public CalculateNeighborsJob(NativeArray <NodeNeighbor> neighbors, NativeArray <NodeTransform> nodesTransforms, ScanAreaSettings scanSettings, CalculateNeighborSettings neighborSettings)
{
this.neighbors = neighbors;
this.nodesTransforms = nodesTransforms;
this.scanSettings = scanSettings;
this.neighborSettings = neighborSettings;
}
/// <summary>
/// Creates the grid of nodes.
/// </summary>
public void CreateGrid()
{
Bounds scanBounds = scanCollider.bounds;
// Note: perhaps we might want to snap the extents value when editing the bounding box
// in the editor?
ScanAreaSettings scanSettings = new ScanAreaSettings(scanBounds.center, scanBounds.extents, walkableMask);
gridWidth = scanSettings.gridWidth;
gridDepth = scanSettings.gridDepth;
int gridDimension = gridWidth * gridDepth;
if (isGridCreated)
{
nodesTransforms.Dispose();
nodesTypes.Dispose();
nodesNeighbors.Dispose();
}
nodesTransforms = new NativeArray <NodeTransform>(gridDimension, Allocator.Persistent);
nodesTypes = new NativeArray <NodeType>(gridDimension, Allocator.Persistent);
nodesNeighbors = new NativeArray <NodeNeighbor>(gridDimension * NodeNeighbors, Allocator.Persistent);
// calculate the raycasts commands
CalculateRaycastCommandsJob calculateCommandsJob = new CalculateRaycastCommandsJob(scanSettings);
JobHandle calculateCommandsHandle = calculateCommandsJob.Schedule(gridDimension, 32);
// schedule the 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 to bake obstacles
BakeObstaclesSettings bakeObstaclesSettings = new BakeObstaclesSettings(maxCharacterHeight, boxToNodeObstaclePercentage, obstacleMask);
CalculateBoxcastCommandsJob calculateBoxcastCommandsJob = new CalculateBoxcastCommandsJob(bakeObstaclesSettings, nodesTransforms);
JobHandle calculateBoxcastHandle = calculateBoxcastCommandsJob.Schedule(gridDimension, 32, createNodesHandle);
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
CalculateNeighborSettings neighborSettings = new CalculateNeighborSettings(maxWalkableHeightWithSlope, maxWalkableHeightWithStep);
CalculateNeighborsJob calculateNeighborsJob = new CalculateNeighborsJob(nodesNeighbors, nodesTransforms, scanSettings, neighborSettings);
JobHandle calculateNeighborsHandle = calculateNeighborsJob.Schedule(gridDimension, 32, bakeObstaclesHandle);
// wait to complete all the scheduled stuff
calculateNeighborsHandle.Complete();
calculateCommandsJob.Dispose();
calculateBoxcastCommandsJob.Dispose();
nodeHits.Dispose();
obstacleHits.Dispose();
#if DEBUG_RENDER
RecalculateDebug();
#endif
isGridCreated = true;
}
