+ astar project

1 files changed, 37 insertions, 0 deletions

diff --git a/Other/AstarPathfindingDemo/Packages/com.arongranberg.astar/Graphs/Grid/GridAdjacencyMapper.cs b/Other/AstarPathfindingDemo/Packages/com.arongranberg.astar/Graphs/Grid/GridAdjacencyMapper.cs
new file mode 100644
index 0000000..bba0a60
--- /dev/null
+++ b/Other/AstarPathfindingDemo/Packages/com.arongranberg.astar/Graphs/Grid/GridAdjacencyMapper.cs
@@ -0,0 +1,37 @@
+using UnityEngine;
+using Unity.Burst;
+using Unity.Collections;
+using Unity.Collections.LowLevel.Unsafe;
+using Unity.Jobs;
+using Unity.Mathematics;
+
+namespace Pathfinding.Graphs.Grid {
+	public interface GridAdjacencyMapper {
+		int LayerCount(IntBounds bounds);
+		int GetNeighbourIndex(int nodeIndexXZ, int nodeIndex, int direction, NativeArray<ulong> nodeConnections, NativeArray<int> neighbourOffsets, int layerStride);
+		bool HasConnection(int nodeIndex, int direction, NativeArray<ulong> nodeConnections);
+	}
+
+	public struct FlatGridAdjacencyMapper : GridAdjacencyMapper {
+		public int LayerCount (IntBounds bounds) {
+			UnityEngine.Assertions.Assert.IsTrue(bounds.size.y == 1);
+			return 1;
+		}
+		public int GetNeighbourIndex (int nodeIndexXZ, int nodeIndex, int direction, NativeArray<ulong> nodeConnections, NativeArray<int> neighbourOffsets, int layerStride) {
+			return nodeIndex + neighbourOffsets[direction];
+		}
+		public bool HasConnection (int nodeIndex, int direction, NativeArray<ulong> nodeConnections) {
+			return ((nodeConnections[nodeIndex] >> direction) & 0x1) != 0;
+		}
+	}
+
+	public struct LayeredGridAdjacencyMapper : GridAdjacencyMapper {
+		public int LayerCount(IntBounds bounds) => bounds.size.y;
+		public int GetNeighbourIndex (int nodeIndexXZ, int nodeIndex, int direction, NativeArray<ulong> nodeConnections, NativeArray<int> neighbourOffsets, int layerStride) {
+			return nodeIndexXZ + neighbourOffsets[direction] + (int)((nodeConnections[nodeIndex] >> LevelGridNode.ConnectionStride*direction) & LevelGridNode.ConnectionMask) * layerStride;
+		}
+		public bool HasConnection (int nodeIndex, int direction, NativeArray<ulong> nodeConnections) {
+			return ((nodeConnections[nodeIndex] >> LevelGridNode.ConnectionStride*direction) & LevelGridNode.ConnectionMask) != LevelGridNode.NoConnection;
+		}
+	}
+}