+ astar project

1 files changed, 73 insertions, 0 deletions

diff --git a/Other/AstarPathfindingDemo/Packages/com.arongranberg.astar/Graphs/Grid/Jobs/JobNodeWalkability.cs b/Other/AstarPathfindingDemo/Packages/com.arongranberg.astar/Graphs/Grid/Jobs/JobNodeWalkability.cs
new file mode 100644
index 0000000..7629df7
--- /dev/null
+++ b/Other/AstarPathfindingDemo/Packages/com.arongranberg.astar/Graphs/Grid/Jobs/JobNodeWalkability.cs
@@ -0,0 +1,73 @@
+using UnityEngine;
+using Unity.Burst;
+using Unity.Collections;
+using Unity.Jobs;
+using Unity.Mathematics;
+
+namespace Pathfinding.Graphs.Grid.Jobs {
+	/// <summary>Calculates for each grid node if it should be walkable or not</summary>
+	[BurstCompile(FloatMode = FloatMode.Fast)]
+	public struct JobNodeWalkability : IJob {
+		/// <summary>
+		/// If true, use the normal of the raycast hit to check if the ground is flat enough to stand on.
+		///
+		/// Any nodes with a steeper slope than <see cref="maxSlope"/> will be made unwalkable.
+		/// </summary>
+		public bool useRaycastNormal;
+		/// <summary>Max slope in degrees</summary>
+		public float maxSlope;
+		/// <summary>Normalized up direction of the graph</summary>
+		public Vector3 up;
+		/// <summary>If true, nodes will be made unwalkable if no ground was found under them</summary>
+		public bool unwalkableWhenNoGround;
+		/// <summary>For layered grid graphs, if there's a node above another node closer than this distance, the lower node will be made unwalkable</summary>
+		public float characterHeight;
+		/// <summary>Number of nodes in each layer</summary>
+		public int layerStride;
+
+		[ReadOnly]
+		public NativeArray<float3> nodePositions;
+
+		public NativeArray<float4> nodeNormals;
+
+		[WriteOnly]
+		public NativeArray<bool> nodeWalkable;
+
+		public void Execute () {
+			// Cosinus of the max slope
+			float cosMaxSlopeAngle = math.cos(math.radians(maxSlope));
+			float4 upNative = new float4(up.x, up.y, up.z, 0);
+			float3 upNative3 = upNative.xyz;
+
+			for (int i = 0; i < nodeNormals.Length; i++) {
+				// walkable will be set to false if no ground was found (unless that setting has been disabled)
+				// The normal will only be non-zero if something was hit.
+				bool didHit = math.any(nodeNormals[i]);
+				var walkable = didHit;
+				if (!didHit && !unwalkableWhenNoGround && i < layerStride) {
+					walkable = true;
+					// If there was no hit, but we still want to make the node walkable, then we set the normal to the up direction
+					nodeNormals[i] = upNative;
+				}
+
+				// Check if the node is on a slope steeper than permitted
+				if (walkable && useRaycastNormal && didHit) {
+					// Take the dot product to find out the cosine of the angle it has (faster than Vector3.Angle)
+					float angle = math.dot(nodeNormals[i], upNative);
+
+					// Check if the ground is flat enough to stand on
+					if (angle < cosMaxSlopeAngle) {
+						walkable = false;
+					}
+				}
+
+				// Check if there is a node above this one (layered grid graph only)
+				if (walkable && i + layerStride < nodeNormals.Length && math.any(nodeNormals[i + layerStride])) {
+					walkable = math.dot(upNative3, nodePositions[i + layerStride] - nodePositions[i]) >= characterHeight;
+				}
+
+				nodeWalkable[i] = walkable;
+			}
+		}
+	}
+}