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using UnityEngine;
using Unity.Burst;
using Unity.Collections;
using Unity.Collections.LowLevel.Unsafe;
using Unity.Jobs;
using Unity.Mathematics;
namespace Pathfinding.Graphs.Grid {
public interface GridAdjacencyMapper {
int LayerCount(IntBounds bounds);
int GetNeighbourIndex(int nodeIndexXZ, int nodeIndex, int direction, NativeArray<ulong> nodeConnections, NativeArray<int> neighbourOffsets, int layerStride);
bool HasConnection(int nodeIndex, int direction, NativeArray<ulong> nodeConnections);
}
public struct FlatGridAdjacencyMapper : GridAdjacencyMapper {
public int LayerCount (IntBounds bounds) {
UnityEngine.Assertions.Assert.IsTrue(bounds.size.y == 1);
return 1;
}
public int GetNeighbourIndex (int nodeIndexXZ, int nodeIndex, int direction, NativeArray<ulong> nodeConnections, NativeArray<int> neighbourOffsets, int layerStride) {
return nodeIndex + neighbourOffsets[direction];
}
public bool HasConnection (int nodeIndex, int direction, NativeArray<ulong> nodeConnections) {
return ((nodeConnections[nodeIndex] >> direction) & 0x1) != 0;
}
}
public struct LayeredGridAdjacencyMapper : GridAdjacencyMapper {
public int LayerCount(IntBounds bounds) => bounds.size.y;
public int GetNeighbourIndex (int nodeIndexXZ, int nodeIndex, int direction, NativeArray<ulong> nodeConnections, NativeArray<int> neighbourOffsets, int layerStride) {
return nodeIndexXZ + neighbourOffsets[direction] + (int)((nodeConnections[nodeIndex] >> LevelGridNode.ConnectionStride*direction) & LevelGridNode.ConnectionMask) * layerStride;
}
public bool HasConnection (int nodeIndex, int direction, NativeArray<ulong> nodeConnections) {
return ((nodeConnections[nodeIndex] >> LevelGridNode.ConnectionStride*direction) & LevelGridNode.ConnectionMask) != LevelGridNode.NoConnection;
}
}
}
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