[Test] public static void Index2dTo1d()
{
RectInt R = new RectInt {
width = 6, height = 6
};
Assert.AreEqual(13, NativeGrid.Index2dTo1d(1, 2, R.width));
}
public static int Index2dTo1d(INT x, INT y, INT width) => NativeGrid.Index2dTo1d(x, y, width);
public static int Index2dTo1d(INT2 i2, INT width) => NativeGrid.Index2dTo1d(i2, width);
void SolvePath()
{
//prepare data:
NativeArray <float> moveCost;
{
int len = _resolution * _resolution;
moveCost = new NativeArray <float>(len, Allocator.TempJob, NativeArrayOptions.UninitializedMemory);
float[] arr = new float[len]; //NativeArray enumeration is slow outside Burst
for (int i = len - 1; i != -1; i--)
{
arr[i] = _grid[i].style.backgroundColor.value.r;
}
moveCost.CopyFrom(arr);
}
//calculate:
NativeList <int2> path;
float[] debug_F;
int2[] visited;
{
path = new NativeList <int2>(_resolution, Allocator.TempJob);
#if DEBUG
var watch = System.Diagnostics.Stopwatch.StartNew();
#endif
//run job:
var job = new NativeGrid.AStarJob(
(int2)(_p1 * _resolution), (int2)(_p2 * _resolution),
moveCost, _resolution,
heuristic_cost,
heuristic_search,
path
);
job.Run();
#if DEBUG
watch.Stop();
Debug.Log($"{nameof(NativeGrid.AStarJob)} took {watch.ElapsedMilliseconds} ms");
#endif
// copy debug data:
debug_F = job._F_.ToArray();
using (var arr = job.visited.GetKeyArray(Allocator.Temp)) visited = arr.ToArray();
//dispose unmanaged arrays:
job.Dispose();
}
//visualize:
foreach (var i2 in path)
{
int i = NativeGrid.Index2dTo1d(i2, _resolution);
var CELL = _grid[i];
var cellStyle = CELL.style;
Color col = cellStyle.backgroundColor.value;
col.r = 1f;
cellStyle.backgroundColor = col;
}
if (labelsExist)
{
for (int i = debug_F.Length - 1; i != -1; i--)
{
var CELL = _grid[i];
Label LABEL = CELL[0] as Label;
var f = debug_F[i];
if (f != float.MaxValue)
{
LABEL.text = $"f:{f:0.000}";
LABEL.visible = true;
}
else
{
LABEL.visible = false;
}
}
}
foreach (var i2 in visited)
{
int i = NativeGrid.Index2dTo1d(i2, _resolution);
var CELL = _grid[i];
var cellStyle = CELL.style;
Color col = cellStyle.backgroundColor.value;
col.b = 1f;
cellStyle.backgroundColor = col;
}
//dispose data:
moveCost.Dispose();
path.Dispose();
}