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diff --git a/Other/AstarPathfindingDemo/Packages/com.arongranberg.astar/Drawing/CommandBuilderExtensions.cs b/Other/AstarPathfindingDemo/Packages/com.arongranberg.astar/Drawing/CommandBuilderExtensions.cs
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+// This file is automatically generated by a script based on the CommandBuilder API.
+// This file adds additional overloads to the CommandBuilder API with convenience parameters like colors.
+using Unity.Burst;
+using UnityEngine;
+using System.Collections.Generic;
+using Unity.Collections;
+using Unity.Mathematics;
+using Unity.Collections.LowLevel.Unsafe;
+using Unity.Jobs;
+
+namespace Pathfinding.Drawing {
+ public partial struct CommandBuilder {
+ /// <summary>\copydocref{Line(float3,float3)}</summary>
+ public void Line (float3 a, float3 b, Color color) {
+ Reserve<Color32, LineData>();
+ Add(Command.Line | Command.PushColorInline);
+ Add(ConvertColor(color));
+ Add(new LineData { a = a, b = b });
+ }
+ /// <summary>\copydocref{Ray(float3,float3)}</summary>
+ public void Ray (float3 origin, float3 direction, Color color) {
+ Line(origin, origin + direction, color);
+ }
+ /// <summary>\copydocref{Ray(Ray,float)}</summary>
+ public void Ray (Ray ray, float length, Color color) {
+ Line(ray.origin, ray.origin + ray.direction * length, color);
+ }
+ /// <summary>\copydocref{Arc(float3,float3,float3)}</summary>
+ /// <param name="color">Color of the object</param>
+ public void Arc (float3 center, float3 start, float3 end, Color color) {
+ PushColor(color);
+ var d1 = start - center;
+ var d2 = end - center;
+ var normal = math.cross(d2, d1);
+
+ if (math.any(normal != 0) && math.all(math.isfinite(normal))) {
+ var m = Matrix4x4.TRS(center, Quaternion.LookRotation(d1, normal), Vector3.one);
+ var angle = Vector3.SignedAngle(d1, d2, normal) * Mathf.Deg2Rad;
+ PushMatrix(m);
+ CircleXZInternal(float3.zero, math.length(d1), 90 * Mathf.Deg2Rad, 90 * Mathf.Deg2Rad - angle);
+ PopMatrix();
+ }
+ PopColor();
+ }
+ /// <summary>\copydocref{CircleXZ(float3,float,float,float)}</summary>
+ /// <param name="color">Color of the object</param>
+ [System.Obsolete("Use Draw.xz.Circle instead")]
+ public void CircleXZ (float3 center, float radius, float startAngle, float endAngle, Color color) {
+ CircleXZInternal(center, radius, startAngle, endAngle, color);
+ }
+ /// <summary>\copydocref{CircleXZ(float3,float,float,float)}</summary>
+ /// <param name="color">Color of the object</param>
+ [System.Obsolete("Use Draw.xz.Circle instead")]
+ public void CircleXZ (float3 center, float radius, Color color) {
+ CircleXZ(center, radius, 0f, 2 * Mathf.PI, color);
+ }
+
+
+ /// <summary>\copydocref{Circle(float3,float3,float)}</summary>
+ public void Circle (float3 center, float3 normal, float radius, Color color) {
+ Reserve<Color32, CircleData>();
+ Add(Command.Circle | Command.PushColorInline);
+ Add(ConvertColor(color));
+ Add(new CircleData { center = center, normal = normal, radius = radius });
+ }
+
+
+
+
+
+
+
+ /// <summary>\copydocref{WireCylinder(float3,float3,float)}</summary>
+ public void WireCylinder (float3 bottom, float3 top, float radius, Color color) {
+ WireCylinder(bottom, top - bottom, math.length(top - bottom), radius, color);
+ }
+ /// <summary>\copydocref{WireCylinder(float3,float3,float,float)}</summary>
+ /// <param name="color">Color of the object</param>
+ public void WireCylinder (float3 position, float3 up, float height, float radius, Color color) {
+ up = math.normalizesafe(up);
+ if (math.all(up == 0) || math.any(math.isnan(up)) || math.isnan(height) || math.isnan(radius)) return;
+ PushColor(color);
+
+ OrthonormalBasis(up, out var basis1, out var basis2);
+
+ PushMatrix(new float4x4(
+ new float4(basis1 * radius, 0),
+ new float4(up * height, 0),
+ new float4(basis2 * radius, 0),
+ new float4(position, 1)
+ ));
+
+ CircleXZInternal(float3.zero, 1);
+ if (height > 0) {
+ CircleXZInternal(new float3(0, 1, 0), 1);
+ Line(new float3(1, 0, 0), new float3(1, 1, 0));
+ Line(new float3(-1, 0, 0), new float3(-1, 1, 0));
+ Line(new float3(0, 0, 1), new float3(0, 1, 1));
+ Line(new float3(0, 0, -1), new float3(0, 1, -1));
+ }
+ PopMatrix();
+ PopColor();
+ }
+ /// <summary>\copydocref{WireCapsule(float3,float3,float)}</summary>
+ /// <param name="color">Color of the object</param>
+ public void WireCapsule (float3 start, float3 end, float radius, Color color) {
+ PushColor(color);
+ var dir = end - start;
+ var length = math.length(dir);
+
+ if (length < 0.0001) {
+ // The endpoints are the same, we can't draw a capsule from this because we don't know its orientation.
+ // Draw a sphere as a fallback
+ WireSphere(start, radius);
+ } else {
+ var normalized_dir = dir / length;
+
+ WireCapsule(start - normalized_dir*radius, normalized_dir, length + 2*radius, radius);
+ }
+ PopColor();
+ }
+ /// <summary>\copydocref{WireCapsule(float3,float3,float,float)}</summary>
+ /// <param name="color">Color of the object</param>
+ public void WireCapsule (float3 position, float3 direction, float length, float radius, Color color) {
+ direction = math.normalizesafe(direction);
+ if (math.all(direction == 0) || math.any(math.isnan(direction)) || math.isnan(length) || math.isnan(radius)) return;
+ PushColor(color);
+
+ if (radius <= 0) {
+ Line(position, position + direction * length);
+ } else {
+ length = math.max(length, radius*2);
+ OrthonormalBasis(direction, out var basis1, out var basis2);
+
+ PushMatrix(new float4x4(
+ new float4(basis1, 0),
+ new float4(direction, 0),
+ new float4(basis2, 0),
+ new float4(position, 1)
+ ));
+ CircleXZInternal(new float3(0, radius, 0), radius);
+ PushMatrix(XZtoXYPlaneMatrix);
+ CircleXZInternal(new float3(0, 0, radius), radius, Mathf.PI, 2 * Mathf.PI);
+ PopMatrix();
+ PushMatrix(XZtoYZPlaneMatrix);
+ CircleXZInternal(new float3(radius, 0, 0), radius, Mathf.PI*0.5f, Mathf.PI*1.5f);
+ PopMatrix();
+ if (length > 0) {
+ var upperY = length - radius;
+ var lowerY = radius;
+ CircleXZInternal(new float3(0, upperY, 0), radius);
+ PushMatrix(XZtoXYPlaneMatrix);
+ CircleXZInternal(new float3(0, 0, upperY), radius, 0, Mathf.PI);
+ PopMatrix();
+ PushMatrix(XZtoYZPlaneMatrix);
+ CircleXZInternal(new float3(upperY, 0, 0), radius, -Mathf.PI*0.5f, Mathf.PI*0.5f);
+ PopMatrix();
+ Line(new float3(radius, lowerY, 0), new float3(radius, upperY, 0));
+ Line(new float3(-radius, lowerY, 0), new float3(-radius, upperY, 0));
+ Line(new float3(0, lowerY, radius), new float3(0, upperY, radius));
+ Line(new float3(0, lowerY, -radius), new float3(0, upperY, -radius));
+ }
+ PopMatrix();
+ }
+ PopColor();
+ }
+ /// <summary>\copydocref{WireSphere(float3,float)}</summary>
+ public void WireSphere (float3 position, float radius, Color color) {
+ PushColor(color);
+ SphereOutline(position, radius);
+ Circle(position, new float3(1, 0, 0), radius);
+ Circle(position, new float3(0, 1, 0), radius);
+ Circle(position, new float3(0, 0, 1), radius);
+ PopColor();
+ }
+ /// <summary>\copydocref{Polyline(List&lt;Vector3&gt;,bool)}</summary>
+ /// <param name="color">Color of the object</param>
+ [BurstDiscard]
+ public void Polyline (List<Vector3> points, bool cycle, Color color) {
+ PushColor(color);
+ for (int i = 0; i < points.Count - 1; i++) {
+ Line(points[i], points[i+1]);
+ }
+ if (cycle && points.Count > 1) Line(points[points.Count - 1], points[0]);
+ PopColor();
+ }
+ /// <summary>\copydocref{Polyline(List&lt;Vector3&gt;,bool)}</summary>
+ /// <param name="color">Color of the object</param>
+ [BurstDiscard]
+ public void Polyline (List<Vector3> points, Color color) {
+ Polyline(points, false, color);
+ }
+ /// <summary>\copydocref{Polyline(Vector3[],bool)}</summary>
+ /// <param name="color">Color of the object</param>
+ [BurstDiscard]
+ public void Polyline (Vector3[] points, bool cycle, Color color) {
+ PushColor(color);
+ for (int i = 0; i < points.Length - 1; i++) {
+ Line(points[i], points[i+1]);
+ }
+ if (cycle && points.Length > 1) Line(points[points.Length - 1], points[0]);
+ PopColor();
+ }
+ /// <summary>\copydocref{Polyline(Vector3[],bool)}</summary>
+ /// <param name="color">Color of the object</param>
+ [BurstDiscard]
+ public void Polyline (Vector3[] points, Color color) {
+ Polyline(points, false, color);
+ }
+ /// <summary>\copydocref{Polyline(float3[],bool)}</summary>
+ /// <param name="color">Color of the object</param>
+ [BurstDiscard]
+ public void Polyline (float3[] points, bool cycle, Color color) {
+ PushColor(color);
+ for (int i = 0; i < points.Length - 1; i++) {
+ Line(points[i], points[i+1]);
+ }
+ if (cycle && points.Length > 1) Line(points[points.Length - 1], points[0]);
+ PopColor();
+ }
+ /// <summary>\copydocref{Polyline(float3[],bool)}</summary>
+ /// <param name="color">Color of the object</param>
+ [BurstDiscard]
+ public void Polyline (float3[] points, Color color) {
+ Polyline(points, false, color);
+ }
+ /// <summary>\copydocref{Polyline(NativeArray&lt;float3&gt;,bool)}</summary>
+ /// <param name="color">Color of the object</param>
+ public void Polyline (NativeArray<float3> points, bool cycle, Color color) {
+ PushColor(color);
+ for (int i = 0; i < points.Length - 1; i++) {
+ Line(points[i], points[i+1]);
+ }
+ if (cycle && points.Length > 1) Line(points[points.Length - 1], points[0]);
+ PopColor();
+ }
+ /// <summary>\copydocref{Polyline(NativeArray&lt;float3&gt;,bool)}</summary>
+ /// <param name="color">Color of the object</param>
+ public void Polyline (NativeArray<float3> points, Color color) {
+ Polyline(points, false, color);
+ }
+
+
+ /// <summary>\copydocref{WireBox(float3,float3)}</summary>
+ /// <param name="color">Color of the object</param>
+ public void WireBox (float3 center, float3 size, Color color) {
+ Reserve<Color32, BoxData>();
+ Add(Command.WireBox | Command.PushColorInline);
+ Add(ConvertColor(color));
+ Add(new BoxData { center = center, size = size });
+ }
+ /// <summary>\copydocref{WireBox(float3,quaternion,float3)}</summary>
+ /// <param name="color">Color of the object</param>
+ public void WireBox (float3 center, quaternion rotation, float3 size, Color color) {
+ PushColor(color);
+ PushMatrix(float4x4.TRS(center, rotation, size));
+ WireBox(float3.zero, new float3(1, 1, 1));
+ PopMatrix();
+ PopColor();
+ }
+ /// <summary>\copydocref{WireBox(Bounds)}</summary>
+ public void WireBox (Bounds bounds, Color color) {
+ WireBox(bounds.center, bounds.size, color);
+ }
+ /// <summary>\copydocref{WireMesh(Mesh)}</summary>
+ public void WireMesh (Mesh mesh, Color color) {
+#if UNITY_2020_1_OR_NEWER
+ if (mesh == null) throw new System.ArgumentNullException();
+ PushColor(color);
+
+ // Use a burst compiled function to draw the lines
+ // This is significantly faster than pure C# (about 5x).
+ var meshDataArray = Mesh.AcquireReadOnlyMeshData(mesh);
+ var meshData = meshDataArray[0];
+
+ JobWireMesh.JobWireMeshFunctionPointer(ref meshData, ref this);
+ meshDataArray.Dispose();
+#else
+ Debug.LogError("The WireMesh method is only suppored in Unity 2020.1 or later");
+#endif
+ PopColor();
+ }
+ /// <summary>\copydocref{WireMesh(NativeArray&lt;float3&gt;,NativeArray&lt;int&gt;)}</summary>
+ public void WireMesh (NativeArray<float3> vertices, NativeArray<int> triangles, Color color) {
+ PushColor(color);
+#if UNITY_2020_1_OR_NEWER
+ unsafe {
+ JobWireMesh.WireMesh((float3*)vertices.GetUnsafeReadOnlyPtr(), (int*)triangles.GetUnsafeReadOnlyPtr(), vertices.Length, triangles.Length, ref this);
+ }
+#else
+ Debug.LogError("The WireMesh method is only suppored in Unity 2020.1 or later");
+#endif
+ PopColor();
+ }
+
+ /// <summary>\copydocref{Cross(float3,float)}</summary>
+ public void Cross (float3 position, float size, Color color) {
+ PushColor(color);
+ size *= 0.5f;
+ Line(position - new float3(size, 0, 0), position + new float3(size, 0, 0));
+ Line(position - new float3(0, size, 0), position + new float3(0, size, 0));
+ Line(position - new float3(0, 0, size), position + new float3(0, 0, size));
+ PopColor();
+ }
+ /// <summary>\copydocref{Cross(float3,float)}</summary>
+ public void Cross (float3 position, Color color) {
+ Cross(position, 1, color);
+ }
+ /// <summary>\copydocref{CrossXZ(float3,float)}</summary>
+ [System.Obsolete("Use Draw.xz.Cross instead")]
+ public void CrossXZ (float3 position, float size, Color color) {
+ PushColor(color);
+ size *= 0.5f;
+ Line(position - new float3(size, 0, 0), position + new float3(size, 0, 0));
+ Line(position - new float3(0, 0, size), position + new float3(0, 0, size));
+ PopColor();
+ }
+ /// <summary>\copydocref{CrossXZ(float3,float)}</summary>
+ [System.Obsolete("Use Draw.xz.Cross instead")]
+ public void CrossXZ (float3 position, Color color) {
+ CrossXZ(position, 1, color);
+ }
+ /// <summary>\copydocref{CrossXY(float3,float)}</summary>
+ [System.Obsolete("Use Draw.xy.Cross instead")]
+ public void CrossXY (float3 position, float size, Color color) {
+ PushColor(color);
+ size *= 0.5f;
+ Line(position - new float3(size, 0, 0), position + new float3(size, 0, 0));
+ Line(position - new float3(0, size, 0), position + new float3(0, size, 0));
+ PopColor();
+ }
+ /// <summary>\copydocref{CrossXY(float3,float)}</summary>
+ [System.Obsolete("Use Draw.xy.Cross instead")]
+ public void CrossXY (float3 position, Color color) {
+ CrossXY(position, 1, color);
+ }
+ /// <summary>\copydocref{Bezier(float3,float3,float3,float3)}</summary>
+ /// <param name="color">Color of the object</param>
+ public void Bezier (float3 p0, float3 p1, float3 p2, float3 p3, Color color) {
+ PushColor(color);
+ float3 prev = p0;
+
+ for (int i = 1; i <= 20; i++) {
+ float t = i/20.0f;
+ float3 p = EvaluateCubicBezier(p0, p1, p2, p3, t);
+ Line(prev, p);
+ prev = p;
+ }
+ PopColor();
+ }
+
+
+ /// <summary>\copydocref{Arrow(float3,float3)}</summary>
+ /// <param name="color">Color of the object</param>
+ public void Arrow (float3 from, float3 to, Color color) {
+ ArrowRelativeSizeHead(from, to, DEFAULT_UP, 0.2f, color);
+ }
+ /// <summary>\copydocref{Arrow(float3,float3,float3,float)}</summary>
+ /// <param name="color">Color of the object</param>
+ public void Arrow (float3 from, float3 to, float3 up, float headSize, Color color) {
+ PushColor(color);
+ var length_sq = math.lengthsq(to - from);
+
+ if (length_sq > 0.000001f) {
+ ArrowRelativeSizeHead(from, to, up, headSize * math.rsqrt(length_sq));
+ }
+ PopColor();
+ }
+ /// <summary>\copydocref{ArrowRelativeSizeHead(float3,float3,float3,float)}</summary>
+ /// <param name="color">Color of the object</param>
+ public void ArrowRelativeSizeHead (float3 from, float3 to, float3 up, float headFraction, Color color) {
+ PushColor(color);
+ Line(from, to);
+ var dir = to - from;
+
+ var normal = math.cross(dir, up);
+ // Pick a different up direction if the direction happened to be colinear with that one.
+ if (math.all(normal == 0)) normal = math.cross(new float3(1, 0, 0), dir);
+ // Pick a different up direction if up=(1,0,0) and thus the above check would have generated a zero vector again
+ if (math.all(normal == 0)) normal = math.cross(new float3(0, 1, 0), dir);
+ normal = math.normalizesafe(normal) * math.length(dir);
+
+ Line(to, to - (dir + normal) * headFraction);
+ Line(to, to - (dir - normal) * headFraction);
+ PopColor();
+ }
+
+
+ /// <summary>\copydocref{ArrowheadArc(float3,float3,float,float)}</summary>
+ /// <param name="color">Color of the object</param>
+ public void ArrowheadArc (float3 origin, float3 direction, float offset, float width, Color color) {
+ if (!math.any(direction)) return;
+ if (offset < 0) throw new System.ArgumentOutOfRangeException(nameof(offset));
+ if (offset == 0) return;
+ PushColor(color);
+
+ var rot = Quaternion.LookRotation(direction, DEFAULT_UP);
+ PushMatrix(Matrix4x4.TRS(origin, rot, Vector3.one));
+ var a1 = math.PI * 0.5f - width * (0.5f * Mathf.Deg2Rad);
+ var a2 = math.PI * 0.5f + width * (0.5f * Mathf.Deg2Rad);
+ CircleXZInternal(float3.zero, offset, a1, a2);
+ var p1 = new float3(math.cos(a1), 0, math.sin(a1)) * offset;
+ var p2 = new float3(math.cos(a2), 0, math.sin(a2)) * offset;
+ const float sqrt2 = 1.4142f;
+ var p3 = new float3(0, 0, sqrt2 * offset);
+ Line(p1, p3);
+ Line(p3, p2);
+ PopMatrix();
+ PopColor();
+ }
+ /// <summary>\copydocref{ArrowheadArc(float3,float3,float,float)}</summary>
+ /// <param name="color">Color of the object</param>
+ public void ArrowheadArc (float3 origin, float3 direction, float offset, Color color) {
+ ArrowheadArc(origin, direction, offset, 60, color);
+ }
+ /// <summary>\copydocref{WireGrid(float3,quaternion,int2,float2)}</summary>
+ /// <param name="color">Color of the object</param>
+ public void WireGrid (float3 center, quaternion rotation, int2 cells, float2 totalSize, Color color) {
+ PushColor(color);
+ cells = math.max(cells, new int2(1, 1));
+ PushMatrix(float4x4.TRS(center, rotation, new Vector3(totalSize.x, 0, totalSize.y)));
+ int w = cells.x;
+ int h = cells.y;
+ for (int i = 0; i <= w; i++) Line(new float3(i/(float)w - 0.5f, 0, -0.5f), new float3(i/(float)w - 0.5f, 0, 0.5f));
+ for (int i = 0; i <= h; i++) Line(new float3(-0.5f, 0, i/(float)h - 0.5f), new float3(0.5f, 0, i/(float)h - 0.5f));
+ PopMatrix();
+ PopColor();
+ }
+
+
+ /// <summary>\copydocref{WireRectangle(float3,quaternion,float2)}</summary>
+ public void WireRectangle (float3 center, quaternion rotation, float2 size, Color color) {
+ WirePlane(center, rotation, size, color);
+ }
+ /// <summary>\copydocref{WireRectangle(Rect)}</summary>
+ [System.Obsolete("Use Draw.xy.WireRectangle instead")]
+ public void WireRectangle (Rect rect, Color color) {
+ xy.WireRectangle(rect, color);
+ }
+
+
+
+
+
+
+
+ /// <summary>\copydocref{WirePlane(float3,float3,float2)}</summary>
+ /// <param name="color">Color of the object</param>
+ public void WirePlane (float3 center, float3 normal, float2 size, Color color) {
+ PushColor(color);
+ if (math.any(normal)) {
+ WirePlane(center, Quaternion.LookRotation(calculateTangent(normal), normal), size);
+ }
+ PopColor();
+ }
+ /// <summary>\copydocref{WirePlane(float3,quaternion,float2)}</summary>
+ /// <param name="color">Color of the object</param>
+ public void WirePlane (float3 center, quaternion rotation, float2 size, Color color) {
+ Reserve<Color32, PlaneData>();
+ Add(Command.WirePlane | Command.PushColorInline);
+ Add(ConvertColor(color));
+ Add(new PlaneData { center = center, rotation = rotation, size = size });
+ }
+
+
+
+ /// <summary>\copydocref{SolidBox(float3,float3)}</summary>
+ /// <param name="color">Color of the object</param>
+ public void SolidBox (float3 center, float3 size, Color color) {
+ Reserve<Color32, BoxData>();
+ Add(Command.Box | Command.PushColorInline);
+ Add(ConvertColor(color));
+ Add(new BoxData { center = center, size = size });
+ }
+ /// <summary>\copydocref{SolidBox(Bounds)}</summary>
+ /// <param name="color">Color of the object</param>
+ public void SolidBox (Bounds bounds, Color color) {
+ SolidBox(bounds.center, bounds.size, color);
+ }
+ /// <summary>\copydocref{SolidBox(float3,quaternion,float3)}</summary>
+ /// <param name="color">Color of the object</param>
+ public void SolidBox (float3 center, quaternion rotation, float3 size, Color color) {
+ PushColor(color);
+ PushMatrix(float4x4.TRS(center, rotation, size));
+ SolidBox(float3.zero, Vector3.one);
+ PopMatrix();
+ PopColor();
+ }
+ }
+}
generated by cgit v1.1-26-g67d0 at 2025-06-04 06:35:14 +0000