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Packages/com.arongranberg.astar/Graphs/Navmesh/Jobs/JobWriteNodeConnections.cs

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+using Pathfinding.Pooling;
+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
+						);
+				}
+			}
+		}
+	}
+}