackageVersion Include="MessagePack" Version="3.1.1" />
     <PackageVersion Include="Microsoft.AspNetCore.Components" Version="9.0.0" />
     <PackageVersion Include="Microsoft.AspNetCore.Components.QuickGrid" Version="9.0.0" />
+    <PackageVersion Include="Microsoft.AspNetCore.SignalR.Protocols.MessagePack" Version="9.0.1" />
     <PackageVersion Include="Microsoft.Extensions.Options" Version="9.0.0" />
     <PackageVersion Include="Serilog.AspNetCore" Version="9.0.0" />
     <PackageVersion Include="Serilog.Enrichers.Environment" Version="3.0.1" />

PPather/Graph/Path.cs

@@ -24,7 +24,7 @@ namespace PPather.Graph;
 
 public sealed class Path
 {
-    public List<Vector3> locations { get; } = new();
+    public List<Vector3> locations { get; } = [];
 
     public Vector3 GetLast => locations[^1];
 

PPather/Graph/PathGraph.cs

@@ -545,7 +545,7 @@ private static float TurnCost(float x0, float y0, float z0, float x1, float y1,
 
     public Spot ClosestSpot;
     public Spot PeekSpot;
-    public Vector3[] TestPoints = [];
+    public HashSet<Vector3> TestPoints = [];
 
     private Spot Search(Spot fromSpot, Spot destinationSpot, eSearchScoreSpot searchScoreSpot, float minHowClose)
     {
@@ -608,7 +608,7 @@ private Spot Search(Spot fromSpot, Spot destinationSpot, eSearchScoreSpot search
             if (GetElapsedTime(timeSinceProgress).TotalSeconds > ProgressTimeoutSeconds ||
                 GetElapsedTime(searchDuration).TotalSeconds > TimeoutSeconds)
             {
-                logger.LogWarning("search failed, 10 seconds since last progress, returning the closest spot.");
+                logger.LogWarning($"search failed, {ProgressTimeoutSeconds} seconds since last progress, returning the closest spot.");
                 return ClosestSpot;
             }
 
@@ -617,13 +617,14 @@ private Spot Search(Spot fromSpot, Spot destinationSpot, eSearchScoreSpot search
 
             //score each spot around the current search spot and add them to the queue
             ReadOnlySpan<Spot> spots = currentSearchSpot.GetPathsToSpots(this);
-            //TestPoints = spots.ToVecArray();
 
             for (int i = 0; i < spots.Length; i++)
             {
                 Spot linked = spots[i];
                 if (linked != null && !linked.IsBlocked() && !linked.SearchIsClosed(currentSearchID))
                 {
+                    TestPoints.Add(linked.Loc);
+
                     ScoreSpot(linked, destinationSpot, searchScoreSpot, currentSearchID, prioritySpotQueue);
                 }
             }
@@ -741,7 +742,7 @@ public void CreateSpotsAroundSpot(Spot currentSearchSpot, bool mapped)
         currentSearchSpot.SetFlag(Spot.FLAG_MPQ_MAPPED, true);
 
         //loop through the spots in a circle around the current search spot
-        for (float radianAngle = 0; radianAngle < Tau; radianAngle += PI / 8)
+        for (float radianAngle = 0; radianAngle < Tau; radianAngle += PI / 8) // 4
         {
             //calculate the location of the spot at the angle
             float nx = currentSearchSpot.Loc.X + (Sin(radianAngle) * WantedStepLength);// *0.8f;
@@ -810,27 +811,38 @@ public void CreateSpotsAroundSpot(Spot currentSearchSpot, bool mapped)
 
     private Spot lastCurrentSearchSpot;
 
-    public List<Spot> CurrentSearchPath()
+    public List<Vector3> CurrentSearchPath()
     {
         if (lastCurrentSearchSpot == currentSearchSpot)
         {
-            return null;
+            return [];
         }
 
         lastCurrentSearchSpot = currentSearchSpot;
-        return FollowTraceBack(currentSearchStartSpot, currentSearchSpot);
+        return FollowTraceBackLocations(currentSearchStartSpot, currentSearchSpot);
     }
 
     private static List<Spot> FollowTraceBack(Spot from, Spot to)
     {
-        List<Spot> path = new();
-        Spot backtrack = to;
-        while (backtrack != from && backtrack != null)
+        List<Spot> path = [];
+        for (Spot backtrack = to; backtrack != null; backtrack = backtrack.traceBack)
         {
             path.Insert(0, backtrack);
-            backtrack = backtrack.traceBack;
+            if (backtrack == from)
+                break;
+        }
+        return path;
+    }
+
+    private static List<Vector3> FollowTraceBackLocations(Spot from, Spot to)
+    {
+        List<Vector3> path = [];
+        for (Spot backtrack = to; backtrack != null; backtrack = backtrack.traceBack)
+        {
+            path.Insert(0, backtrack.Loc);
+            if (backtrack == from)
+                break;
         }
-        path.Insert(0, from);
         return path;
     }
 

PPather/Search/MeshFactory.cs

@@ -15,10 +15,8 @@ public static List<Vector3> CreatePoints(TriangleCollection collection)
     }
 
 
-    public static int[] CreateTriangles(TriangleType modelType, TriangleCollection tc)
+    public static int CreateTriangles(TriangleType modelType, TriangleCollection tc, int[] output)
     {
-        var pooler = ArrayPool<int>.Shared;
-        var triangles = pooler.Rent(tc.TriangleCount * 3);
         int c = 0;
 
         for (int i = 0; i < tc.TriangleCount; i++)
@@ -27,15 +25,11 @@ public static int[] CreateTriangles(TriangleType modelType, TriangleCollection t
             if (flags != modelType)
                 continue;
 
-            triangles[c++] = v0;
-            triangles[c++] = v1;
-            triangles[c++] = v2;
+            output[c++] = v0;
+            output[c++] = v1;
+            output[c++] = v2;
         }
 
-        pooler.Return(triangles);
-
-        return c == 0
-            ? Array.Empty<int>()
-            : triangles.AsSpan(0, c).ToArray();
+        return c;
     }
 }

PPather/Search/PPatherService.cs

@@ -1,4 +1,4 @@
-using Microsoft.Extensions.Logging;
+using Microsoft.Extensions.Logging;
 
 using PPather.Data;
 using PPather.Graph;
@@ -37,7 +37,7 @@ public sealed class PPatherService
     public Vector3 ClosestLocation => search?.PathGraph?.ClosestSpot?.Loc ?? Vector3.Zero;
     public Vector3 PeekLocation => search?.PathGraph?.PeekSpot?.Loc ?? Vector3.Zero;
 
-    public Vector3[] TestPoints => search?.PathGraph?.TestPoints ?? Array.Empty<Vector3>();
+    public HashSet<Vector3> TestPoints => search?.PathGraph?.TestPoints ?? [];
 
     public PPatherService(ILogger<PPatherService> logger, DataConfig dataConfig, WorldMapAreaDB worldMapAreaDB)
     {
@@ -164,14 +164,11 @@ public void SetLocations(Vector4 from, Vector4 to)
         search.locationTo = to;
     }
 
-    public List<Spot> GetCurrentSearchPath()
+    public List<Vector3> GetCurrentSearchPath()
     {
-        if (search == null || search.PathGraph == null)
-        {
-            return null;
-        }
-
-        return search.PathGraph.CurrentSearchPath();
+        return search == null || search.PathGraph == null
+            ? []
+            : search.PathGraph.CurrentSearchPath();
     }
 
     public float TransformMapToWorld(int uiMapId, Vector3[] path)

PPather/Triangles/Data/TriangleType.cs

@@ -1,4 +1,6 @@
-namespace PPather;
+using System;
+
+namespace PPather;
 
 [System.Flags]
 public enum TriangleType : byte
@@ -16,4 +18,16 @@ public static bool Has(this TriangleType flags, TriangleType flag)
     {
         return (flags & flag) != 0;
     }
+
+    public static int ToIndex(this TriangleType type)
+    {
+        return type switch
+        {
+            TriangleType.Terrain => 0,
+            TriangleType.Water => 1,
+            TriangleType.Object => 2,
+            TriangleType.Model => 3,
+            _ => throw new ArgumentOutOfRangeException(nameof(type), $"Unexpected value: {type}")
+        };
+    }
 }

PathingAPI/Hubs/WatchHub.cs

@@ -0,0 +1,8 @@
+using Microsoft.AspNetCore.SignalR;
+
+namespace PathingAPI;
+
+public sealed class WatchHub : Hub
+{
+    public const string Url = "/watchHub";
+}

PathingAPI/Pages/Search.razor

@@ -62,8 +62,8 @@
     {
         try
         {
-            await jsRuntime.InvokeVoidAsync("removeMeshes", name);
-            await jsRuntime.InvokeVoidAsync("removeMeshes", "search");
+            await jsRuntime.InvokeVoidAsync("removeMesh", name);
+            await jsRuntime.InvokeVoidAsync("removeMesh", "search");
 
             pPatherService.SetLocations(parameters.From.Location, parameters.To.Location);