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