// Schedule() implementation for IContactsJob when Havok Physics is available
public static unsafe JobHandle Schedule <T>(this T jobData, ISimulation simulation, ref PhysicsWorld world, JobHandle inputDeps)
where T : struct, IContactsJobBase
{
switch (simulation.Type)
{
case SimulationType.UnityPhysics:
// Call the scheduling method for Unity.Physics
return(IContactsJobExtensions.ScheduleUnityPhysicsContactsJob(jobData, simulation, ref world, inputDeps));
case SimulationType.HavokPhysics:
{
var data = new ContactsJobData <T>
{
UserJobData = jobData,
ManifoldStream = ((Havok.Physics.HavokSimulation)simulation).ManifoldStream,
PluginIndexToLocal = ((Havok.Physics.HavokSimulation)simulation).PluginIndexToLocal,
Bodies = world.Bodies
};
var parameters = new JobsUtility.JobScheduleParameters(
UnsafeUtility.AddressOf(ref data),
ContactsJobProcess <T> .Initialize(), inputDeps, ScheduleMode.Batched);
return(JobsUtility.Schedule(ref parameters));
}
default:
return(inputDeps);
}
}
public unsafe static void Execute(ref ContactsJobData <T> jobData, IntPtr additionalData,
IntPtr bufferRangePatchData, ref JobRanges jobRanges, int jobIndex)
{
var reader = new Havok.Physics.HpBlockStreamReader(jobData.ManifoldStream);
int *pluginIndexToLocal = jobData.PluginIndexToLocal->Data;
while (reader.HasItems)
{
var header = (Havok.Physics.HpManifoldStreamHeader *)reader.ReadPtr <Havok.Physics.HpManifoldStreamHeader>();
int numManifolds = header->NumManifolds;
int bodyIndexA = pluginIndexToLocal[header->BodyIds.BodyIndexA & 0x00ffffff];
int bodyIndexB = pluginIndexToLocal[header->BodyIds.BodyIndexB & 0x00ffffff];
var userHeader = new ModifiableContactHeader();
userHeader.ContactHeader.BodyPair = new BodyIndexPair
{
BodyIndexA = bodyIndexA,
BodyIndexB = bodyIndexB
};
userHeader.EntityPair = new EntityPair
{
EntityA = jobData.Bodies[bodyIndexA].Entity,
EntityB = jobData.Bodies[bodyIndexB].Entity
};
while (numManifolds-- > 0)
{
var manifold = (Havok.Physics.HpManifold *)reader.ReadPtr <Havok.Physics.HpManifold>();
userHeader.ContactHeader.NumContacts = manifold->NumPoints;
userHeader.ContactHeader.Normal = manifold->Normal.xyz;
var manifoldCache = manifold->m_CollisionCache;
userHeader.ContactHeader.CoefficientOfFriction = manifoldCache->m_friction.Value;
userHeader.ContactHeader.CoefficientOfRestitution = manifoldCache->m_restitution.Value;
userHeader.ContactHeader.ColliderKeys.ColliderKeyA.Value = manifold->m_ShapeKeyA;
userHeader.ContactHeader.ColliderKeys.ColliderKeyB.Value = manifold->m_ShapeKeyB;
Havok.Physics.HpPerManifoldProperty *cdp = manifoldCache->GetCustomPropertyStorage();
userHeader.ContactHeader.BodyCustomTags = cdp->m_bodyTagsPair;
userHeader.ContactHeader.JacobianFlags = (JacobianFlags)cdp->m_jacobianFlags;
for (int p = 0; p < manifold->NumPoints; p++)
{
var userContact = new ModifiableContactPoint
{
Index = p,
ContactPoint = new ContactPoint
{
Position = new float3(manifold->Positions[p * 4 + 0], manifold->Positions[p * 4 + 1], manifold->Positions[p * 4 + 2]),
Distance = manifold->Distances[p],
}
};
jobData.UserJobData.Execute(ref userHeader, ref userContact);
if (userContact.Modified)
{
manifold->Positions[p * 4 + 0] = userContact.ContactPoint.Position.x;
manifold->Positions[p * 4 + 1] = userContact.ContactPoint.Position.y;
manifold->Positions[p * 4 + 2] = userContact.ContactPoint.Position.z;
manifold->Distances[p] = userContact.ContactPoint.Distance;
}
if (userHeader.Modified)
{
manifold->Normal.xyz = userHeader.ContactHeader.Normal;
manifoldCache->m_friction.Value = userHeader.ContactHeader.CoefficientOfFriction;
manifoldCache->m_restitution.Value = userHeader.ContactHeader.CoefficientOfRestitution;
cdp->m_jacobianFlags = (byte)userHeader.ContactHeader.JacobianFlags;
if ((cdp->m_jacobianFlags & (byte)JacobianFlags.Disabled) != 0)
{
manifold->m_ManifoldType = 3; // hknpManifoldType::DISABLED
manifoldCache->m_collisionFlags = 1 << 9; // hknpCollisionFlags::DONT_BUILD_CONTACT_JACOBIANS
}
else
{
// Not disabled, so check for other modifications.
if ((cdp->m_jacobianFlags & (byte)JacobianFlags.EnableMassFactors) != 0)
{
manifold->m_DataFields |= 1 << 1; // hknpManifold::INERTIA_MODIFIED
manifold->m_DataFields &= 0xfb; // ~CONTAINS_TRIANGLE
var mp = (MassFactors *)UnsafeUtility.AddressOf(ref manifold->m_Scratch[0]);
mp->InverseInertiaFactorA = new float3(1);
mp->InverseMassFactorA = 1.0f;
mp->InverseInertiaFactorB = new float3(1);
mp->InverseMassFactorB = 1.0f;
}
if ((cdp->m_jacobianFlags & (byte)JacobianFlags.IsTrigger) != 0)
{
manifold->m_ManifoldType = 1; // hknpManifoldType::TRIGGER
}
if ((cdp->m_jacobianFlags & (byte)JacobianFlags.EnableSurfaceVelocity) != 0)
{
manifoldCache->m_collisionFlags |= 1 << 25; // hknpCollisionFlags::ENABLE_SURFACE_VELOCITY
}
if (userHeader.ContactHeader.CoefficientOfRestitution != 0)
{
manifoldCache->m_collisionFlags |= 1 << 20; // hknpCollisionFlags::ENABLE_RESTITUTION
}
}
}
}
}
}
}
