+ astar project

1 files changed, 93 insertions, 0 deletions

diff --git a/Other/AstarPathfindingDemo/Packages/com.arongranberg.astar/Graphs/Grid/Jobs/JobReadNodeData.cs b/Other/AstarPathfindingDemo/Packages/com.arongranberg.astar/Graphs/Grid/Jobs/JobReadNodeData.cs
new file mode 100644
index 0000000..a94b652
--- /dev/null
+++ b/Other/AstarPathfindingDemo/Packages/com.arongranberg.astar/Graphs/Grid/Jobs/JobReadNodeData.cs
@@ -0,0 +1,93 @@
+using UnityEngine;
+using Unity.Collections;
+using Unity.Mathematics;
+using Pathfinding.Jobs;
+
+namespace Pathfinding.Graphs.Grid.Jobs {
+	/// <summary>
+	/// Reads node data from managed <see cref="GridNodeBase"/> objects into unmanaged arrays.
+	///
+	/// This is done so that burst jobs can later access this data directly.
+	///
+	/// Later, data will be written back to the managed objects using the <see cref="JobWriteNodeData"/> job.
+	/// </summary>
+	public struct JobReadNodeData : IJobParallelForBatched {
+		public System.Runtime.InteropServices.GCHandle nodesHandle;
+		public uint graphIndex;
+
+		public Slice3D slice;
+
+		[WriteOnly]
+		public NativeArray<Vector3> nodePositions;
+
+		[WriteOnly]
+		public NativeArray<uint> nodePenalties;
+
+		[WriteOnly]
+		public NativeArray<int> nodeTags;
+
+		[WriteOnly]
+		public NativeArray<ulong> nodeConnections;
+
+		[WriteOnly]
+		public NativeArray<bool> nodeWalkableWithErosion;
+
+		[WriteOnly]
+		public NativeArray<bool> nodeWalkable;
+
+		public bool allowBoundsChecks => false;
+
+		struct Reader : GridIterationUtilities.ISliceAction {
+			public GridNodeBase[] nodes;
+			public NativeArray<Vector3> nodePositions;
+			public NativeArray<uint> nodePenalties;
+			public NativeArray<int> nodeTags;
+			public NativeArray<ulong> nodeConnections;
+			public NativeArray<bool> nodeWalkableWithErosion;
+			public NativeArray<bool> nodeWalkable;
+
+			[System.Runtime.CompilerServices.MethodImpl(System.Runtime.CompilerServices.MethodImplOptions.AggressiveInlining)]
+			public void Execute (uint outerIdx, uint innerIdx) {
+				var dataIdx = (int)innerIdx;
+				// The data bounds may have more layers than the existing nodes if a new layer is being added.
+				// We can only copy from the nodes that exist.
+				if (outerIdx < nodes.Length) {
+					var node = nodes[outerIdx];
+					if (node != null) {
+						nodePositions[dataIdx] = (Vector3)node.position;
+						nodePenalties[dataIdx] = node.Penalty;
+						nodeTags[dataIdx] = (int)node.Tag;
+						nodeConnections[dataIdx] = node is GridNode gn ? (ulong)gn.GetAllConnectionInternal() : (node as LevelGridNode).gridConnections;
+						nodeWalkableWithErosion[dataIdx] = node.Walkable;
+						nodeWalkable[dataIdx] = node.WalkableErosion;
+						return;
+					}
+				}
+
+				// Fallback in case the node was null (only happens for layered grid graphs),
+				// or if we are adding more layers to the graph, in which case we are outside
+				// the bounds of the nodes array.
+				nodePositions[dataIdx] = Vector3.zero;
+				nodePenalties[dataIdx] = 0;
+				nodeTags[dataIdx] = 0;
+				nodeConnections[dataIdx] = 0;
+				nodeWalkableWithErosion[dataIdx] = false;
+				nodeWalkable[dataIdx] = false;
+			}
+		}
+
+		public void Execute (int startIndex, int count) {
+			var reader = new Reader {
+				// This is a managed type, we need to trick Unity to allow this inside of a job
+				nodes = (GridNodeBase[])nodesHandle.Target,
+				nodePositions = nodePositions,
+				nodePenalties = nodePenalties,
+				nodeTags = nodeTags,
+				nodeConnections = nodeConnections,
+				nodeWalkableWithErosion = nodeWalkableWithErosion,
+				nodeWalkable = nodeWalkable
+			};
+			GridIterationUtilities.ForEachCellIn3DSlice(slice, ref reader);
+		}
+	}
+}