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using Pathfinding.Util;
using Unity.Collections;
using Unity.Jobs;
using UnityEngine.Assertions;
using UnityEngine.Profiling;
namespace Pathfinding.Graphs.Navmesh.Jobs {
/// <summary>
/// Writes connections to each node in each tile.
///
/// It also calculates the connection costs between nodes.
///
/// This job is run after all tiles have been built and the connections have been calculated.
///
/// See: <see cref="JobCalculateTriangleConnections"/>
/// </summary>
public struct JobWriteNodeConnections : IJob {
/// <summary>Connections for each tile</summary>
[ReadOnly]
public NativeArray<JobCalculateTriangleConnections.TileNodeConnectionsUnsafe> nodeConnections;
/// <summary>Array of <see cref="NavmeshTile"/></summary>
public System.Runtime.InteropServices.GCHandle tiles;
public void Execute () {
var tiles = (NavmeshTile[])this.tiles.Target;
Assert.AreEqual(nodeConnections.Length, tiles.Length);
for (int i = 0; i < tiles.Length; i++) {
Profiler.BeginSample("CreateConnections");
var connections = nodeConnections[i];
Apply(tiles[i].nodes, connections);
connections.neighbourCounts.Dispose();
connections.neighbours.Dispose();
Profiler.EndSample();
}
}
void Apply (TriangleMeshNode[] nodes, JobCalculateTriangleConnections.TileNodeConnectionsUnsafe connections) {
var neighbourCountsReader = connections.neighbourCounts.AsReader();
var neighboursReader = connections.neighbours.AsReader();
for (int i = 0; i < nodes.Length; i++) {
var node = nodes[i];
var neighbourCount = neighbourCountsReader.ReadNext<int>();
var conns = node.connections = ArrayPool<Connection>.ClaimWithExactLength(neighbourCount);
for (int j = 0; j < neighbourCount; j++) {
var otherIndex = neighboursReader.ReadNext<int>();
var shapeEdgeInfo = (byte)neighboursReader.ReadNext<int>();
var other = nodes[otherIndex];
var cost = (node.position - other.position).costMagnitude;
conns[j] = new Connection(
other,
(uint)cost,
shapeEdgeInfo
);
}
}
}
}
}
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