// Schedule() implementation for IBodyPairsJob when Havok Physics is available
public static unsafe JobHandle Schedule <T>(this T jobData, ISimulation simulation, ref PhysicsWorld world, JobHandle inputDeps)
where T : struct, IBodyPairsJobBase
{
switch (simulation.Type)
{
case SimulationType.UnityPhysics:
// Call the scheduling method for Unity.Physics
return(IBodyPairsJobExtensions.ScheduleUnityPhysicsBodyPairsJob(jobData, simulation, ref world, inputDeps));
case SimulationType.HavokPhysics:
{
var data = new BodyPairsJobData <T>
{
UserJobData = jobData,
BlockStreamStart = ((Havok.Physics.HavokSimulation)simulation).NewBodyPairsStream,
PluginIndexToLocal = ((Havok.Physics.HavokSimulation)simulation).PluginIndexToLocal,
Bodies = world.Bodies
};
var parameters = new JobsUtility.JobScheduleParameters(
UnsafeUtility.AddressOf(ref data),
BodyPairsJobProcess <T> .Initialize(), inputDeps, ScheduleMode.Batched);
return(JobsUtility.Schedule(ref parameters));
}
default:
return(inputDeps);
}
}
public unsafe static void Execute(ref BodyPairsJobData <T> jobData, IntPtr additionalData,
IntPtr bufferRangePatchData, ref JobRanges ranges, int jobIndex)
{
for (int currentIdx = 0; currentIdx < jobData.PhasedDispatchPairs.Length; currentIdx++)
{
DispatchPairSequencer.DispatchPair dispatchPair = jobData.PhasedDispatchPairs[currentIdx];
// Skip joint pairs and invalid pairs
if (dispatchPair.IsJoint || !dispatchPair.IsValid)
{
continue;
}
var pair = new ModifiableBodyPair
{
BodyIndexPair = new BodyIndexPair {
BodyIndexA = dispatchPair.BodyIndexA, BodyIndexB = dispatchPair.BodyIndexB
},
EntityPair = new EntityPair
{
EntityA = jobData.Bodies[dispatchPair.BodyIndexA].Entity,
EntityB = jobData.Bodies[dispatchPair.BodyIndexB].Entity
}
};
jobData.UserJobData.Execute(ref pair);
if (pair.BodyIndexA == -1 || pair.BodyIndexB == -1)
{
jobData.PhasedDispatchPairs[currentIdx] = DispatchPairSequencer.DispatchPair.Invalid;
}
}
}
public unsafe static void Execute(ref BodyPairsJobData <T> jobData, IntPtr additionalData,
IntPtr bufferRangePatchData, ref JobRanges ranges, int jobIndex)
{
int currentIdx = 0;
while (currentIdx < jobData.PhasedDispatchPairs.Length)
{
DispatchPairSequencer.DispatchPair dispatchPair = jobData.PhasedDispatchPairs[currentIdx];
var pair = new ModifiableBodyPair
{
BodyIndices = new BodyIndexPair {
BodyAIndex = dispatchPair.BodyAIndex, BodyBIndex = dispatchPair.BodyBIndex
},
Entities = new EntityPair
{
EntityA = jobData.Bodies[dispatchPair.BodyAIndex].Entity,
EntityB = jobData.Bodies[dispatchPair.BodyBIndex].Entity
}
};
jobData.UserJobData.Execute(ref pair);
if (pair.BodyIndices.BodyAIndex == -1 || pair.BodyIndices.BodyBIndex == -1)
{
jobData.PhasedDispatchPairs[currentIdx] = DispatchPairSequencer.DispatchPair.Invalid;
}
do
{
currentIdx++;
} while (currentIdx < jobData.PhasedDispatchPairs.Length && jobData.PhasedDispatchPairs[currentIdx].IsJoint);
}
}
internal static unsafe JobHandle ScheduleUnityPhysicsBodyPairsJob <T>(T jobData, ISimulation simulation, ref PhysicsWorld world, JobHandle inputDeps)
where T : struct, IBodyPairsJobBase
{
SafetyChecks.CheckAreEqualAndThrow(SimulationType.UnityPhysics, simulation.Type);
var data = new BodyPairsJobData <T>
{
UserJobData = jobData,
PhasedDispatchPairs = ((Simulation)simulation).StepContext.PhasedDispatchPairs.AsDeferredJobArray(),
Bodies = world.Bodies
};
var parameters = new JobsUtility.JobScheduleParameters(
UnsafeUtility.AddressOf(ref data),
BodyPairsJobProcess <T> .Initialize(), inputDeps, ScheduleMode.Batched);
return(JobsUtility.Schedule(ref parameters));
}
internal static unsafe JobHandle ScheduleImpl<T>(this T jobData, ISimulation simulation, ref PhysicsWorld world, JobHandle inputDeps)
where T : struct, IBodyPairsJob
{
if (simulation.Type == SimulationType.UnityPhysics)
{
var data = new BodyPairsJobData<T>
{
UserJobData = jobData,
PhasedDispatchPairs = ((Simulation)simulation).m_Context.PhasedDispatchPairs.AsDeferredJobArray(),
Bodies = world.Bodies
};
var parameters = new JobsUtility.JobScheduleParameters(
UnsafeUtility.AddressOf(ref data),
BodyPairsJobProcess<T>.Initialize(), inputDeps, ScheduleMode.Batched);
return JobsUtility.Schedule(ref parameters);
}
return inputDeps;
}
internal static unsafe JobHandle ScheduleUnityPhysicsBodyPairsJob <T>(T jobData, ISimulation simulation, ref PhysicsWorld world, JobHandle inputDeps)
where T : struct, IBodyPairsJobBase
{
if (simulation.Type != SimulationType.UnityPhysics)
{
throw new ArgumentException($"Simulation type {simulation.Type} is not supported! Should be called only for SimulationType.UnityPhysics.");
}
var data = new BodyPairsJobData <T>
{
UserJobData = jobData,
PhasedDispatchPairs = ((Simulation)simulation).StepContext.PhasedDispatchPairs.AsDeferredJobArray(),
Bodies = world.Bodies
};
var parameters = new JobsUtility.JobScheduleParameters(
UnsafeUtility.AddressOf(ref data),
BodyPairsJobProcess <T> .Initialize(), inputDeps, ScheduleMode.Batched);
return(JobsUtility.Schedule(ref parameters));
}
public unsafe static void Execute(ref BodyPairsJobData <T> jobData, IntPtr additionalData,
IntPtr bufferRangePatchData, ref JobRanges ranges, int jobIndex)
{
if (jobData.BlockStreamStart == null || !jobData.BlockStreamStart->HasElements)
{
return;
}
var blockStreamReader = new Havok.Physics.HpBlockStreamReader(jobData.BlockStreamStart);
int *pluginIndexToLocal = jobData.PluginIndexToLocal->Data;
while (blockStreamReader.HasItems)
{
BodyIndexPair indices = blockStreamReader.Read <BodyIndexPair>(); // Really an hknpBodyIdPair
int bodyIndexA = pluginIndexToLocal[indices.BodyIndexA & 0x00ffffff];
int bodyIndexB = pluginIndexToLocal[indices.BodyIndexB & 0x00ffffff];
var pair = new ModifiableBodyPair
{
BodyIndexPair = new BodyIndexPair {
BodyIndexA = bodyIndexA, BodyIndexB = bodyIndexB
},
EntityPair = new EntityPair
{
EntityA = jobData.Bodies[bodyIndexA].Entity,
EntityB = jobData.Bodies[bodyIndexB].Entity
}
};
jobData.UserJobData.Execute(ref pair);
if (pair.BodyIndexA == -1 || pair.BodyIndexB == -1)
{
blockStreamReader.Write(BodyIndexPair.Invalid);
}
}
}