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using Unity.Burst;
using Unity.Collections;
using Unity.Jobs;
using Unity.Mathematics;
using UnityEngine.Assertions;
namespace Pathfinding.Graphs.Navmesh.Jobs {
/// <summary>
/// Calculates node connections between triangles within each tile.
/// Connections between tiles are handled at a later stage in <see cref="JobConnectTiles"/>.
/// </summary>
[BurstCompile]
public struct JobCalculateTriangleConnections : IJob {
[ReadOnly]
public NativeArray<TileMesh.TileMeshUnsafe> tileMeshes;
[WriteOnly]
public NativeArray<TileNodeConnectionsUnsafe> nodeConnections;
public struct TileNodeConnectionsUnsafe {
/// <summary>Stream of packed connection edge infos (from <see cref="Connection.PackShapeEdgeInfo"/>)</summary>
public Unity.Collections.LowLevel.Unsafe.UnsafeAppendBuffer neighbours;
/// <summary>Number of neighbours for each triangle</summary>
public Unity.Collections.LowLevel.Unsafe.UnsafeAppendBuffer neighbourCounts;
}
public void Execute () {
Assert.AreEqual(tileMeshes.Length, nodeConnections.Length);
var nodeRefs = new NativeParallelHashMap<int2, uint>(128, Allocator.Temp);
bool duplicates = false;
for (int ti = 0; ti < tileMeshes.Length; ti++) {
nodeRefs.Clear();
var tile = tileMeshes[ti];
var numIndices = tile.triangles.Length / sizeof(int);
var neighbours = new Unity.Collections.LowLevel.Unsafe.UnsafeAppendBuffer(numIndices * 2 * 4, 4, Allocator.Persistent);
var neighbourCounts = new Unity.Collections.LowLevel.Unsafe.UnsafeAppendBuffer(numIndices * 4, 4, Allocator.Persistent);
const int TriangleIndexBits = 28;
unsafe {
Assert.IsTrue(numIndices % 3 == 0);
var triangles = (int*)tile.triangles.Ptr;
for (int i = 0, j = 0; i < numIndices; i += 3, j++) {
duplicates |= !nodeRefs.TryAdd(new int2(triangles[i+0], triangles[i+1]), (uint)j | (0 << TriangleIndexBits));
duplicates |= !nodeRefs.TryAdd(new int2(triangles[i+1], triangles[i+2]), (uint)j | (1 << TriangleIndexBits));
duplicates |= !nodeRefs.TryAdd(new int2(triangles[i+2], triangles[i+0]), (uint)j | (2 << TriangleIndexBits));
}
for (int i = 0; i < numIndices; i += 3) {
var cnt = 0;
for (int edge = 0; edge < 3; edge++) {
if (nodeRefs.TryGetValue(new int2(triangles[i+((edge+1) % 3)], triangles[i+edge]), out var match)) {
var other = match & ((1 << TriangleIndexBits) - 1);
var otherEdge = (int)(match >> TriangleIndexBits);
neighbours.Add(other);
var edgeInfo = Connection.PackShapeEdgeInfo((byte)edge, (byte)otherEdge, true, true, true);
neighbours.Add((int)edgeInfo);
cnt += 1;
}
}
neighbourCounts.Add(cnt);
}
}
nodeConnections[ti] = new TileNodeConnectionsUnsafe {
neighbours = neighbours,
neighbourCounts = neighbourCounts,
};
}
if (duplicates) {
UnityEngine.Debug.LogWarning("Duplicate triangle edges were found in the input mesh. These have been removed. Are you sure your mesh is suitable for being used as a navmesh directly?\nThis could be caused by the mesh's normals not being consistent.");
}
}
}
}
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