protected override void OnUpdate()
{
// Make sure last frame's physics jobs are complete before any new ones start
m_InputDependencyToComplete.Complete();
// Combine implicit input dependency with the user one
Dependency = JobHandle.CombineDependencies(Dependency, m_InputDependency);
int numDynamicBodies = DynamicEntityGroup.CalculateEntityCount();
int numStaticBodies = StaticEntityGroup.CalculateEntityCount();
int numJoints = JointEntityGroup.CalculateEntityCount();
int previousStaticBodyCount = PhysicsWorld.NumStaticBodies;
// Resize the world's native arrays
PhysicsWorld.Reset(
numStaticBodies + 1, // +1 for the default static body
numDynamicBodies,
numJoints);
if (PhysicsWorld.NumBodies == 0)
{
// If the static body count has changed, make sure to set the correct value to HaveStaticBodiesChanged
if (PhysicsWorld.NumStaticBodies != previousStaticBodyCount)
{
HaveStaticBodiesChanged[0] = 1;
}
else
{
HaveStaticBodiesChanged[0] = 0;
}
m_OutputDependency = Dependency;
ChainDependencies();
// No bodies in the scene, no need to do anything else
return;
}
// Extract types used by initialize jobs
var entityType = GetEntityTypeHandle();
var localToWorldType = GetComponentTypeHandle <LocalToWorld>(true);
var parentType = GetComponentTypeHandle <Parent>(true);
var positionType = GetComponentTypeHandle <Translation>(true);
var rotationType = GetComponentTypeHandle <Rotation>(true);
var physicsColliderType = GetComponentTypeHandle <PhysicsCollider>(true);
var physicsVelocityType = GetComponentTypeHandle <PhysicsVelocity>(true);
var physicsMassType = GetComponentTypeHandle <PhysicsMass>(true);
var physicsMassOverrideType = GetComponentTypeHandle <PhysicsMassOverride>(true);
var physicsDampingType = GetComponentTypeHandle <PhysicsDamping>(true);
var physicsGravityFactorType = GetComponentTypeHandle <PhysicsGravityFactor>(true);
var physicsCustomTagsType = GetComponentTypeHandle <PhysicsCustomTags>(true);
var physicsConstrainedBodyPairType = GetComponentTypeHandle <PhysicsConstrainedBodyPair>(true);
var physicsJointType = GetComponentTypeHandle <PhysicsJoint>(true);
// Determine if the static bodies have changed in any way that will require the static broadphase tree to be rebuilt
JobHandle staticBodiesCheckHandle = default;
HaveStaticBodiesChanged[0] = 0;
{
if (PhysicsWorld.NumStaticBodies != previousStaticBodyCount)
{
HaveStaticBodiesChanged[0] = 1;
}
else
{
staticBodiesCheckHandle = new Jobs.CheckStaticBodyChangesJob
{
LocalToWorldType = localToWorldType,
ParentType = parentType,
PositionType = positionType,
RotationType = rotationType,
PhysicsColliderType = physicsColliderType,
m_LastSystemVersion = LastSystemVersion,
Result = HaveStaticBodiesChanged
}.ScheduleParallel(StaticEntityGroup, 1, Dependency);
}
}
using (var jobHandles = new NativeList <JobHandle>(4, Allocator.Temp))
{
// Static body changes check jobs
jobHandles.Add(staticBodiesCheckHandle);
// Create the default static body at the end of the body list
// TODO: could skip this if no joints present
jobHandles.Add(new Jobs.CreateDefaultStaticRigidBody
{
NativeBodies = PhysicsWorld.Bodies,
BodyIndex = PhysicsWorld.Bodies.Length - 1,
EntityBodyIndexMap = PhysicsWorld.CollisionWorld.EntityBodyIndexMap.AsParallelWriter(),
}.Schedule(Dependency));
// Dynamic bodies.
// Create these separately from static bodies to maintain a 1:1 mapping
// between dynamic bodies and their motions.
if (numDynamicBodies > 0)
{
jobHandles.Add(new Jobs.CreateRigidBodies
{
EntityType = entityType,
LocalToWorldType = localToWorldType,
ParentType = parentType,
PositionType = positionType,
RotationType = rotationType,
PhysicsColliderType = physicsColliderType,
PhysicsCustomTagsType = physicsCustomTagsType,
FirstBodyIndex = 0,
RigidBodies = PhysicsWorld.Bodies,
EntityBodyIndexMap = PhysicsWorld.CollisionWorld.EntityBodyIndexMap.AsParallelWriter(),
}.ScheduleParallel(DynamicEntityGroup, 1, Dependency));
jobHandles.Add(new Jobs.CreateMotions
{
PositionType = positionType,
RotationType = rotationType,
PhysicsVelocityType = physicsVelocityType,
PhysicsMassType = physicsMassType,
PhysicsMassOverrideType = physicsMassOverrideType,
PhysicsDampingType = physicsDampingType,
PhysicsGravityFactorType = physicsGravityFactorType,
MotionDatas = PhysicsWorld.MotionDatas,
MotionVelocities = PhysicsWorld.MotionVelocities
}.ScheduleParallel(DynamicEntityGroup, 1, Dependency));
}
// Now, schedule creation of static bodies, with FirstBodyIndex pointing after
// the dynamic and kinematic bodies
if (numStaticBodies > 0)
{
jobHandles.Add(new Jobs.CreateRigidBodies
{
EntityType = entityType,
LocalToWorldType = localToWorldType,
ParentType = parentType,
PositionType = positionType,
RotationType = rotationType,
PhysicsColliderType = physicsColliderType,
PhysicsCustomTagsType = physicsCustomTagsType,
FirstBodyIndex = numDynamicBodies,
RigidBodies = PhysicsWorld.Bodies,
EntityBodyIndexMap = PhysicsWorld.CollisionWorld.EntityBodyIndexMap.AsParallelWriter(),
}.ScheduleParallel(StaticEntityGroup, 1, Dependency));
}
var handle = JobHandle.CombineDependencies(jobHandles);
jobHandles.Clear();
// Build joints
if (numJoints > 0)
{
jobHandles.Add(new Jobs.CreateJoints
{
ConstrainedBodyPairComponentType = physicsConstrainedBodyPairType,
JointComponentType = physicsJointType,
EntityType = entityType,
RigidBodies = PhysicsWorld.Bodies,
Joints = PhysicsWorld.Joints,
DefaultStaticBodyIndex = PhysicsWorld.Bodies.Length - 1,
NumDynamicBodies = numDynamicBodies,
EntityBodyIndexMap = PhysicsWorld.CollisionWorld.EntityBodyIndexMap,
EntityJointIndexMap = PhysicsWorld.DynamicsWorld.EntityJointIndexMap.AsParallelWriter(),
}.ScheduleParallel(JointEntityGroup, 1, handle));
}
// Build the broadphase
// TODO: could optimize this by gathering the AABBs and filters at the same time as building the bodies above
sfloat timeStep = (sfloat)Time.DeltaTime;
PhysicsStep stepComponent = PhysicsStep.Default;
if (HasSingleton <PhysicsStep>())
{
stepComponent = GetSingleton <PhysicsStep>();
}
JobHandle buildBroadphaseHandle = PhysicsWorld.CollisionWorld.ScheduleBuildBroadphaseJobs(
ref PhysicsWorld, timeStep, stepComponent.Gravity,
HaveStaticBodiesChanged, handle, stepComponent.MultiThreaded > 0);
jobHandles.Add(buildBroadphaseHandle);
m_OutputDependency = JobHandle.CombineDependencies(jobHandles);
}
#if ENABLE_UNITY_COLLECTIONS_CHECKS
RecordIntegrity(IntegrityCheckMap);
#endif
ChainDependencies();
}
protected override void OnUpdate()
{
// Make sure last frame's physics jobs are complete before any new ones start
m_EndFramePhysicsSystem.GetOutputDependency().Complete();
// Combine implicit input dependency with the user one
Dependency = JobHandle.CombineDependencies(Dependency, m_InputDependency);
// Extract types used by initialize jobs
var entityType = GetEntityTypeHandle();
var localToWorldType = GetComponentTypeHandle <LocalToWorld>(true);
var parentType = GetComponentTypeHandle <Parent>(true);
var positionType = GetComponentTypeHandle <Translation>(true);
var rotationType = GetComponentTypeHandle <Rotation>(true);
var physicsColliderType = GetComponentTypeHandle <PhysicsCollider>(true);
var physicsVelocityType = GetComponentTypeHandle <PhysicsVelocity>(true);
var physicsMassType = GetComponentTypeHandle <PhysicsMass>(true);
var physicsMassOverrideType = GetComponentTypeHandle <PhysicsMassOverride>(true);
var physicsDampingType = GetComponentTypeHandle <PhysicsDamping>(true);
var physicsGravityFactorType = GetComponentTypeHandle <PhysicsGravityFactor>(true);
var physicsCustomTagsType = GetComponentTypeHandle <PhysicsCustomTags>(true);
var physicsConstrainedBodyPairType = GetComponentTypeHandle <PhysicsConstrainedBodyPair>(true);
var physicsJointType = GetComponentTypeHandle <PhysicsJoint>(true);
int numDynamicBodies = DynamicEntityGroup.CalculateEntityCount();
int numStaticBodies = StaticEntityGroup.CalculateEntityCount();
int numJoints = JointEntityGroup.CalculateEntityCount();
int previousStaticBodyCount = PhysicsWorld.NumStaticBodies;
// Resize the world's native arrays
PhysicsWorld.Reset(
numStaticBodies + 1, // +1 for the default static body
numDynamicBodies,
numJoints);
// Determine if the static bodies have changed in any way that will require the static broadphase tree to be rebuilt
JobHandle staticBodiesCheckHandle = default;
var haveStaticBodiesChanged = new NativeArray <int>(1, Allocator.TempJob);
haveStaticBodiesChanged[0] = 0;
{
if (PhysicsWorld.NumStaticBodies != previousStaticBodyCount)
{
haveStaticBodiesChanged[0] = 1;
}
else
{
// Make a job to test for changes
int numChunks;
using (NativeArray <ArchetypeChunk> chunks = StaticEntityGroup.CreateArchetypeChunkArray(Allocator.TempJob))
{
numChunks = chunks.Length;
}
var chunksHaveChanges = new NativeArray <int>(numChunks, Allocator.TempJob);
staticBodiesCheckHandle = new Jobs.CheckStaticBodyChangesJob
{
LocalToWorldType = localToWorldType,
ParentType = parentType,
PositionType = positionType,
RotationType = rotationType,
PhysicsColliderType = physicsColliderType,
ChunkHasChangesOutput = chunksHaveChanges,
m_LastSystemVersion = LastSystemVersion
}.Schedule(StaticEntityGroup, Dependency);
staticBodiesCheckHandle = new Jobs.CheckStaticBodyChangesReduceJob
{
ChunkHasChangesOutput = chunksHaveChanges,
Result = haveStaticBodiesChanged
}.Schedule(staticBodiesCheckHandle);
}
}
using (var jobHandles = new NativeList <JobHandle>(4, Allocator.Temp))
{
// Static body changes check jobs
jobHandles.Add(staticBodiesCheckHandle);
// Create the default static body at the end of the body list
// TODO: could skip this if no joints present
jobHandles.Add(new Jobs.CreateDefaultStaticRigidBody
{
NativeBodies = PhysicsWorld.Bodies,
BodyIndex = PhysicsWorld.Bodies.Length - 1
}.Schedule(Dependency));
// Dynamic bodies.
// Create these separately from static bodies to maintain a 1:1 mapping
// between dynamic bodies and their motions.
if (numDynamicBodies > 0)
{
jobHandles.Add(new Jobs.CreateRigidBodies
{
EntityType = entityType,
LocalToWorldType = localToWorldType,
ParentType = parentType,
PositionType = positionType,
RotationType = rotationType,
PhysicsColliderType = physicsColliderType,
PhysicsCustomTagsType = physicsCustomTagsType,
FirstBodyIndex = 0,
RigidBodies = PhysicsWorld.Bodies
}.Schedule(DynamicEntityGroup, Dependency));
jobHandles.Add(new Jobs.CreateMotions
{
PositionType = positionType,
RotationType = rotationType,
PhysicsVelocityType = physicsVelocityType,
PhysicsMassType = physicsMassType,
PhysicsMassOverrideType = physicsMassOverrideType,
PhysicsDampingType = physicsDampingType,
PhysicsGravityFactorType = physicsGravityFactorType,
MotionDatas = PhysicsWorld.MotionDatas,
MotionVelocities = PhysicsWorld.MotionVelocities
}.Schedule(DynamicEntityGroup, Dependency));
}
// Now, schedule creation of static bodies, with FirstBodyIndex pointing after
// the dynamic and kinematic bodies
if (numStaticBodies > 0)
{
jobHandles.Add(new Jobs.CreateRigidBodies
{
EntityType = entityType,
LocalToWorldType = localToWorldType,
ParentType = parentType,
PositionType = positionType,
RotationType = rotationType,
PhysicsColliderType = physicsColliderType,
PhysicsCustomTagsType = physicsCustomTagsType,
FirstBodyIndex = numDynamicBodies,
RigidBodies = PhysicsWorld.Bodies
}.Schedule(StaticEntityGroup, Dependency));
}
var handle = JobHandle.CombineDependencies(jobHandles);
jobHandles.Clear();
// Build joints
if (numJoints > 0)
{
jobHandles.Add(new Jobs.CreateJoints
{
ConstrainedBodyPairComponentType = physicsConstrainedBodyPairType,
JointComponentType = physicsJointType,
EntityType = entityType,
RigidBodies = PhysicsWorld.Bodies,
Joints = PhysicsWorld.Joints,
DefaultStaticBodyIndex = PhysicsWorld.Bodies.Length - 1,
NumDynamicBodies = numDynamicBodies
}.Schedule(JointEntityGroup, handle));
}
// Build the broadphase
// TODO: could optimize this by gathering the AABBs and filters at the same time as building the bodies above
#if !UNITY_DOTSPLAYER
float timeStep = UnityEngine.Time.fixedDeltaTime;
#else
float timeStep = Time.DeltaTime;
#endif
PhysicsStep stepComponent = PhysicsStep.Default;
if (HasSingleton <PhysicsStep>())
{
stepComponent = GetSingleton <PhysicsStep>();
}
JobHandle buildBroadphaseHandle = PhysicsWorld.CollisionWorld.ScheduleBuildBroadphaseJobs(
ref PhysicsWorld, timeStep, stepComponent.Gravity,
haveStaticBodiesChanged, handle, stepComponent.ThreadCountHint);
jobHandles.Add(haveStaticBodiesChanged.Dispose(buildBroadphaseHandle));
m_OutputDependency = JobHandle.CombineDependencies(jobHandles);
}
// Combine implicit output dependency with user one
Dependency = JobHandle.CombineDependencies(m_OutputDependency, Dependency);
// Inform next system in the pipeline of its dependency
m_StepPhysicsWorldSystem.AddInputDependency(Dependency);
// Invalidate input dependency since it's been used by now
m_InputDependency = default;
}
