/// <summary> /// Creates the grid of nodes. /// </summary> public void CreateGrid() { DestroyGrid(); // Note: perhaps we might want to snap the extents value when editing the bounding box // in the editor? Bounds scanBounds = scanCollider.bounds; ScanAreaSettings scanSettings = new ScanAreaSettings(scanBounds.center, scanBounds.extents, walkableMask); int gridDimension = scanSettings.dimension; nodesTransforms = new NativeArray <NodeTransform>(gridDimension, Allocator.Persistent); nodesTypes = new NativeArray <NodeType>(gridDimension, Allocator.Persistent); nodesNeighbors = new NativeArray <NodeNeighbor>(gridDimension * NodeNeighbors, Allocator.Persistent); // calculate the raycast commands CalculateRaycastCommandsJob calculateCommandsJob = new CalculateRaycastCommandsJob(scanSettings); JobHandle calculateCommandsHandle = calculateCommandsJob.Schedule(gridDimension, 32); // schedule the raycast commands to retrieve the hits NativeArray <RaycastHit> nodeHits = new NativeArray <RaycastHit>(gridDimension, Allocator.TempJob); JobHandle raycastCommandHandle = RaycastCommand.ScheduleBatch(calculateCommandsJob.commands, nodeHits, 1, calculateCommandsHandle); // build the nodes using the received hits CreateNodesJob createNodesJob = new CreateNodesJob(nodesTransforms, nodesTypes, nodeHits, calculateCommandsJob.commands); JobHandle createNodesHandle = createNodesJob.Schedule(gridDimension, 32, raycastCommandHandle); // calculate the boxcast commands to bake obstacles BakeObstaclesSettings bakeObstaclesSettings = new BakeObstaclesSettings(maxCharacterHeight, boxToNodeObstaclePercentage, obstacleMask); CalculateBoxcastCommandsJob calculateBoxcastCommandsJob = new CalculateBoxcastCommandsJob(bakeObstaclesSettings, nodesTransforms); JobHandle calculateBoxcastHandle = calculateBoxcastCommandsJob.Schedule(gridDimension, 32, createNodesHandle); // schedule the boxcast commands to retrieve the hits NativeArray <RaycastHit> obstacleHits = new NativeArray <RaycastHit>(gridDimension, Allocator.TempJob); JobHandle boxcastCommandHandle = BoxcastCommand.ScheduleBatch(calculateBoxcastCommandsJob.commands, obstacleHits, 1, calculateBoxcastHandle); // prepare the bake obstacles job BakeObstaclesJob bakeObstaclesJob = new BakeObstaclesJob(nodesTypes, obstacleHits); JobHandle bakeObstaclesHandle = bakeObstaclesJob.Schedule(gridDimension, 32, boxcastCommandHandle); // now calculate the neighbors CalculateNeighborsJob calculateNeighborsJob = new CalculateNeighborsJob(nodesNeighbors, nodesTransforms, scanSettings, maxWalkableStep); JobHandle calculateNeighborsHandle = calculateNeighborsJob.Schedule(gridDimension, 32, bakeObstaclesHandle); // schedule disposing the stuff JobHandle disposeHandle = calculateCommandsJob.commands.Dispose(createNodesHandle); disposeHandle = JobHandle.CombineDependencies(disposeHandle, nodeHits.Dispose(createNodesHandle)); disposeHandle = JobHandle.CombineDependencies(disposeHandle, calculateBoxcastCommandsJob.commands.Dispose(boxcastCommandHandle)); disposeHandle = JobHandle.CombineDependencies(disposeHandle, obstacleHits.Dispose(bakeObstaclesHandle)); // wait to complete all the scheduled stuff calculateNeighborsHandle.Complete(); gridWidth = scanSettings.gridWidth; gridDepth = scanSettings.gridDepth; isGridCreated = true; #if DEBUG_RENDER RecalculateDebug(); #endif }
public CalculateBoxcastCommandsJob(BakeObstaclesSettings settings, NativeArray <NodeTransform> nodesTransforms) { this.commands = new NativeArray <BoxcastCommand>(nodesTransforms.Length, Allocator.TempJob); this.settings = settings; this.nodesTransforms = nodesTransforms; }