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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
}
}
}
}
}
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