+ astar project

1 files changed, 61 insertions, 0 deletions

diff --git a/Other/AstarPathfindingDemo/Packages/com.arongranberg.astar/Graphs/Grid/Jobs/JobPrepareGridRaycast.cs b/Other/AstarPathfindingDemo/Packages/com.arongranberg.astar/Graphs/Grid/Jobs/JobPrepareGridRaycast.cs
new file mode 100644
index 0000000..e05347d
--- /dev/null
+++ b/Other/AstarPathfindingDemo/Packages/com.arongranberg.astar/Graphs/Grid/Jobs/JobPrepareGridRaycast.cs
@@ -0,0 +1,61 @@
+using UnityEngine;
+using Unity.Burst;
+using Unity.Collections;
+using Unity.Jobs;
+using Unity.Collections.LowLevel.Unsafe;
+using Pathfinding.Util;
+using UnityEngine.Assertions;
+
+namespace Pathfinding.Graphs.Grid.Jobs {
+	/// <summary>
+	/// Prepares a set of raycast commands for a grid graph.
+	///
+	/// Each ray will start at <see cref="raycastOffset"/> from the node's position. The end point of the raycast will be the start point + <see cref="raycastDirection"/>.
+	///
+	/// See: <see cref="GraphCollision"/>
+	/// </summary>
+	[BurstCompile]
+	public struct JobPrepareGridRaycast : IJob {
+		public Matrix4x4 graphToWorld;
+		public IntBounds bounds;
+		public Vector3 raycastOffset;
+		public Vector3 raycastDirection;
+		public LayerMask raycastMask;
+		public PhysicsScene physicsScene;
+
+		[WriteOnly]
+		public NativeArray<RaycastCommand> raycastCommands;
+
+		public void Execute () {
+			float raycastLength = raycastDirection.magnitude;
+			var size = bounds.size;
+
+			// In particular Unity 2022.2 seems to assert that RaycastCommands use normalized directions
+			var direction = raycastDirection.normalized;
+			var commands = raycastCommands.AsUnsafeSpan();
+
+			Assert.AreEqual(commands.Length, size.x * size.z);
+
+#if UNITY_2022_2_OR_NEWER
+			var queryParameters = new QueryParameters(raycastMask, false, QueryTriggerInteraction.Ignore, false);
+			// This is about 30% faster than setting each command individually. MemCpy is fast.
+			commands.Fill(new RaycastCommand(physicsScene, Vector3.zero, direction, queryParameters, raycastLength));
+#else
+			const int RaycastMaxHits = 1;
+#endif
+
+			for (int z = 0; z < size.z; z++) {
+				int zw = z * size.x;
+				for (int x = 0; x < size.x; x++) {
+					int idx = zw + x;
+					var pos = JobNodeGridLayout.NodePosition(graphToWorld, x + bounds.min.x, z + bounds.min.z);
+#if UNITY_2022_2_OR_NEWER
+					commands[idx].from = pos + raycastOffset;
+#else
+					commands[idx] = new RaycastCommand(pos + raycastOffset, direction, raycastLength, raycastMask, RaycastMaxHits);
+#endif
+				}
+			}
+		}
+	}
+}