/// <summary>
/// Schedule a set of jobs to build the dynamic tree of the broadphase based on the given world.
/// </summary>
public JobHandle ScheduleDynamicTreeBuildJobs(
ref PhysicsWorld world, float timeStep, float3 gravity, int numThreadsHint, JobHandle inputDeps)
{
Assert.AreEqual(world.NumDynamicBodies, m_DynamicTree.NumBodies);
if (world.NumDynamicBodies == 0)
{
return(inputDeps);
}
var aabbs = new NativeArray <Aabb>(world.NumDynamicBodies, Allocator.TempJob, NativeArrayOptions.UninitializedMemory);
var points = new NativeArray <PointAndIndex>(world.NumDynamicBodies, Allocator.TempJob, NativeArrayOptions.UninitializedMemory);
JobHandle handle = new PrepareDynamicBodyDataJob
{
RigidBodies = world.DynamicBodies,
MotionVelocities = world.MotionVelocities,
MotionDatas = world.MotionDatas,
Aabbs = aabbs,
Points = points,
FiltersOut = m_DynamicTree.BodyFilters,
AabbMargin = world.CollisionWorld.CollisionTolerance * 0.5f, // each body contributes half
TimeStep = timeStep,
Gravity = gravity
}.Schedule(world.NumDynamicBodies, 32, inputDeps);
var shouldDoWork = new NativeArray <int>(1, Allocator.TempJob);
shouldDoWork[0] = 1;
handle = m_DynamicTree.BoundingVolumeHierarchy.ScheduleBuildJobs(
points, aabbs, m_DynamicTree.BodyFilters, shouldDoWork, numThreadsHint, handle,
m_DynamicTree.Nodes.Length, m_DynamicTree.Ranges, m_DynamicTree.BranchCount);
return(shouldDoWork.Dispose(handle));
}
/// <summary>
/// Build the dynamic tree of the broadphase based on the given array of rigid bodies and motions.
/// </summary>
public void BuildDynamicTree(NativeSlice <RigidBody> dynamicBodies, NativeSlice <MotionData> motionDatas,
NativeSlice <MotionVelocity> motionVelocities, float3 gravity, float timeStep, float aabbMargin)
{
Assert.AreEqual(dynamicBodies.Length, m_DynamicTree.NumBodies);
if (dynamicBodies.Length == 0)
{
return;
}
// Read bodies
var aabbs = new NativeArray <Aabb>(dynamicBodies.Length, Allocator.Temp, NativeArrayOptions.UninitializedMemory);
var points = new NativeArray <PointAndIndex>(dynamicBodies.Length, Allocator.Temp, NativeArrayOptions.UninitializedMemory);
for (int i = 0; i < dynamicBodies.Length; i++)
{
PrepareDynamicBodyDataJob.ExecuteImpl(i, aabbMargin, gravity, timeStep, dynamicBodies, motionDatas, motionVelocities, aabbs, points, m_DynamicTree.BodyFilters);
}
// Build tree
m_DynamicTree.BoundingVolumeHierarchy.Build(points, aabbs, out int nodeCount);
// Build node filters
m_DynamicTree.BoundingVolumeHierarchy.BuildCombinedCollisionFilter(m_DynamicTree.BodyFilters, 1, nodeCount - 1);
}
