1 files changed, 132 insertions, 0 deletions
diff --git a/Other/AstarPathfindingDemo/Packages/com.arongranberg.astar/Graphs/Navmesh/Voxels/CompactVoxelField.cs b/Other/AstarPathfindingDemo/Packages/com.arongranberg.astar/Graphs/Navmesh/Voxels/CompactVoxelField.cs
new file mode 100644
index 0000000..1d8571e
--- /dev/null
+++ b/Other/AstarPathfindingDemo/Packages/com.arongranberg.astar/Graphs/Navmesh/Voxels/CompactVoxelField.cs
@@ -0,0 +1,132 @@
+using Pathfinding.Jobs;
+using Unity.Collections;
+using Unity.Mathematics;
+using UnityEngine.Assertions;
+
+namespace Pathfinding.Graphs.Navmesh.Voxelization.Burst {
+	/// <summary>Stores a compact voxel field. </summary>
+	public struct CompactVoxelField : IArenaDisposable {
+		public const int UnwalkableArea = 0;
+		public const uint NotConnected = 0x3f;
+		public readonly int voxelWalkableHeight;
+		public readonly int width, depth;
+		public NativeList<CompactVoxelSpan> spans;
+		public NativeList<CompactVoxelCell> cells;
+		public NativeList<int> areaTypes;
+
+		/// <summary>Unmotivated variable, but let's clamp the layers at 65535</summary>
+		public const int MaxLayers = 65535;
+
+		public CompactVoxelField (int width, int depth, int voxelWalkableHeight, Allocator allocator) {
+			spans = new NativeList<CompactVoxelSpan>(0, allocator);
+			cells = new NativeList<CompactVoxelCell>(0, allocator);
+			areaTypes = new NativeList<int>(0, allocator);
+			this.width = width;
+			this.depth = depth;
+			this.voxelWalkableHeight = voxelWalkableHeight;
+		}
+
+		void IArenaDisposable.DisposeWith (DisposeArena arena) {
+			arena.Add(spans);
+			arena.Add(cells);
+			arena.Add(areaTypes);
+		}
+
+		public int GetNeighbourIndex (int index, int direction) {
+			return index + VoxelUtilityBurst.DX[direction] + VoxelUtilityBurst.DZ[direction] * width;
+		}
+
+		public void BuildFromLinkedField (LinkedVoxelField field) {
+			int idx = 0;
+
+			Assert.AreEqual(this.width, field.width);
+			Assert.AreEqual(this.depth, field.depth);
+
+			int w = field.width;
+			int d = field.depth;
+			int wd = w*d;
+
+			int spanCount = field.GetSpanCount();
+			spans.Resize(spanCount, NativeArrayOptions.UninitializedMemory);
+			areaTypes.Resize(spanCount, NativeArrayOptions.UninitializedMemory);
+			cells.Resize(wd, NativeArrayOptions.UninitializedMemory);
+
+#if ENABLE_UNITY_COLLECTIONS_CHECKS
+			if (this.voxelWalkableHeight >= ushort.MaxValue) {
+				throw new System.Exception("Too high walkable height to guarantee correctness. Increase voxel height or lower walkable height.");
+			}
+#endif
+
+			var linkedSpans = field.linkedSpans;
+			for (int z = 0; z < wd; z += w) {
+				for (int x = 0; x < w; x++) {
+					int spanIndex = x+z;
+					if (linkedSpans[spanIndex].bottom == LinkedVoxelField.InvalidSpanValue) {
+						cells[x+z] = new CompactVoxelCell(0, 0);
+						continue;
+					}
+
+					int index = idx;
+					int count = 0;
+
+					while (spanIndex != -1) {
+						if (linkedSpans[spanIndex].area != UnwalkableArea) {
+							int bottom = (int)linkedSpans[spanIndex].top;
+							int next = linkedSpans[spanIndex].next;
+							int top = next != -1 ? (int)linkedSpans[next].bottom : LinkedVoxelField.MaxHeightInt;
+
+							// TODO: Why is top-bottom clamped to a ushort range?
+							spans[idx] = new CompactVoxelSpan((ushort)math.min(bottom, ushort.MaxValue), (uint)math.min(top-bottom, ushort.MaxValue));
+							areaTypes[idx] = linkedSpans[spanIndex].area;
+							idx++;
+							count++;
+						}
+						spanIndex = linkedSpans[spanIndex].next;
+					}
+
+					cells[x+z] = new CompactVoxelCell(index, count);
+				}
+			}
+
+#if ENABLE_UNITY_COLLECTIONS_CHECKS
+			if (idx != spanCount) throw new System.Exception("Found span count does not match expected value");
+#endif
+		}
+	}
+
+	/// <summary>CompactVoxelCell used for recast graphs.</summary>
+	public struct CompactVoxelCell {
+		public int index;
+		public int count;
+
+		public CompactVoxelCell (int i, int c) {
+			index = i;
+			count = c;
+		}
+	}
+
+	/// <summary>CompactVoxelSpan used for recast graphs.</summary>
+	public struct CompactVoxelSpan {
+		public ushort y;
+		public uint con;
+		public uint h;
+		public int reg;
+
+		public CompactVoxelSpan (ushort bottom, uint height) {
+			con = 24;
+			y = bottom;
+			h = height;
+			reg = 0;
+		}
+
+		public void SetConnection (int dir, uint value) {
+			int shift = dir*6;
+
+			con  = (uint)((con & ~(0x3f << shift)) | ((value & 0x3f) << shift));
+		}
+
+		public int GetConnection (int dir) {
+			return ((int)con >> dir*6) & 0x3f;
+		}
+	}
+}