public static unsafe (PathStatus PathStatus, List <GridNode> NodePath, List <Vector3> VectorPath) Complete(BurstAStarPathFinder pathFinder, ref NativeArray3D <GridNode> grid,
INativeArrayProducer <NativeAreaDefinition> areas, int queryId, GridPoint start, GridPoint end, ulong allowedFlags, float4x4 localToWorld)
{
using (var nativeAreas = areas.ToNativeArray(Allocator.TempJob))
using (var nativePath = new NativeList <GridNode>(grid.Length, Allocator.TempJob))
using (var nativeVectorPath = new NativeList <Vector3>(grid.Length, Allocator.TempJob))
using (var nativePriorityQueue = new NativePriorityQueue(grid.Length / 8, Allocator.TempJob))
{
var result = new PathFindingJobResult();
var job = new PathFindingJob
{
QueryId = queryId,
AllowedFlags = allowedFlags,
StartPoint = start,
EndPoint = end,
OpenQueue = nativePriorityQueue,
Grid = grid,
Areas = nativeAreas,
Path = nativePath,
MaxPoints = 5000,
WorldPath = nativeVectorPath,
TransformMatrix = localToWorld,
ResultPtr = &result
};
pathFinder.Stopwatch.Restart();
job.Run();
pathFinder.Stopwatch.Stop();
var path = job.Path.ToArray().ToList();
var worldPath = nativeVectorPath.ToArray().ToList();
return(result.PathStatus, path, worldPath);
}
}
public BurstAStarPathFinder GetPath(GridNode from, GridNode to)
{
Id = _random.Next(1, int.MaxValue);
var jobResult = PathFindingJob.Complete(this,
ref Grid.InnerGrid, Areas, Id,
from.GridPoint, to.GridPoint,
AllowFlags, Grid.Transform.ToWorldMatrix);
Status = jobResult.PathStatus;
NodePath = jobResult.NodePath;
Path = jobResult.VectorPath;
return(this);
}