update

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

@@ -0,0 +1,41 @@
+#if UNITY_2022_2_OR_NEWER
+using UnityEngine;
+using Unity.Burst;
+using Unity.Collections;
+using Unity.Jobs;
+using Pathfinding.Collections;
+
+namespace Pathfinding.Graphs.Grid.Jobs {
+	/// <summary>
+	/// Prepares a set of sphere commands for collision checking in a grid graph.
+	///
+	/// See: <see cref="GraphCollision"/>
+	/// </summary>
+	[BurstCompile]
+	public struct JobPrepareSphereCommands : IJob {
+		public Vector3 originOffset;
+		public float radius;
+		public LayerMask mask;
+		public PhysicsScene physicsScene;
+
+		[ReadOnly]
+		public NativeArray<Vector3> origins;
+
+		[WriteOnly]
+		public NativeArray<OverlapSphereCommand> commands;
+
+		public void Execute () {
+			var commandSpan = commands.AsUnsafeSpan();
+			// It turns out it is faster to set all commands to the same value using MemCpyReplicate and then patch point,
+			// rather than setting each command individually.
+			var queryParameters = new QueryParameters(mask, false, QueryTriggerInteraction.Ignore, false);
+			commandSpan.Fill(new OverlapSphereCommand(physicsScene, Vector3.zero, radius, queryParameters));
+
+			for (int i = 0; i < commandSpan.Length; i++) {
+				var origin = origins[i] + originOffset;
+				commandSpan[i].point = origin;
+			}
+		}
+	}
+}
+#endif