update

Packages/com.arongranberg.astar/Graphs/Grid/Jobs/JobPrepareRaycasts.cs

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+using UnityEngine;
+using Unity.Burst;
+using Unity.Collections;
+using Unity.Jobs;
+using Pathfinding.Collections;
+
+namespace Pathfinding.Graphs.Grid.Jobs {
+	/// <summary>
+	/// Prepares a set of raycast commands for a grid graph.
+	///
+	/// This is very similar to <see cref="JobPrepareGridRaycast"/> but it uses an array of origin points instead of a grid pattern.
+	///
+	/// See: <see cref="GraphCollision"/>
+	/// </summary>
+	[BurstCompile]
+	public struct JobPrepareRaycasts : IJob {
+		public Vector3 direction;
+		public Vector3 originOffset;
+		public float distance;
+		public LayerMask mask;
+		public PhysicsScene physicsScene;
+
+		[ReadOnly]
+		public NativeArray<Vector3> origins;
+
+		[WriteOnly]
+		public NativeArray<RaycastCommand> raycastCommands;
+
+		public void Execute () {
+			// In particular Unity 2022.2 seems to assert that RaycastCommands use normalized directions
+			var direction = this.direction.normalized;
+			var commands = raycastCommands.AsUnsafeSpan();
+
+#if UNITY_2022_2_OR_NEWER
+			var queryParameters = new QueryParameters(mask, false, QueryTriggerInteraction.Ignore, false);
+			var defaultCommand = new RaycastCommand(physicsScene, Vector3.zero, direction, queryParameters, distance);
+			// This is about 30% faster than setting each command individually. MemCpy is fast.
+			commands.Fill(defaultCommand);
+#endif
+
+			for (int i = 0; i < raycastCommands.Length; i++) {
+#if UNITY_2022_2_OR_NEWER
+				commands[i].from = origins[i] + originOffset;
+#else
+				raycastCommands[i] = new RaycastCommand(origins[i] + originOffset, direction, distance, mask, 1);
+#endif
+			}
+		}
+	}
+}