public unsafe override void ExecuteBatch <TCallbacks>(ref UntypedList batch, ref CollisionBatcher <TCallbacks> batcher)
{
var testPairs = batch.Buffer.As <FliplessPair>();
for (int i = 0; i < batch.Count; ++i)
{
ref var pair = ref testPairs[i];
ref var a = ref Unsafe.AsRef <Compound>(pair.A);
static void ComputeCollisions(CollisionTaskRegistry registry, Shapes shapes, BufferPool pool,
ref Manifolds manifolds, CollidableDescription a, CollidableDescription b, ref Buffer<RigidPose> posesA, ref Buffer<RigidPose> posesB, Buffer<int> remapIndices, int pairCount)
{
var batcher = new CollisionBatcher<BatcherCallbacks>(pool, shapes, registry, 1 / 60f, new BatcherCallbacks { Pool = pool, Manifolds = manifolds });
for (int i = 0; i < pairCount; ++i)
{
var index = remapIndices[i];
ref var poseA = ref posesA[index];
ref var poseB = ref posesB[index];
static void TestPair <TA, TB>(ref TA a, ref TB b, ref Buffer <RigidPose> posesA, ref Buffer <RigidPose> posesB,
ref TestCollisionCallbacks callbacks, BufferPool pool, Shapes shapes, CollisionTaskRegistry registry, int iterationCount)
where TA : struct, IShape where TB : struct, IShape
{
var batcher = new CollisionBatcher <TestCollisionCallbacks>(pool, shapes, registry, 1 / 60f, callbacks);
for (int i = 0; i < iterationCount; ++i)
{
ref var poseA = ref posesA[i];
ref var poseB = ref posesB[i];
public unsafe override void ExecuteBatch <TCallbacks>(ref UntypedList batch, ref CollisionBatcher <TCallbacks> batcher)
{
var testPairs = batch.Buffer.As <CollisionPair>();
for (int i = 0; i < batch.Count; ++i)
{
ref var pair = ref testPairs[i];
Debug.Assert(pair.Continuation.ChildA == 0 && pair.Continuation.ChildB == 0 && pair.Continuation.Type == CollisionContinuationType.Direct,
"Compound-involving pairs cannot be marked as children of compound pairs. Convex-convex children of such pairs will be.");
ref var b = ref Unsafe.AsRef <Compound>(pair.B);
public unsafe override void ExecuteBatch <TCallbacks>(ref UntypedList batch, ref CollisionBatcher <TCallbacks> batcher)
{
var pairs = batch.Buffer.As <BoundsTestedPair>();
TOverlapFinder overlapFinder = default;
//We perform all necessary bounding box computations and lookups up front. This helps avoid some instruction pipeline pressure at the cost of some extra data cache requirements.
//Because of this, you need to be careful with the batch size on this collision task.
overlapFinder.FindLocalOverlaps(ref pairs, batch.Count, batcher.Pool, batcher.Shapes, batcher.Dt, out var overlaps);
for (int i = 0; i < batch.Count; ++i)
{
ref var pairOverlaps = ref overlaps.GetOverlapsForPair(i);
if (pairOverlaps.Count > 0)
{
ref var pair = ref pairs[i];
ref var compound = ref Unsafe.AsRef <TCompound>(pair.B);
public unsafe override void ExecuteBatch <TCallbacks>(ref UntypedList batch, ref CollisionBatcher <TCallbacks> batcher)
{
var pairs = batch.Buffer.As <BoundsTestedPair>();
TOverlapFinder overlapFinder = default;
//We perform all necessary bounding box computations and lookups up front. This helps avoid some instruction pipeline pressure at the cost of some extra data cache requirements.
//Because of this, you need to be careful with the batch size on this collision task.
overlapFinder.FindLocalOverlaps(ref pairs, batch.Count, batcher.Pool, batcher.Shapes, batcher.Dt, out var overlaps);
for (int pairIndex = 0; pairIndex < batch.Count; ++pairIndex)
{
overlaps.GetPairOverlaps(pairIndex, out var pairOverlaps);
var totalOverlapCountForPair = pairOverlaps[0].Count;
for (int j = 1; j < pairOverlaps.Length; ++j)
{
totalOverlapCountForPair += pairOverlaps[j].Count;
}
if (totalOverlapCountForPair > 0)
{
ref var pair = ref pairs[pairIndex];
ref var compoundA = ref Unsafe.AsRef <TCompoundA>(pair.A);
ref var compoundB = ref Unsafe.AsRef <TCompoundB>(pair.B);
public ref CompoundMeshReduction CreateContinuation <TCallbacks>(
ref CollisionBatcher <TCallbacks> collisionBatcher, int totalChildCount, ref Buffer <ChildOverlapsCollection> pairOverlaps, in BoundsTestedPair pair, out int continuationIndex)
public ref NonconvexReduction CreateContinuation <TCallbacks>(
ref CollisionBatcher <TCallbacks> collisionBatcher, int childCount, in BoundsTestedPair pair, out int continuationIndex)
public ref MeshReduction CreateContinuation <TCallbacks>(
ref CollisionBatcher <TCallbacks> collisionBatcher, int childCount, in BoundsTestedPair pair, in OverlapQueryForPair pairQuery, out int continuationIndex)
public ref NonconvexReduction CreateContinuation <TCallbacks>(
ref CollisionBatcher <TCallbacks> collisionBatcher, int totalChildCount, ref Buffer <ChildOverlapsCollection> pairOverlaps, ref Buffer <OverlapQueryForPair> pairQueries, in BoundsTestedPair pair, out int continuationIndex)
