void SelectParallel()
{
int maxDepth = 0;
using (var depths = m_DepthMap.GetValueArray(Allocator.Temp))
{
for (int i = 0; i < depths.Length; i++)
{
maxDepth = math.max(maxDepth, depths[i]);
}
}
var inputStates = new NativeList <int>(1, Allocator.TempJob);
inputStates.Add(rootState);
var inputBudgets = new NativeList <int>(1, Allocator.TempJob);
inputBudgets.Add(1);
var outputStateBudgets = new NativeMultiHashMap <int, int>(1, Allocator.TempJob);
var selectedUnexpanded = new NativeHashMap <int, byte>(1, Allocator.TempJob);
JobHandle jobHandle = default;
for (int iteration = 0; iteration <= maxDepth; iteration++)
{
// Selection job
jobHandle = new ParallelSelectionJob <int, int>()
{
StateDepthLookup = m_DepthMap,
StateInfoLookup = m_PlanGraph.StateInfoLookup,
ActionInfoLookup = m_PlanGraph.ActionInfoLookup,
ActionLookup = m_PlanGraph.ActionLookup,
ResultingStateLookup = m_PlanGraph.ResultingStateLookup,
StateTransitionInfoLookup = m_PlanGraph.StateTransitionInfoLookup,
Horizon = iteration,
InputStates = inputStates.AsDeferredJobArray(),
InputBudgets = inputBudgets.AsDeferredJobArray(),
OutputStateBudgets = outputStateBudgets.AsParallelWriter(),
SelectedStateHorizons = m_SelectedStateHorizons.AsParallelWriter(),
SelectedUnexpandedStates = selectedUnexpanded.AsParallelWriter(),
}.Schedule(inputStates, default, jobHandle);
public IEnumerator TestPerformanceOnLargeGraphBudget10Parallel()
{
var planGraph = PlanGraphUtility.BuildLattice(10);
var nodeCount = planGraph.Size;
var depthMap = new NativeHashMap <int, int>(nodeCount, Allocator.TempJob);
var queue = new NativeQueue <StateHorizonPair <int> >(Allocator.TempJob);
planGraph.GetExpandedDepthMap(0, depthMap, queue);
int budget = 10;
int size = math.min(budget, depthMap.Count());
UnityEngine.Assertions.Assert.IsTrue(size > 0);
var inputStates = new NativeList <int>(size, Allocator.TempJob);
inputStates.Add(0);
var inputBudgets = new NativeList <int>(size, Allocator.TempJob);
inputBudgets.Add(budget);
var outputStateBudgets = new NativeMultiHashMap <int, int>(size, Allocator.TempJob);
var m_SelectedStateHorizons = new NativeMultiHashMap <int, int>(size, Allocator.TempJob);
var m_SelectedUnexpandedStates = new NativeHashMap <int, byte>(size, Allocator.TempJob);
// Determine max number of job iterations
int maxDepth = 0;
using (var depths = depthMap.GetValueArray(Allocator.Temp))
{
for (int i = 0; i < depths.Length; i++)
{
maxDepth = math.max(maxDepth, depths[i]);
}
}
yield return(null);
// Set up performance test
Measure.Method(() =>
{
JobHandle lastHandle = default;
for (int iteration = 0; iteration <= maxDepth; iteration++)
{
// Selection job
lastHandle = new ParallelSelectionJob <int, int>
{
StateDepthLookup = depthMap,
StateInfoLookup = planGraph.StateInfoLookup,
ActionInfoLookup = planGraph.ActionInfoLookup,
ActionLookup = planGraph.ActionLookup,
ResultingStateLookup = planGraph.ResultingStateLookup,
StateTransitionInfoLookup = planGraph.StateTransitionInfoLookup,
Horizon = iteration,
InputStates = inputStates.AsDeferredJobArray(),
InputBudgets = inputBudgets.AsDeferredJobArray(),
OutputStateBudgets = outputStateBudgets.AsParallelWriter(),
SelectedStateHorizons = m_SelectedStateHorizons.AsParallelWriter(),
SelectedUnexpandedStates = m_SelectedUnexpandedStates.AsParallelWriter(),
}.Schedule(inputStates, default, lastHandle);
