/// <summary>
/// This method used to run forever because of the bug
/// </summary>
private bool Remove(string key)
{
int hc = key.GetHashCode();
Log("Making sure internal object contains hashcode key " + hc);
if (!_internalObject.ContainsKey(hc))
{
return false;
}
int keyIndex = _keysToIndexMapping[hc].Cast<int>();
Log("Key index is " + keyIndex);
_keysToIndexMapping.RemoveKey(hc);
Log("Key index removed from keys to index mapping. Rebuilding keys array");
NativeArray<string> newKeys = new NativeArray<string>();
int length = _keys.Length;
int newLength = _keys.Length - 1;
for (int i = 0; i < newLength; i++)
{
Log("At index: " + i);
if (i == keyIndex)
{
continue;
}
newKeys.Push(_keys[i]);
}
_keys = newKeys;
_internalObject.RemoveKey(hc);
Log("Dictionary::Remove done!");
return true;
}
internal static void Initialize()
{
_appDomains = new NativeArray<AppDomain>();
// create default appdomain
_appDomains[0] = CreateAppDomain("Default AppDomain");
}
public virtual void GetAllIdsShouldIncludeArrayIndices()
{
NativeArray array = new NativeArray(new string[] { "a", "b" });
object[] expectedIds = new object[] { 0, 1, "length" };
object[] actualIds = array.GetAllIds();
Assert.AssertArrayEquals(expectedIds, actualIds);
}
public Semaphore(int resources)
{
if (resources < 1)
{
throw new ArgumentException("Must have at least 1 resource for a semaphore");
}
_totalResources = _resources = resources;
_waitingTasks = new NativeArray<WaitingTask>();
}
public override void PerformTest()
{
_keys = new NativeArray<string>();
_keysToIndexMapping = new NativeObject();
_internalObject = new NativeObject();
Add("hello", "world");
Add("goodbye", "buddy");
Add("yester", "day");
// TODO: Do this in a separate thread and if the thread hasn't exited in 20 seconds, the test failed
Remove("hello");
Remove("goodbye");
}
public static string GetStackTrace(Exception exception)
{
XaeiOSException xaeiosException = (XaeiOSException)exception;
Continuation continuation = xaeiosException.ThrowContext;
// TODO: Create StackWalker framework
NativeArray<string> buffer = new NativeArray<string>();
while (continuation != null)
{
buffer.Push("at ");
string methodName = RuntimeHelpers.GetMethodNameForStackTrace(continuation.Frame.Function);
if (methodName == null)
{
methodName = "[External Code]"; // TODO: Provide something more descriptive. Maybe a code pointer?
}
buffer.Push(methodName);
// TODO: Debug symbols should put C# line numbers here, rather than xaeios execution pointers
// TODO: These execution pointers are wrong!!!, the execution pointer is set to the next execution pointer at the BEGINNING of the current execution block
buffer.Push(":");
buffer.Push((continuation.ExecutionPointer).ToString());
buffer.Push("\n");
continuation = continuation.ParentContinuation;
}
return buffer.Join("");
}
internal void MoveChunksFrom(
NativeArray <EntityRemapUtility.EntityRemapInfo> entityRemapping,
EntityComponentStore *srcEntityComponentStore,
ManagedComponentStore srcManagedComponentStore)
{
var moveChunksJob = new MoveAllChunksJob
{
srcEntityComponentStore = srcEntityComponentStore,
dstEntityComponentStore = EntityComponentStore,
entityRemapping = entityRemapping
}.Schedule();
JobHandle.ScheduleBatchedJobs();
int chunkCount = 0;
for (var i = 0; i < srcEntityComponentStore->m_Archetypes.Length; ++i)
{
var srcArchetype = srcEntityComponentStore->m_Archetypes.Ptr[i];
chunkCount += srcArchetype->Chunks.Count;
}
var remapChunks = new NativeArray <RemapChunk>(chunkCount, Allocator.TempJob);
var remapArchetypes = new NativeArray <RemapArchetype>(srcEntityComponentStore->m_Archetypes.Length, Allocator.TempJob);
var managedArrayChunks = new NativeList <IntPtr>(Allocator.Temp);
int chunkIndex = 0;
int archetypeIndex = 0;
for (var i = 0; i < srcEntityComponentStore->m_Archetypes.Length; ++i)
{
var srcArchetype = srcEntityComponentStore->m_Archetypes.Ptr[i];
if (srcArchetype->Chunks.Count != 0)
{
var dstArchetype = EntityComponentStore->GetOrCreateArchetype(srcArchetype->Types,
srcArchetype->TypesCount);
remapArchetypes[archetypeIndex] = new RemapArchetype
{
srcArchetype = srcArchetype, dstArchetype = dstArchetype
};
for (var j = 0; j < srcArchetype->Chunks.Count; ++j)
{
var srcChunk = srcArchetype->Chunks.p[j];
remapChunks[chunkIndex] = new RemapChunk {
chunk = srcChunk, dstArchetype = dstArchetype
};
chunkIndex++;
}
if (srcArchetype->NumManagedArrays > 0)
{
for (var j = 0; j < srcArchetype->Chunks.Count; ++j)
{
var chunk = srcArchetype->Chunks.p[j];
managedArrayChunks.Add((IntPtr)chunk);
}
}
archetypeIndex++;
EntityComponentStore->IncrementComponentTypeOrderVersion(dstArchetype);
}
}
moveChunksJob.Complete();
var managedArrayDstIndices = new NativeArray <int>(managedArrayChunks.Length, Allocator.TempJob);
var managedArraySrcIndices = new NativeArray <int>(managedArrayChunks.Length, Allocator.TempJob);
EntityComponentStore->ReserveManagedObjectArrays(managedArrayDstIndices);
var remapManaged = new RemapManagedArraysJob
{
chunks = managedArrayChunks,
dstIndices = managedArrayDstIndices,
srcIndices = managedArraySrcIndices,
}.Schedule(managedArrayChunks.Length, 64);
ManagedComponentStore.Playback(ref EntityComponentStore->ManagedChangesTracker);
srcManagedComponentStore.Playback(ref srcEntityComponentStore->ManagedChangesTracker);
k_ProfileMoveObjectComponents.Begin();
remapManaged.Complete();
m_ManagedComponentStore.MoveManagedObjectArrays(managedArraySrcIndices, managedArrayDstIndices, srcManagedComponentStore);
k_ProfileMoveObjectComponents.End();
managedArrayDstIndices.Dispose();
managedArraySrcIndices.Dispose();
managedArrayChunks.Dispose();
k_ProfileMoveSharedComponents.Begin();
var remapShared =
ManagedComponentStore.MoveAllSharedComponents(srcManagedComponentStore, Allocator.TempJob);
k_ProfileMoveSharedComponents.End();
new ChunkPatchEntities
{
RemapChunks = remapChunks,
EntityRemapping = entityRemapping,
EntityComponentStore = EntityComponentStore
}.Run();
var remapAllChunksJob = new RemapAllChunksJob
{
dstEntityComponentStore = EntityComponentStore,
remapChunks = remapChunks,
entityRemapping = entityRemapping
}.Schedule(remapChunks.Length, 1);
var remapArchetypesJob = new RemapArchetypesJob
{
remapArchetypes = remapArchetypes,
remapShared = remapShared,
dstEntityComponentStore = EntityComponentStore,
chunkHeaderType = TypeManager.GetTypeIndex <ChunkHeader>()
}.Schedule(archetypeIndex, 1, remapAllChunksJob);
ManagedComponentStore.Playback(ref EntityComponentStore->ManagedChangesTracker);
remapArchetypesJob.Complete();
remapShared.Dispose();
remapChunks.Dispose();
}
public static unsafe BlobAssetReference <Collider> Create(NativeArray <float3> vertices, NativeArray <int3> triangles, CollisionFilter filter, Material material)
{
SafetyChecks.CheckTriangleIndicesInRangeAndThrow(triangles, vertices.Length, nameof(triangles));
// Copy vertices
var tempVertices = new NativeArray <float3>(vertices, Allocator.Temp);
// Triangle indices - needed for WeldVertices
var tempIndices = new NativeArray <int>(triangles.Reinterpret <int>(UnsafeUtility.SizeOf <int3>()), Allocator.Temp);
// Build connectivity and primitives
NativeList <float3> uniqueVertices = MeshConnectivityBuilder.WeldVertices(tempIndices, tempVertices);
var tempTriangleIndices = new NativeArray <int3>(triangles.Length, Allocator.Temp);
UnsafeUtility.MemCpy(tempTriangleIndices.GetUnsafePtr(), tempIndices.GetUnsafePtr(), tempIndices.Length * UnsafeUtility.SizeOf <int>());
var connectivity = new MeshConnectivityBuilder(tempTriangleIndices, uniqueVertices);
NativeList <MeshConnectivityBuilder.Primitive> primitives = connectivity.EnumerateQuadDominantGeometry(tempTriangleIndices, uniqueVertices);
// Build bounding volume hierarchy
int nodeCount = math.max(primitives.Length * 2 + 1, 2); // We need at least two nodes - an "invalid" node and a root node.
var nodes = new NativeArray <BoundingVolumeHierarchy.Node>(nodeCount, Allocator.Temp);
int numNodes = 0;
{
// Prepare data for BVH
var points = new NativeList <BoundingVolumeHierarchy.PointAndIndex>(primitives.Length, Allocator.Temp);
var aabbs = new NativeArray <Aabb>(primitives.Length, Allocator.Temp);
for (int i = 0; i < primitives.Length; i++)
{
MeshConnectivityBuilder.Primitive p = primitives[i];
// Skip degenerate triangles
if (MeshConnectivityBuilder.IsTriangleDegenerate(p.Vertices[0], p.Vertices[1], p.Vertices[2]))
{
continue;
}
aabbs[i] = Aabb.CreateFromPoints(p.Vertices);
points.Add(new BoundingVolumeHierarchy.PointAndIndex
{
Position = aabbs[i].Center,
Index = i
});
}
var bvh = new BoundingVolumeHierarchy(nodes);
bvh.Build(points.AsArray(), aabbs, out numNodes, useSah: true);
}
// Build mesh sections
BoundingVolumeHierarchy.Node *nodesPtr = (BoundingVolumeHierarchy.Node *)nodes.GetUnsafePtr();
MeshBuilder.TempSection sections = MeshBuilder.BuildSections(nodesPtr, numNodes, primitives);
// Allocate collider
int meshDataSize = Mesh.CalculateMeshDataSize(numNodes, sections.Ranges);
int totalColliderSize = Math.NextMultipleOf(sizeof(MeshCollider), 16) + meshDataSize;
MeshCollider *meshCollider = (MeshCollider *)UnsafeUtility.Malloc(totalColliderSize, 16, Allocator.Temp);
// Initialize it
{
UnsafeUtility.MemClear(meshCollider, totalColliderSize);
meshCollider->MemorySize = totalColliderSize;
meshCollider->m_Header.Type = ColliderType.Mesh;
meshCollider->m_Header.CollisionType = CollisionType.Composite;
meshCollider->m_Header.Version += 1;
meshCollider->m_Header.Magic = 0xff;
ref var mesh = ref meshCollider->Mesh;
mesh.Init(nodesPtr, numNodes, sections, filter, material);
// Calculate combined filter
meshCollider->m_Header.Filter = mesh.Sections.Length > 0 ? mesh.Sections[0].Filters[0] : CollisionFilter.Default;
for (int i = 0; i < mesh.Sections.Length; ++i)
{
for (var j = 0; j < mesh.Sections[i].Filters.Length; ++j)
{
var f = mesh.Sections[i].Filters[j];
meshCollider->m_Header.Filter = CollisionFilter.CreateUnion(meshCollider->m_Header.Filter, f);
}
}
meshCollider->m_Aabb = meshCollider->Mesh.BoundingVolumeHierarchy.Domain;
meshCollider->NumColliderKeyBits = meshCollider->Mesh.NumColliderKeyBits;
}
public virtual IEnumerator LoadScenes([ValueSource(nameof(GetScenes))] string scenePath)
{
// Log scene name in case Unity crashes and test results aren't written out.
Debug.Log("Loading " + scenePath);
LogAssert.Expect(LogType.Log, "Loading " + scenePath);
// Wait for next frame
yield return(null);
// Number of steps to simulate
const int k_StopAfterStep = 100;
// Number of worlds to simulate
const int k_NumWorlds = 4;
// Number of threads in each of the runs (3rd run is single threaded simulation)
NativeArray <int> numThreadsPerRun = new NativeArray <int>(k_NumWorlds, Allocator.Persistent);
numThreadsPerRun[0] = 8;
numThreadsPerRun[1] = 4;
numThreadsPerRun[2] = 0;
numThreadsPerRun[3] = -1;
// Load the scene and wait 2 frames
SceneManager.LoadScene(scenePath);
yield return(null);
yield return(null);
var sampler = DefaultWorld.GetOrCreateSystem <BuildPhysicsWorldSampler>();
sampler.BeginSampling();
while (!sampler.FinishedSampling)
{
yield return(new WaitForSeconds(0.05f));
}
var buildPhysicsWorld = DefaultWorld.GetOrCreateSystem <BuildPhysicsWorld>();
var stepComponent = PhysicsStep.Default;
if (buildPhysicsWorld.HasSingleton <PhysicsStep>())
{
stepComponent = buildPhysicsWorld.GetSingleton <PhysicsStep>();
}
// Extract original world and make copies
List <PhysicsWorld> physicsWorlds = new List <PhysicsWorld>(k_NumWorlds);
physicsWorlds.Add(sampler.PhysicsWorld.Clone());
physicsWorlds.Add(physicsWorlds[0].Clone());
physicsWorlds.Add(physicsWorlds[1].Clone());
physicsWorlds.Add(physicsWorlds[2].Clone());
NativeArray <int> buildStaticTree = new NativeArray <int>(1, Allocator.Persistent);
buildStaticTree[0] = 1;
// Simulation step input
var stepInput = new SimulationStepInput()
{
Gravity = stepComponent.Gravity,
NumSolverIterations = stepComponent.SolverIterationCount,
SolverStabilizationHeuristicSettings = stepComponent.SolverStabilizationHeuristicSettings,
SynchronizeCollisionWorld = true,
TimeStep = DefaultWorld.Time.DeltaTime
};
// Step the simulation on all worlds
for (int i = 0; i < physicsWorlds.Count; i++)
{
int threadCountHint = numThreadsPerRun[i];
if (threadCountHint == -1)
{
stepInput.World = physicsWorlds[i];
stepInput.World.CollisionWorld.BuildBroadphase(
ref stepInput.World, stepInput.TimeStep, stepInput.Gravity, true);
#if HAVOK_PHYSICS_EXISTS
if (SimulateHavok)
{
var simulationContext = new Havok.Physics.SimulationContext(Havok.Physics.HavokConfiguration.Default);
for (int step = 0; step < k_StopAfterStep; step++)
{
simulationContext.Reset(ref stepInput.World);
new StepHavokJob
{
Input = stepInput,
SimulationContext = simulationContext
}.Schedule().Complete();
}
simulationContext.Dispose();
}
else
#endif
{
var simulationContext = new SimulationContext();
for (int step = 0; step < k_StopAfterStep; step++)
{
simulationContext.Reset(stepInput);
new StepJob
{
Input = stepInput,
SimulationContext = simulationContext
}.Schedule().Complete();
}
simulationContext.Dispose();
}
}
else
{
#if HAVOK_PHYSICS_EXISTS
if (SimulateHavok)
{
var simulation = new Havok.Physics.HavokSimulation(Havok.Physics.HavokConfiguration.Default);
stepInput.World = physicsWorlds[i];
stepInput.World.CollisionWorld.ScheduleBuildBroadphaseJobs(
ref stepInput.World, stepInput.TimeStep, stepInput.Gravity, buildStaticTree, default, threadCountHint).Complete();
public void SendCommands(NativeArray <ArchetypeChunk> chunkArray, ComponentSystemBase system, CommandSystem commandSystem)
{
}
public static void Initialize()
{
_heap = new NativeArray<Task>();
_count = 0;
}
public ManualResetEvent()
{
_waitingList = new NativeArray<TaskHandle>();
_set = false;
}
protected override void OnUpdate()
{
if (HasSingleton <GameState>() == false)
{
return;
}
if (HasSingleton <BoardState>() == false)
{
return;
}
var G_State = GetSingleton <GameState>();
var B_State = GetSingleton <BoardState>();
if (G_State.IsActive == false)
{
return;
}
if (G_State.GameEnd == true)
{
return;
}
if (!(GridEntity.CalculateLength() > 0))
{
return;
}
NativeArray <Entity> GridDatas = new NativeArray <Entity>(0, Allocator.Temp);
GetGirdArray(ref GridDatas);
if (B_State.InitBoard == false)
{
CheckCanPut_AllGrid(ref G_State, ref GridDatas);
B_State.InitBoard = true;
RefreshBoardColor();
PawnCounter();
SetSingleton <BoardState>(B_State);
}
Entities.With(GridEntity).ForEach((Entity EntityData, ref GridComp GridData) =>
{
if (GridData.PutFlag == true)
{
SetGridData(GridData.GridNum, G_State.NowTurn, ref GridDatas);
Reverse(GridData.GridNum, G_State.NowTurn, ref GridDatas);
G_State.NowTurn = G_State.NowTurn == 1 ? 2 : 1;
if (!CheckCanPut_AllGrid(ref G_State, ref GridDatas))
{
G_State.NowTurn = G_State.NowTurn == 1 ? 2 : 1;
CheckCanPut_AllGrid(ref G_State, ref GridDatas);
}
//処理終了後にフラグをFalseに変更します
GridData.PutFlag = false;
SetSingleton <GameState>(G_State);
RefreshBoardColor();
PawnCounter();
}
});
GridDatas.Dispose();
}
/// <summary>Create an array with a set of initial elements.</summary>
/// <remarks>Create an array with a set of initial elements.</remarks>
/// <param name="scope">the scope to create the object in.</param>
/// <param name="elements">
/// the initial elements. Each object in this array
/// must be an acceptable JavaScript type and type
/// of array should be exactly Object[], not
/// SomeObjectSubclass[].
/// </param>
/// <returns>the new array object.</returns>
public virtual Scriptable NewArray(Scriptable scope, object[] elements)
{
if (elements.GetType().GetElementType() != ScriptRuntime.ObjectClass)
{
throw new ArgumentException();
}
NativeArray result = new NativeArray(elements);
ScriptRuntime.SetBuiltinProtoAndParent(result, scope, TopLevel.Builtins.Array);
return result;
}
public virtual void Init(Context cx)
{
// Define some global functions particular to the shell. Note
// that these functions are not part of ECMA.
InitStandardObjects(cx, sealedStdLib);
string[] names = new string[] { "defineClass", "deserialize", "doctest", "gc", "help", "load", "loadClass", "print", "quit", "readFile", "readUrl", "runCommand", "seal", "serialize", "spawn", "sync", "toint32", "version" };
DefineFunctionProperties(names, typeof(Rhino.Tools.Shell.Global), ScriptableObject.DONTENUM);
// Set up "environment" in the global scope to provide access to the
// System environment variables.
Environment.DefineClass(this);
Environment environment = new Environment(this);
DefineProperty("environment", environment, ScriptableObject.DONTENUM);
history = (NativeArray)cx.NewArray(this, 0);
DefineProperty("history", history, ScriptableObject.DONTENUM);
initialized = true;
}
/// <summary>Create an array with a specified initial length.</summary>
/// <remarks>
/// Create an array with a specified initial length.
/// <p>
/// </remarks>
/// <param name="scope">the scope to create the object in</param>
/// <param name="length">
/// the initial length (JavaScript arrays may have
/// additional properties added dynamically).
/// </param>
/// <returns>the new array object</returns>
public virtual Scriptable NewArray(Scriptable scope, int length)
{
NativeArray result = new NativeArray(length);
ScriptRuntime.SetBuiltinProtoAndParent(result, scope, TopLevel.Builtins.Array);
return result;
}
public MonitorLock()
{
_owner = null;
_waitingOwners = new NativeArray<TaskHandle>();
_count = 0;
}
internal static string NativeConcat(string[] objs)
{
NativeArray<string> sb = new NativeArray<string>();
for (int i = 0; i < objs.Length; i++)
{
sb.Push(objs[i]);
}
return sb.Join("");
}
public override void InitSystem()
{
m_entityCommandBuffer = World.GetOrCreateSystem <EndSimulationEntityCommandBufferSystem>();
m_boxBounds = new NativeArray <float3>(2, Allocator.Persistent);
}
public Condition(Lock l)
{
_lock = l;
_waitingList = new NativeArray<TaskHandle>();
}
public void Execute(int i)
{
var cell = particleGrid.usedCells[i];
BurstAabb cellBounds = new BurstAabb(float.MaxValue, float.MinValue);
// here we calculate cell bounds that enclose both the predicted position and the original position of all its particles,
// for accurate continuous collision detection.
for (int p = 0; p < cell.Length; ++p)
{
int pIndex = cell[p];
// get collision material stick distance:
float stickDistance = 0;
int materialIndex = particleMaterialIndices[pIndex];
if (materialIndex >= 0)
{
stickDistance = collisionMaterials[materialIndex].stickDistance;
}
cellBounds.EncapsulateParticle(positions[pIndex],
positions[pIndex] + velocities[pIndex] * deltaTime,
radii[pIndex].x + stickDistance);
}
// transform the cell bounds to world space:
cellBounds.Transform(solverToWorld);
// get all colliders overlapped by the cell bounds, in all grid levels:
NativeList <int> candidates = new NativeList <int>(Allocator.Temp);
for (int l = 0; l < gridLevels.Length; ++l)
{
GetCandidatesForBoundsAtLevel(candidates, cellBounds, gridLevels[l], is2D);
}
if (candidates.Length > 0)
{
// make sure each candidate collider only shows up once in the array:
NativeArray <int> uniqueCandidates = candidates.AsArray();
uniqueCandidates.Sort();
int uniqueCount = uniqueCandidates.Unique();
// iterate over candidate colliders, generating contacts for each one
for (int c = 0; c < uniqueCount; ++c)
{
int colliderIndex = uniqueCandidates[c];
BurstColliderShape shape = shapes[colliderIndex];
BurstAabb colliderBounds = bounds[colliderIndex];
BurstAffineTransform colliderToSolver = worldToSolver * transforms[colliderIndex];
// transform collider bounds to solver space:
colliderBounds.Transform(worldToSolver);
// iterate over all particles in the cell:
for (int p = 0; p < cell.Length; ++p)
{
int particleIndex = cell[p];
// skip this pair if particle and collider have the same phase:
if (shape.phase == (phases[particleIndex] & (int)Oni.ParticleFlags.GroupMask))
{
continue;
}
// get collision material stick distance:
float stickDistance = 0;
int materialIndex = particleMaterialIndices[particleIndex];
if (materialIndex >= 0)
{
stickDistance = collisionMaterials[materialIndex].stickDistance;
}
// inflate collider bounds by particle's bounds:
BurstAabb inflatedColliderBounds = colliderBounds;
inflatedColliderBounds.Expand(radii[particleIndex].x * 1.2f + stickDistance);
float4 invDir = math.rcp(velocities[particleIndex] * deltaTime);
// We check particle trajectory ray vs inflated collider aabb
// instead of checking particle vs collider aabbs directly, as this reduces
// the amount of contacts generated for fast moving particles.
if (inflatedColliderBounds.IntersectsRay(positions[particleIndex], invDir, shape.is2D != 0))
{
// generate contacts for the collider:
GenerateContacts(shape.type,
particleIndex, colliderIndex,
positions[particleIndex], orientations[particleIndex], velocities[particleIndex], radii[particleIndex],
colliderToSolver, shape, contactsQueue, deltaTime);
}
}
}
}
}
public static void WriteArray <T>(this BinaryWriter writer, NativeArray <T> data) where T : struct
{
writer.WriteBytes(data.GetUnsafeReadOnlyPtr(), data.Length * UnsafeUtility.SizeOf <T>());
}
public static void CreateEntityAndAppend(this EntityManager manager, EntityArchetype archetype, NativeArray <Entity> entities)
{
for (int i = 0; i < entities.Length; i++)
{
entities[i] = manager.CreateEntityAndAppend(archetype);
}
}
public static void ReadArray <T>(this BinaryReader reader, NativeArray <T> elements, int count) where T : struct
{
reader.ReadBytes((byte *)elements.GetUnsafePtr(), count * UnsafeUtility.SizeOf <T>());
}
private static string Ja(NativeArray value, NativeJSON.StringifyState state)
{
if (state.stack.Search(value) != -1)
{
throw ScriptRuntime.TypeError0("msg.cyclic.value");
}
state.stack.Push(value);
string stepback = state.indent;
state.indent = state.indent + state.gap;
IList<object> partial = new List<object>();
long len = value.GetLength();
for (long index = 0; index < len; index++)
{
object strP;
if (index > int.MaxValue)
{
strP = Str(System.Convert.ToString(index), value, state);
}
else
{
strP = Str((int)index, value, state);
}
if (strP == Undefined.instance)
{
partial.Add("null");
}
else
{
partial.Add(strP);
}
}
string finalValue;
if (partial.IsEmpty())
{
finalValue = "[]";
}
else
{
if (state.gap.Length == 0)
{
finalValue = '[' + Join(partial, ",") + ']';
}
else
{
string separator = ",\n" + state.indent;
string properties = Join(partial, separator);
finalValue = "[\n" + state.indent + properties + '\n' + stepback + ']';
}
}
state.stack.Pop();
state.indent = stepback;
return finalValue;
}
public static void Cleanup()
{
_count = 0;
_heap = null;
}
private static unsafe void CalculateAndStoreDeferredImpulses(
CharacterControllerStepInput stepInput, float characterMass, float3 linearVelocity, int numConstraints,
ref NativeArray <SurfaceConstraintInfo> constraints, ref BlockStream.Writer deferredImpulseWriter)
{
PhysicsWorld world = stepInput.World;
for (int i = 0; i < numConstraints; i++)
{
SurfaceConstraintInfo constraint = constraints[i];
int rigidBodyIndex = constraint.RigidBodyIndex;
if (rigidBodyIndex < 0 || rigidBodyIndex >= world.NumDynamicBodies)
{
// Invalid and static bodies should be skipped
continue;
}
RigidBody body = world.Bodies[rigidBodyIndex];
float3 pointRelVel = world.GetLinearVelocity(rigidBodyIndex, constraint.HitPosition);
pointRelVel -= linearVelocity;
float projectedVelocity = math.dot(pointRelVel, constraint.Plane.Normal);
// Required velocity change
float deltaVelocity = -projectedVelocity * stepInput.Damping;
float distance = constraint.Plane.Distance;
if (distance < 0.0f)
{
deltaVelocity += (distance / stepInput.DeltaTime) * stepInput.Tau;
}
// Calculate impulse
MotionVelocity mv = world.MotionVelocities[rigidBodyIndex];
float3 impulse = float3.zero;
if (deltaVelocity < 0.0f)
{
// Impulse magnitude
float impulseMagnitude = 0.0f;
{
float objectMassInv = GetInvMassAtPoint(constraint.HitPosition, constraint.Plane.Normal, body, mv);
impulseMagnitude = deltaVelocity / objectMassInv;
}
impulse = impulseMagnitude * constraint.Plane.Normal;
}
// Add gravity
{
// Effect of gravity on character velocity in the normal direction
float3 charVelDown = stepInput.Gravity * stepInput.DeltaTime;
float relVelN = math.dot(charVelDown, constraint.Plane.Normal);
// Subtract separation velocity if separating contact
{
bool isSeparatingContact = projectedVelocity < 0.0f;
float newRelVelN = relVelN - projectedVelocity;
relVelN = math.select(relVelN, newRelVelN, isSeparatingContact);
}
// If resulting velocity is negative, an impulse is applied to stop the character
// from falling into the body
{
float3 newImpulse = impulse;
newImpulse += relVelN * characterMass * constraint.Plane.Normal;
impulse = math.select(impulse, newImpulse, relVelN < 0.0f);
}
}
// Store impulse
deferredImpulseWriter.Write(
new DeferredCharacterControllerImpulse()
{
Entity = body.Entity,
Impulse = impulse,
Point = constraint.HitPosition
});
}
}
// TODO: This code is an infinite loop when compiled by XaeiO.Compiler2!!!!
/*
private static string SerializeArray(NativeArray<object> array)
{
StringBuilder buffer = new StringBuilder();
buffer.Append("[");
if (array.Length > 0)
{
for (int i = 0; i < array.Length - 1; i++)
{
buffer.Append(Serialize(array[i]));
buffer.Append(",");
}
buffer.Append(Serialize(array[array.Length - 1]));
}
buffer.Append("]");
return buffer.ToString();
}
*/
private static string SerializeArray(NativeArray<object> array)
{
StringBuilder buffer = new StringBuilder();
buffer.Append("[");
for (int i = 0; i < array.Length; i++)
{
buffer.Append(Serialize(array[i]));
if (i < array.Length - 1)
{
buffer.Append(",");
}
}
buffer.Append("]");
return buffer.ToString();
}
public static void ReadBytes(this BinaryReader writer, NativeArray <byte> elements, int count, int offset = 0)
{
byte *destination = (byte *)elements.GetUnsafePtr() + offset;
writer.ReadBytes(destination, count);
}
public static void MoveChunks(
NativeArray <ArchetypeChunk> chunks,
NativeArray <EntityRemapUtility.EntityRemapInfo> entityRemapping,
EntityComponentStore *srcEntityComponentStore,
ManagedComponentStore srcManagedComponentStore,
EntityGroupManager srcEntityGroupManager,
EntityComponentStore *dstEntityComponentStore,
ManagedComponentStore dstManagedComponentStore,
EntityGroupManager dstEntityGroupManager)
{
new MoveChunksJob
{
srcEntityComponentStore = srcEntityComponentStore,
dstEntityComponentStore = dstEntityComponentStore,
entityRemapping = entityRemapping,
chunks = chunks
}.Run();
int chunkCount = chunks.Length;
var remapChunks = new NativeArray <RemapChunk>(chunkCount, Allocator.TempJob);
for (int i = 0; i < chunkCount; ++i)
{
var chunk = chunks[i].m_Chunk;
var archetype = chunk->Archetype;
//TODO: this should not be done more than once for each archetype
var dstArchetype =
EntityManagerCreateArchetypeUtility.GetOrCreateArchetype(archetype->Types, archetype->TypesCount,
dstEntityComponentStore, dstEntityGroupManager);
remapChunks[i] = new RemapChunk {
chunk = chunk, dstArchetype = dstArchetype
};
chunk->SequenceNumber = dstEntityComponentStore->AssignSequenceNumber(chunk);
if (archetype->MetaChunkArchetype != null)
{
Entity srcEntity = chunk->metaChunkEntity;
Entity dstEntity;
EntityManagerCreateDestroyEntitiesUtility.CreateEntities(dstArchetype->MetaChunkArchetype,
&dstEntity, 1,
dstEntityComponentStore, dstManagedComponentStore,
dstEntityGroupManager);
srcEntityComponentStore->GetChunk(srcEntity, out var srcChunk, out var srcIndex);
dstEntityComponentStore->GetChunk(dstEntity, out var dstChunk, out var dstIndex);
ChunkDataUtility.SwapComponents(srcChunk, srcIndex, dstChunk, dstIndex, 1,
srcEntityComponentStore->GlobalSystemVersion, dstEntityComponentStore->GlobalSystemVersion);
EntityRemapUtility.AddEntityRemapping(ref entityRemapping, srcEntity, dstEntity);
EntityManagerCreateDestroyEntitiesUtility.DestroyEntities(&srcEntity, 1,
srcEntityComponentStore, srcManagedComponentStore,
srcEntityGroupManager);
}
}
k_ProfileMoveSharedComponents.Begin();
var remapShared =
dstManagedComponentStore.MoveSharedComponents(srcManagedComponentStore, chunks,
entityRemapping,
Allocator.TempJob);
k_ProfileMoveSharedComponents.End();
var remapChunksJob = new RemapChunksJob
{
dstEntityComponentStore = dstEntityComponentStore,
remapChunks = remapChunks,
entityRemapping = entityRemapping
}.Schedule(remapChunks.Length, 1);
var moveChunksBetweenArchetypeJob = new MoveChunksBetweenArchetypeJob
{
remapChunks = remapChunks,
remapShared = remapShared,
globalSystemVersion = dstEntityComponentStore->GlobalSystemVersion
}.Schedule(remapChunksJob);
moveChunksBetweenArchetypeJob.Complete();
remapShared.Dispose();
remapChunks.Dispose();
}
bool ExtractEntityRemapRefs(EntityManager srcManager, out NativeArray <EntityRemapUtility.EntityRemapInfo> entityRemapping)
{
// External entity references are "virtual" entities. If we don't have any, only real entities need remapping
int remapTableSize = srcManager.EntityCapacity;
using (var externalRefEntities = GetExternalRefEntities(srcManager, Allocator.TempJob))
{
// We can potentially have several external entity reference arrays, each one pointing to a different scene
var externalEntityRefInfos = new NativeArray <ExternalEntityRefInfo>(externalRefEntities.Length, Allocator.Temp);
for (int i = 0; i < externalRefEntities.Length; ++i)
{
// External references point to indices beyond the range used by the entities in this scene
// The highest index used by all those references defines how big the remap table has to be
externalEntityRefInfos[i] = srcManager.GetComponentData <ExternalEntityRefInfo>(externalRefEntities[i]);
var extRefs = srcManager.GetBuffer <ExternalEntityRef>(externalRefEntities[i]);
remapTableSize = math.max(remapTableSize, externalEntityRefInfos[i].EntityIndexStart + extRefs.Length);
}
// Within a scene, external scenes are identified by some ID
// In the destination world, scenes are identified by an entity
// Every entity coming from a scene needs to have a SceneTag that references the scene entity
using (var sceneTags = ExternalRefToSceneTag(externalEntityRefInfos, Allocator.TempJob))
{
entityRemapping = new NativeArray <EntityRemapUtility.EntityRemapInfo>(remapTableSize, Allocator.TempJob);
for (int i = 0; i < externalRefEntities.Length; ++i)
{
var extRefs = srcManager.GetBuffer <ExternalEntityRef>(externalRefEntities[i]);
var extRefInfo = srcManager.GetComponentData <ExternalEntityRefInfo>(externalRefEntities[i]);
// A scene that external references point to is expected to have a single public reference array
m_PublicRefFilter.SetFilter(sceneTags[i]);
using (var pubRefEntities = m_PublicRefFilter.ToEntityArray(Allocator.TempJob))
{
if (pubRefEntities.Length == 0)
{
// If the array is missing, the external scene isn't loaded, we have to wait.
entityRemapping.Dispose();
return(false);
}
var pubRefs = EntityManager.GetBuffer <PublicEntityRef>(pubRefEntities[0]);
// Proper mapping from external reference in section to entity in main world
for (int k = 0; k < extRefs.Length; ++k)
{
var srcIdx = extRefInfo.EntityIndexStart + k;
var target = pubRefs[extRefs[k].entityIndex].targetEntity;
// External references always have a version number of 1
entityRemapping[srcIdx] = new EntityRemapUtility.EntityRemapInfo
{
SourceVersion = 1,
Target = target
};
}
}
m_PublicRefFilter.ResetFilter();
}
}
}
return(true);
}
public bool AddSamples(NativeArray <float> interleavedSamples)
{
return(AddSamples(0, interleavedSamples));
}
public override void CleanComponents(NativeArray <ArchetypeChunk> chunkArray, ComponentSystemBase system,
EntityCommandBuffer buffer)
{
var entityType = system.GetArchetypeChunkEntityType();
var componentAddedType = system.GetArchetypeChunkComponentType <ComponentAdded <Improbable.Gdk.Tests.ComponentsWithNoFields.ComponentWithNoFieldsWithEvents.Component> >();
var componentRemovedType = system.GetArchetypeChunkComponentType <ComponentRemoved <Improbable.Gdk.Tests.ComponentsWithNoFields.ComponentWithNoFieldsWithEvents.Component> >();
var receivedUpdateType = system.GetArchetypeChunkComponentType <Improbable.Gdk.Tests.ComponentsWithNoFields.ComponentWithNoFieldsWithEvents.ReceivedUpdates>();
var authorityChangeType = system.GetArchetypeChunkComponentType <AuthorityChanges <Improbable.Gdk.Tests.ComponentsWithNoFields.ComponentWithNoFieldsWithEvents.Component> >();
var evtEventType = system.GetArchetypeChunkComponentType <ReceivedEvents.Evt>();
foreach (var chunk in chunkArray)
{
var entities = chunk.GetNativeArray(entityType);
// Updates
if (chunk.Has(receivedUpdateType))
{
var updateArray = chunk.GetNativeArray(receivedUpdateType);
for (int i = 0; i < entities.Length; ++i)
{
buffer.RemoveComponent <Improbable.Gdk.Tests.ComponentsWithNoFields.ComponentWithNoFieldsWithEvents.ReceivedUpdates>(entities[i]);
var updateList = updateArray[i].Updates;
// Pool update lists to avoid excessive allocation
updateList.Clear();
Improbable.Gdk.Tests.ComponentsWithNoFields.ComponentWithNoFieldsWithEvents.Update.Pool.Push(updateList);
ReferenceTypeProviders.UpdatesProvider.Free(updateArray[i].handle);
}
}
// Component Added
if (chunk.Has(componentAddedType))
{
for (int i = 0; i < entities.Length; ++i)
{
buffer.RemoveComponent <ComponentAdded <Improbable.Gdk.Tests.ComponentsWithNoFields.ComponentWithNoFieldsWithEvents.Component> >(entities[i]);
}
}
// Component Removed
if (chunk.Has(componentRemovedType))
{
for (int i = 0; i < entities.Length; ++i)
{
buffer.RemoveComponent <ComponentRemoved <Improbable.Gdk.Tests.ComponentsWithNoFields.ComponentWithNoFieldsWithEvents.Component> >(entities[i]);
}
}
// Authority
if (chunk.Has(authorityChangeType))
{
var authorityChangeArray = chunk.GetNativeArray(authorityChangeType);
for (int i = 0; i < entities.Length; ++i)
{
buffer.RemoveComponent <AuthorityChanges <Improbable.Gdk.Tests.ComponentsWithNoFields.ComponentWithNoFieldsWithEvents.Component> >(entities[i]);
AuthorityChangesProvider.Free(authorityChangeArray[i].Handle);
}
}
// Evt Event
if (chunk.Has(evtEventType))
{
var evtEventArray = chunk.GetNativeArray(evtEventType);
for (int i = 0; i < entities.Length; ++i)
{
buffer.RemoveComponent <ReceivedEvents.Evt>(entities[i]);
ReferenceTypeProviders.EvtProvider.Free(evtEventArray[i].handle);
}
}
}
}
// Update is called once per frame
protected override void OnUpdate()
{
// Make sure the world has finished building before querying it
CreatePhysicsWorldSystem.FinalJobHandle.Complete();
PhysicsWorld world = CreatePhysicsWorldSystem.PhysicsWorld;
Entities.ForEach((VehicleMechanics mechanics) =>
{
if (mechanics.wheels.Count == 0)
{
return;
}
Entity ce = mechanics.chassisEntity;
if (ce == Entity.Null)
{
return;
}
int ceIdx = world.GetRigidBodyIndex(ce);
if (-1 == ceIdx || ceIdx >= world.NumDynamicBodies)
{
return;
}
//float ceMass = world.GetMass(ceIdx);
float3 cePosition = EntityManager.GetComponentData <Translation>(ce).Value;
quaternion ceRotation = EntityManager.GetComponentData <Rotation>(ce).Value;
float3 ceCenterOfMass = world.GetCenterOfMass(ceIdx);
float3 ceUp = math.mul(ceRotation, mechanics.chassisUp);
float3 ceForward = math.mul(ceRotation, mechanics.chassisForward);
float3 ceRight = math.mul(ceRotation, mechanics.chassisRight);
var rayResults = new NativeArray <RaycastHit>(mechanics.wheels.Count, Allocator.TempJob);
var rayVelocities = new NativeArray <float3>(mechanics.wheels.Count, Allocator.TempJob);
// Collect the RayCast results
var rayInputs = new NativeArray <RaycastInput>(mechanics.wheels.Count, Allocator.TempJob);
CollisionFilter filter = world.GetCollisionFilter(ceIdx);
for (int i = 0; i < mechanics.wheels.Count; i++)
{
GameObject weGO = mechanics.wheels[i];
float3 wheelCurrentPos = weGO.transform.position;
float3 rayStart = weGO.transform.parent.position;
float3 rayEnd = (-ceUp * (mechanics.suspensionLength + mechanics.wheelBase)) + rayStart;
if (mechanics.drawDebugInformation)
{
Debug.DrawRay(rayStart, rayEnd - rayStart);
}
rayInputs[i] = new RaycastInput
{
Start = rayStart,
End = rayEnd,
Filter = filter
};
}
JobHandle rayJobHandle = ScheduleBatchRayCast(world.CollisionWorld, rayInputs, rayResults);
rayJobHandle.Complete();
for (int i = 0; i < mechanics.wheels.Count; i++)
{
RaycastHit rayResult = rayResults[i];
rayVelocities[i] = float3.zero;
if (rayResult.RigidBodyIndex != -1)
{
float3 wheelPos = rayResult.Position;
wheelPos -= (cePosition - ceCenterOfMass);
float3 velocityAtWheel = world.GetLinearVelocity(ceIdx, wheelPos);
rayVelocities[i] = velocityAtWheel;
}
}
rayInputs.Dispose();
// Calculate a simple slip factor based on chassis tilt.
float slopeSlipFactor = math.pow(math.abs(math.dot(ceUp, math.up())), 4.0f);
// Proportional apply velocity changes to each wheel
float invWheelCount = 1.0f / mechanics.wheels.Count;
for (int i = 0; i < mechanics.wheels.Count; i++)
{
GameObject weGO = mechanics.wheels[i];
float3 rayStart = weGO.transform.parent.position;
float3 rayEnd = (-ceUp * (mechanics.suspensionLength + mechanics.wheelBase)) + rayStart;
float3 rayDir = rayEnd - rayStart;
RaycastHit rayResult = rayResults[i];
//float3 velocityAtWheel = rayVelocities[i];
float3 wheelPos = rayResult.Position;
wheelPos -= (cePosition - ceCenterOfMass);
float3 velocityAtWheel = world.GetLinearVelocity(ceIdx, wheelPos);
float3 weUp = ceUp;
float3 weRight = ceRight;
float3 weForward = ceForward;
#region handle wheel steering
{
bool bIsSteeringWheel = mechanics.steeringWheels.Contains(weGO);
if (bIsSteeringWheel)
{
float steeringAngle = math.radians(mechanics.steeringAngle);
//if((mechanics.steeringWheels.IndexOf(weGO)+1) > (0.5f * mechanics.steeringWheels.Count))
// steeringAngle = -steeringAngle;
quaternion wRotation = quaternion.AxisAngle(ceUp, steeringAngle);
weRight = math.rotate(wRotation, weRight);
weForward = math.rotate(wRotation, weForward);
weGO.transform.localRotation = quaternion.AxisAngle(mechanics.chassisUp, steeringAngle);
}
}
#endregion
float currentSpeedUp = math.dot(velocityAtWheel, weUp);
float currentSpeedForward = math.dot(velocityAtWheel, weForward);
float currentSpeedRight = math.dot(velocityAtWheel, weRight);
#region handle wheel rotation
{
var rGO = weGO.transform.GetChild(0);
if (rGO)
{
bool isDriven = (mechanics.driveEngaged && mechanics.driveWheels.Contains(weGO));
float weRotation = isDriven
? (mechanics.driveDesiredSpeed / mechanics.wheelBase)
: (currentSpeedForward / mechanics.wheelBase);
weRotation = math.radians(weRotation);
rGO.transform.localRotation *= quaternion.AxisAngle(mechanics.chassisRight, weRotation);
}
}
#endregion
float3 wheelCurrentPos = weGO.transform.position;
bool hit = !math.all(rayResult.SurfaceNormal == float3.zero);
if (!hit)
{
float3 wheelDesiredPos = (-ceUp * mechanics.suspensionLength) + rayStart;
weGO.transform.position = math.lerp(wheelCurrentPos, wheelDesiredPos, mechanics.suspensionDamping / mechanics.suspensionStrength);
}
else
{
// remove the wheelbase to get wheel position.
float fraction = rayResult.Fraction - (mechanics.wheelBase) / (mechanics.suspensionLength + mechanics.wheelBase);
float3 wheelDesiredPos = math.lerp(rayStart, rayEnd, fraction);
weGO.transform.position = math.lerp(wheelCurrentPos, wheelDesiredPos, mechanics.suspensionDamping / mechanics.suspensionStrength);
#region Suspension
{
// Calculate and apply the impulses
var posA = rayEnd;
var posB = rayResult.Position;
var lvA = currentSpeedUp * weUp;// world.GetLinearVelocity(ceIdx, posA);
var lvB = world.GetLinearVelocity(rayResult.RigidBodyIndex, posB);
var impulse = mechanics.suspensionStrength * (posB - posA) + mechanics.suspensionDamping * (lvB - lvA);
impulse = impulse * invWheelCount;
float impulseUp = math.dot(impulse, weUp);
// Suspension shouldn't necessarily pull the vehicle down!
float downForceLimit = -0.25f;
if (downForceLimit < impulseUp)
{
impulse = impulseUp * weUp;
world.ApplyImpulse(ceIdx, impulse, posA);
//world.ApplyImpulse(rayResult.RigidBodyIndex, -impulse, posB);
if (mechanics.drawDebugInformation)
{
Debug.DrawRay(wheelDesiredPos, impulse, Color.green);
}
}
}
#endregion
#region Sideways friction
{
float deltaSpeedRight = (0.0f - currentSpeedRight);
deltaSpeedRight = math.clamp(deltaSpeedRight, -mechanics.wheelMaxImpulseRight, mechanics.wheelMaxImpulseRight);
deltaSpeedRight *= mechanics.wheelFrictionRight;
deltaSpeedRight *= slopeSlipFactor;
float3 impulse = deltaSpeedRight * weRight;
float effectiveMass = world.GetEffectiveMass(ceIdx, impulse, wheelPos);
impulse = impulse * effectiveMass * invWheelCount;
world.ApplyImpulse(ceIdx, impulse, wheelPos);
world.ApplyImpulse(rayResult.RigidBodyIndex, -impulse, wheelPos);
if (mechanics.drawDebugInformation)
{
Debug.DrawRay(wheelDesiredPos, impulse, Color.red);
}
}
#endregion
#region Drive
{
if (mechanics.driveEngaged && mechanics.driveWheels.Contains(weGO))
{
float deltaSpeedForward = (mechanics.driveDesiredSpeed - currentSpeedForward);
deltaSpeedForward = math.clamp(deltaSpeedForward, -mechanics.wheelMaxImpulseForward, mechanics.wheelMaxImpulseForward);
deltaSpeedForward *= mechanics.wheelFrictionForward;
deltaSpeedForward *= slopeSlipFactor;
float3 impulse = deltaSpeedForward * weForward;
float effectiveMass = world.GetEffectiveMass(ceIdx, impulse, wheelPos);
impulse = impulse * effectiveMass * invWheelCount;
world.ApplyImpulse(ceIdx, impulse, wheelPos);
world.ApplyImpulse(rayResult.RigidBodyIndex, -impulse, wheelPos);
if (mechanics.drawDebugInformation)
{
Debug.DrawRay(wheelDesiredPos, impulse, Color.blue);
}
}
}
#endregion
}
}
rayResults.Dispose();
rayVelocities.Dispose();
});
}
public static BlobAssetReference <Collider> Create(NativeArray <float3> vertices, NativeArray <int3> triangles, CollisionFilter filter) => Create(vertices, triangles, filter, Material.Default);
public static JobHandle ScheduleBatchRayCast(CollisionWorld world,
NativeArray <RaycastInput> inputs, NativeArray <RaycastHit> results)
{
JobHandle rcj = new RaycastJob
{
inputs = inputs,
results = results,
world = world
}.Schedule(inputs.Length, 5);
return(rcj);
}
internal void MoveChunksFrom(
NativeArray <ArchetypeChunk> chunks,
NativeArray <EntityRemapUtility.EntityRemapInfo> entityRemapping,
EntityComponentStore *srcEntityComponentStore,
ManagedComponentStore srcManagedComponentStore)
{
new MoveChunksJob
{
srcEntityComponentStore = srcEntityComponentStore,
dstEntityComponentStore = EntityComponentStore,
entityRemapping = entityRemapping,
chunks = chunks
}.Run();
var managedArrayChunks = new NativeList <IntPtr>(Allocator.Temp);
int chunkCount = chunks.Length;
var remapChunks = new NativeArray <RemapChunk>(chunkCount, Allocator.TempJob);
for (int i = 0; i < chunkCount; ++i)
{
var chunk = chunks[i].m_Chunk;
var archetype = chunk->Archetype;
//TODO: this should not be done more than once for each archetype
var dstArchetype = EntityComponentStore->GetOrCreateArchetype(archetype->Types, archetype->TypesCount);
remapChunks[i] = new RemapChunk {
chunk = chunk, dstArchetype = dstArchetype
};
if (archetype->NumManagedArrays > 0)
{
managedArrayChunks.Add((IntPtr)chunk);
}
if (archetype->MetaChunkArchetype != null)
{
Entity srcEntity = chunk->metaChunkEntity;
Entity dstEntity;
EntityComponentStore->CreateEntities(dstArchetype->MetaChunkArchetype, &dstEntity, 1);
var srcEntityInChunk = srcEntityComponentStore->GetEntityInChunk(srcEntity);
var dstEntityInChunk = EntityComponentStore->GetEntityInChunk(dstEntity);
ChunkDataUtility.SwapComponents(srcEntityInChunk.Chunk, srcEntityInChunk.IndexInChunk, dstEntityInChunk.Chunk, dstEntityInChunk.IndexInChunk, 1,
srcEntityComponentStore->GlobalSystemVersion, EntityComponentStore->GlobalSystemVersion);
EntityRemapUtility.AddEntityRemapping(ref entityRemapping, srcEntity, dstEntity);
srcEntityComponentStore->DestroyEntities(&srcEntity, 1);
}
}
var managedArrayDstIndices = new NativeArray <int>(managedArrayChunks.Length, Allocator.TempJob);
var managedArraySrcIndices = new NativeArray <int>(managedArrayChunks.Length, Allocator.TempJob);
EntityComponentStore->ReserveManagedObjectArrays(managedArrayDstIndices);
var remapManaged = new RemapManagedArraysJob
{
chunks = managedArrayChunks,
dstIndices = managedArrayDstIndices,
srcIndices = managedArraySrcIndices,
}.Schedule(managedArrayChunks.Length, 64);
ManagedComponentStore.Playback(ref EntityComponentStore->ManagedChangesTracker);
srcManagedComponentStore.Playback(ref srcEntityComponentStore->ManagedChangesTracker);
k_ProfileMoveObjectComponents.Begin();
remapManaged.Complete();
m_ManagedComponentStore.MoveManagedObjectArrays(managedArraySrcIndices, managedArrayDstIndices, srcManagedComponentStore);
k_ProfileMoveObjectComponents.End();
managedArrayDstIndices.Dispose();
managedArraySrcIndices.Dispose();
managedArrayChunks.Dispose();
k_ProfileMoveSharedComponents.Begin();
var remapShared =
ManagedComponentStore.MoveSharedComponents(srcManagedComponentStore, chunks, Allocator.TempJob);
k_ProfileMoveSharedComponents.End();
new ChunkPatchEntities
{
RemapChunks = remapChunks,
EntityRemapping = entityRemapping,
EntityComponentStore = EntityComponentStore
}.Run();
var remapChunksJob = new RemapChunksJob
{
dstEntityComponentStore = EntityComponentStore,
remapChunks = remapChunks,
entityRemapping = entityRemapping
}.Schedule(remapChunks.Length, 1);
var moveChunksBetweenArchetypeJob = new MoveChunksBetweenArchetypeJob
{
remapChunks = remapChunks,
remapShared = remapShared,
globalSystemVersion = EntityComponentStore->GlobalSystemVersion
}.Schedule(remapChunksJob);
moveChunksBetweenArchetypeJob.Complete();
ManagedComponentStore.Playback(ref EntityComponentStore->ManagedChangesTracker);
remapShared.Dispose();
remapChunks.Dispose();
}
private void Render(ScriptableRenderContext context, Camera camera)
{
BeginCameraRendering(camera);
ScriptableCullingParameters parameters;
if (!camera.TryGetCullingParameters(out parameters))
{
return;
}
CullingResults cullingResults = context.Cull(ref parameters);
context.SetupCameraProperties(camera);
cameraBuffer.Clear();
cameraBuffer.ClearRenderTarget((camera.clearFlags & CameraClearFlags.Depth) != 0, (camera.clearFlags & CameraClearFlags.Color) != 0, camera.backgroundColor);
context.ExecuteCommandBuffer(cameraBuffer);
//init
FilteringSettings filteringSettings = new FilteringSettings(RenderQueueRange.all);
SortingSettings sortingSettings = new SortingSettings();
DrawingSettings drawingSettings = new DrawingSettings(m_ShaderTagId, sortingSettings);
RenderShawder(context);
// cullingResults.ComputeDirectionalShadowMatricesAndCullingPrimitives();
//drawSkybox
context.DrawSkybox(camera);
#region light
var lightcount = Mathf.Min(cullingResults.visibleLights.Length, MAX_VISABLE_COUNT);
LightColors = new Vector4[MAX_VISABLE_COUNT];
LightDirections = new Vector4[MAX_VISABLE_COUNT];
LightAttenuations = new Vector4[MAX_VISABLE_COUNT];
LightSpotDirections = new Vector4[MAX_VISABLE_COUNT];
for (int i = 0; i < cullingResults.visibleLights.Length; i++)
{
if (i == MAX_VISABLE_COUNT)
{
break;
}
LightSpotDirections[i] = Vector4.zero;
LightDirections[i] = Vector4.zero;
LightAttenuations[i] = Vector4.zero;
LightColors[i] = Vector4.zero;
var light = cullingResults.visibleLights[i];
LightSpotDirections[i] = Vector4.zero;
LightAttenuations[i].w = 1f;
if (light.lightType == LightType.Directional)
{
var v = light.localToWorldMatrix.GetColumn(2);
v.x = -v.x;
v.y = -v.y;
v.z = -v.z;
v.w = 0;//
LightDirections[i] = v;
}
else
{
LightDirections[i] = cullingResults.visibleLights[i].localToWorldMatrix.GetColumn(3);
LightDirections[i].w = 1;
//衰减 (1-(dir^2/range^2)^2)^2
LightAttenuations[i].x = 1f / Mathf.Max(Mathf.Sqrt(light.range), 0.000001f);
//spot fade (lightPos*lightDir)-cos(r_out)/cos(r_in)-cos(r_out)
if (light.lightType == LightType.Spot)
{
var dir = light.localToWorldMatrix.GetColumn(2);
dir.x = -dir.x;
dir.y = -dir.y;
dir.z = -dir.z;
LightSpotDirections[i] = dir;
var outerRad = Mathf.Deg2Rad * 0.5f * light.spotAngle;
var outerCos = Mathf.Cos(outerRad);
//tan(r_in) = 46/64*tan(r_out)
var outerTan = Mathf.Tan(outerRad);
var innerCos = Mathf.Cos(Mathf.Atan(23 / 32 * outerTan));
LightAttenuations[i].z = 1 / Mathf.Max(innerCos - outerCos, 0.0001f);
LightAttenuations[i].w = -outerCos * LightAttenuations[i].z;
}
}
LightColors[i] = light.finalColor;
}
if (cullingResults.visibleLights.Length > MAX_VISABLE_COUNT)
{
NativeArray <int> lightMap = cullingResults.GetLightIndexMap(Allocator.Invalid);
for (int i = MAX_VISABLE_COUNT; i < cullingResults.visibleLights.Length; i++)
{
lightMap[i] = -1;
}
cullingResults.SetLightIndexMap(lightMap);
lightMap.Dispose();
}
cameraBuffer.Clear();
cameraBuffer.SetGlobalVectorArray(_LightDirectionsID, LightDirections);
cameraBuffer.SetGlobalVectorArray(_LightColorId, LightColors);
cameraBuffer.SetGlobalVectorArray(_LightAttenuationID, LightAttenuations);
cameraBuffer.SetGlobalVectorArray(_LightSpotDirectionID, LightSpotDirections);
context.ExecuteCommandBuffer(cameraBuffer);
#endregion
//qaueue
filteringSettings.renderQueueRange = RenderQueueRange.opaque;
sortingSettings.criteria = SortingCriteria.CommonOpaque;
context.DrawRenderers(cullingResults, ref drawingSettings, ref filteringSettings);
context.Submit();
if (shadowMap)
{
RenderTexture.ReleaseTemporary(shadowMap);
shadowMap = null;
}
}
/// <summary>
/// Sample a bunch of points along a parabolic curve until you hit gnd. At that point, cut off the parabola
/// </summary>
///
/// <param name="p0">starting point of parabola</param>
/// <param name="v0">initial parabola velocity</param>
/// <param name="a">initial acceleration</param>
/// <param name="dist">distance between sample points</param>
/// <param name="points">number of sample points</param>
/// <param name="tnm">Vive Nav Mesh used to teleport</param>
/// <param name="outPts">List that will be populated by new points</param>
/// <param name="normal">normal of hit point</param>
///
/// <returns>true if the the parabole is at the end of the NavMesh</returns>
private static bool CalculateParabolicCurve(float3 p0, Vector3 v0, Vector3 a, float dist, int points, TeleportNavMesh tnm, int excludedLayer, out NativeArray <Translation> outPts, out float3 normal, out int lastPointIndex)
{
// Init new list of points with p0 as the first point
outPts = new NativeArray <Translation>(points, Allocator.TempJob);
outPts[0] = new Translation {
Value = p0
};
float3 last = p0;
float t = 0;
for (int i = 0; i < points; i++)
{
t += dist / ParabolicCurveDeriv(v0, a, t).magnitude;
float3 next = ParabolicCurve(p0, v0, a, t);
if (TeleportNavMeshHelper.Linecast(last, next, out bool endOnNavmesh, excludedLayer, out float3 castHit, out float3 norm, tnm))
{
outPts[i] = new Translation {
Value = castHit
};
normal = norm;
lastPointIndex = i;
return(endOnNavmesh);
}
public Queue()
{
_internalArray = new NativeArray<object>();
}
public override void UpdateSystem()
{
bool leftClickPressed = m_inputManagementSystem.InputData.mouseInput.leftClickPressed;
bool leftClickReleased = m_inputManagementSystem.InputData.mouseInput.leftClickReleased;
bool leftClickDown = m_inputManagementSystem.InputData.mouseInput.leftClickDown;
if (leftClickDown || leftClickReleased)
{
Dependency = JobHandle.CombineDependencies(Dependency, m_raycastSystem.RaycastSystemDependency);
NativeArray <float3> boxBounds = m_boxBounds;
NativeArray <float3> boxBoundsSorted = new NativeArray <float3>(2, Allocator.TempJob);
NativeArray <RaycastResult> selectionRaycastResult = m_raycastSystem.SelectionRaycastResult;
NativeArray <RaycastResult> raycastResult = m_raycastSystem.RaycastResult;
//Calculate box bounds
Dependency = Job.WithReadOnly(selectionRaycastResult).WithCode(() =>
{
if (leftClickPressed)
{
boxBounds[0] = selectionRaycastResult[0].hitPosition;
}
if (leftClickDown)
{
boxBounds[1] = selectionRaycastResult[0].hitPosition;
}
boxBoundsSorted[0] = math.min(boxBounds[0], boxBounds[1]);
boxBoundsSorted[1] = math.max(boxBounds[0], boxBounds[1]);
}).Schedule(Dependency);
EntityCommandBuffer.ParallelWriter ecbConcurrent = m_entityCommandBuffer.CreateCommandBuffer().AsParallelWriter();
//Remove previous selections
if (leftClickReleased)
{
//Deselect things outside of the box
Dependency = Entities
.WithReadOnly(boxBoundsSorted)
.WithAll <SelectedTag>()
.ForEach((Entity entity, int entityInQueryIndex, in Translation translation) =>
{
if (((translation.Value.x < boxBoundsSorted[0].x) || (translation.Value.x > boxBoundsSorted[1].x) &&
(translation.Value.z < boxBoundsSorted[0].z) || (translation.Value.z > boxBoundsSorted[1].z)) &&
(raycastResult[0].raycastTargetEntity != entity))
{
ecbConcurrent.RemoveComponent <SelectedTag>(entityInQueryIndex, entity);
}
}).ScheduleParallel(Dependency);
//Select units inside the box if they aren't already selected
Dependency = Entities
.WithReadOnly(boxBoundsSorted)
.WithAll <UnitTag>()
.WithNone <SelectedTag>()
.WithReadOnly(raycastResult)
.ForEach((Entity entity, int entityInQueryIndex, in Translation translation) =>
{
if (((translation.Value.x > boxBoundsSorted[0].x) && (translation.Value.x < boxBoundsSorted[1].x) &&
(translation.Value.z > boxBoundsSorted[0].z) && (translation.Value.z < boxBoundsSorted[1].z)) ||
(raycastResult[0].raycastTargetEntity == entity))
{
ecbConcurrent.AddComponent(entityInQueryIndex, entity, new SelectedTag {
});
}
}).ScheduleParallel(Dependency);
m_entityCommandBuffer.AddJobHandleForProducer(Dependency);
redrawSelectedUnits = true;
}
boxBoundsSorted.Dispose(Dependency);
}
}
public virtual void Clear()
{
_internalArray = new NativeArray<object>();
}
//駒が挟めているかチェックして、挟めていたら反転させる
public bool CheckReverseState(int2 CheckPos, int2 CheckVector, int BaseState, int Count, ref NativeArray <Entity> Entities)
{
if (CheckPos.x < 0 && CheckPos.y < 0)
{
return(false);
}
if (!(CheckPos.x < BoardSize && CheckPos.y < BoardSize))
{
return(false);
}
if (GetGridData(CheckPos + CheckVector, ref Entities) == BaseState)
{
if (Count > 0)
{
SetGridData(CheckPos, BaseState, ref Entities);
return(true);
}
return(false);
}
int TargetGridState = GetGridData(CheckPos + CheckVector, ref Entities);
if (TargetGridState == 0 || TargetGridState == -1 || TargetGridState == 3)
{
return(false);
}
if (CheckReverseState(CheckPos + CheckVector, CheckVector, BaseState, ++Count, ref Entities))
{
SetGridData(CheckPos, BaseState, ref Entities);
return(true);
}
return(false);
}
public unsafe void Utilities_CanSetBitsInBuffer()
{
using (var array = new NativeArray <byte>(6, Allocator.Temp))
{
var arrayPtr = (byte *)array.GetUnsafePtr();
// Set bit #0.
MemoryHelpers.SetBitsInBuffer(arrayPtr, 0, 0, 1, true);
Assert.That(arrayPtr[0], Is.EqualTo(1));
Assert.That(arrayPtr[1], Is.Zero);
// Reset bit #0.
MemoryHelpers.SetBitsInBuffer(arrayPtr, 0, 0, 1, false);
Assert.That(arrayPtr[0], Is.Zero);
Assert.That(arrayPtr[1], Is.Zero);
// Set bit #4.
MemoryHelpers.SetBitsInBuffer(arrayPtr, 0, 4, 1, true);
Assert.That(arrayPtr[0], Is.EqualTo(1 << 4));
Assert.That(arrayPtr[1], Is.Zero);
// Reset bit #4.
MemoryHelpers.SetBitsInBuffer(arrayPtr, 0, 4, 1, false);
Assert.That(arrayPtr[0], Is.Zero);
Assert.That(arrayPtr[1], Is.Zero);
// Set bits #1-#5.
MemoryHelpers.SetBitsInBuffer(arrayPtr, 0, 1, 5, true);
Assert.That(arrayPtr[0], Is.EqualTo(0x3E));
Assert.That(arrayPtr[1], Is.Zero);
// Unset bits #1-#5.
MemoryHelpers.SetBitsInBuffer(arrayPtr, 0, 1, 5, false);
Assert.That(arrayPtr[0], Is.Zero);
Assert.That(arrayPtr[1], Is.Zero);
// Set bits #4-#10.
MemoryHelpers.SetBitsInBuffer(arrayPtr, 0, 4, 7, true);
Assert.That(arrayPtr[0], Is.EqualTo(0xF0));
Assert.That(arrayPtr[1], Is.EqualTo(0x07));
Assert.That(arrayPtr[2], Is.Zero);
// Unset bits #4-#10.
MemoryHelpers.SetBitsInBuffer(arrayPtr, 0, 4, 7, false);
Assert.That(arrayPtr[0], Is.Zero);
Assert.That(arrayPtr[1], Is.Zero);
Assert.That(arrayPtr[2], Is.Zero);
// Set bits #9-#28.
MemoryHelpers.SetBitsInBuffer(arrayPtr, 0, 9, 20, true);
Assert.That(arrayPtr[0], Is.Zero);
Assert.That(arrayPtr[1], Is.EqualTo(0xFE));
Assert.That(arrayPtr[2], Is.EqualTo(0xFF));
Assert.That(arrayPtr[3], Is.EqualTo(0x1F));
Assert.That(arrayPtr[4], Is.Zero);
// Unset bits #4-#10.
MemoryHelpers.SetBitsInBuffer(arrayPtr, 0, 9, 20, false);
Assert.That(arrayPtr[0], Is.Zero);
Assert.That(arrayPtr[1], Is.Zero);
Assert.That(arrayPtr[2], Is.Zero);
Assert.That(arrayPtr[3], Is.Zero);
Assert.That(arrayPtr[4], Is.Zero);
}
}
// internal TransformSceneHandle targetEffector;
public void SetUp()
{
initialized = 0;
int length = joints.Length;
edges = new NativeArray <Edge>(length, Allocator.Persistent);
positions = new NativeArray <float3>(length, Allocator.Persistent);
velocities = new NativeArray <float3>(length, Allocator.Persistent);
forces = new NativeArray <float3>(length, Allocator.Persistent);
masses = new NativeArray <float>(length, Allocator.Persistent);
flags = new NativeArray <int>(length, Allocator.Persistent);
constraints = new NativeArray <Constraint>(2, Allocator.Persistent);
sphereCollisions = new NativeArray <SphereCollision>(1, Allocator.Persistent);
for (int i = 0; i < sphereCollisions.Length; i++)
{
sphereCollisions[i] = new SphereCollision()
{
enabled = 0,
centerPosition = float3.zero,
radious = 0.0f
};
}
for (int i = 0; i < flags.Length; i++)
{
flags[i] = 0;
}
flags[0] = 0x8000;
constraints[0] = new Constraint()
{
pointIndex = 0,
fixedPosition = rootOffset,
fixedVelocity = float3.zero
};
constraints[1] = new Constraint()
{
pointIndex = -1,
fixedPosition = rootOffset,
fixedVelocity = float3.zero
};
vectorData = new NativeArray <float3>(3, Allocator.Persistent);
gravity = new float3(0.0f, -9.8f, 0.0f);
#if false
stiffness = 500.0f; //
// restLength = 1.0f;
dampingCoefficient = 1.0f;
dragCoefficient = 0.1f;
restitutionCoefficient = 0.3f;
#else
stiffness = 1300.0f; //
// restLength = 1.0f;
dampingCoefficient = 7.0f;
dragCoefficient = 2.1f;
restitutionCoefficient = 0.3f;
#endif
UnitVector =
new float3(baseAxis == BaseAxis.X ? 1.0f : 0.0f,
baseAxis == BaseAxis.Y ? 1.0f : 0.0f,
baseAxis == BaseAxis.Z ? 1.0f : 0.0f);
MakeChain(length);
baseAxis = AnimationJob.BaseAxis.Y;
timeIntervalInSeconds = 1 / 30.0f; // Time.fixedDeltaTime;
resolution = 0.5f;
timeIntervalInSeconds *= resolution;
elapsed = 0.0f;
}
public static unsafe void CheckSupport(CharacterControllerStepInput stepInput,
RigidTransform transform, float maxSlope, MaxHitsCollector <DistanceHit> distanceHitsCollector,
ref NativeArray <SurfaceConstraintInfo> constraints, out int numConstraints, out CharacterSupportState characterState,
out float3 surfaceNormal, out float3 surfaceVelocity)
{
surfaceNormal = float3.zero;
surfaceVelocity = float3.zero;
// If no hits, proclaim unsupported state
if (distanceHitsCollector.NumHits == 0)
{
characterState = CharacterSupportState.Unsupported;
numConstraints = 0;
return;
}
// Downwards direction must be normalized
float3 downwardsDirection = -stepInput.Up;
Assert.IsTrue(Unity.Physics.Math.IsNormalized(downwardsDirection));
float maxSlopeCos = math.cos(maxSlope);
// Iterate over distance hits and create constraints from them
numConstraints = 0;
for (int i = 0; i < distanceHitsCollector.NumHits; i++)
{
DistanceHit hit = distanceHitsCollector.AllHits[i];
CreateConstraint(stepInput.World, stepInput.Up,
hit.RigidBodyIndex, hit.ColliderKey, hit.Position, hit.SurfaceNormal, hit.Distance,
stepInput.SkinWidth, maxSlopeCos, ref constraints, ref numConstraints);
}
float3 initialVelocity;
{
float velAlongDownwardsDir = math.dot(stepInput.CurrentVelocity, downwardsDirection);
bool velocityIsAlongDownwardsDirection = velAlongDownwardsDir > 0.0f;
if (velocityIsAlongDownwardsDirection)
{
float3 downwardsVelocity = velAlongDownwardsDir * downwardsDirection;
initialVelocity =
math.select(downwardsVelocity, downwardsDirection, math.abs(velAlongDownwardsDir) > 1.0f) +
stepInput.Gravity * stepInput.DeltaTime;
}
else
{
initialVelocity = downwardsDirection;
}
}
// Solve downwards (don't use min delta time, try to solve full step)
float3 outVelocity = initialVelocity;
float3 outPosition = transform.pos;
SimplexSolver.Solve(stepInput.World, stepInput.DeltaTime, stepInput.DeltaTime, stepInput.Up, numConstraints,
ref constraints, ref outPosition, ref outVelocity, out float integratedTime, false);
// Reset touched state of constraints and get info on surface
{
int numSupportingPlanes = 0;
for (int j = 0; j < numConstraints; j++)
{
var constraint = constraints[j];
if (constraint.Touched)
{
numSupportingPlanes++;
surfaceNormal += constraint.Plane.Normal;
surfaceVelocity += constraint.Velocity;
constraint.Touched = false;
constraints[j] = constraint;
}
}
if (numSupportingPlanes > 0)
{
float invNumSupportingPlanes = 1.0f / numSupportingPlanes;
surfaceNormal *= invNumSupportingPlanes;
surfaceVelocity *= invNumSupportingPlanes;
surfaceNormal = math.normalize(surfaceNormal);
}
}
// Check support state
{
if (math.lengthsq(initialVelocity - outVelocity) < k_SimplexSolverEpsilonSq)
{
// If velocity hasn't changed significantly, declare unsupported state
characterState = CharacterSupportState.Unsupported;
}
else if (math.lengthsq(outVelocity) < k_SimplexSolverEpsilonSq)
{
// If velocity is very small, declare supported state
characterState = CharacterSupportState.Supported;
}
else
{
// Check if sliding or supported
outVelocity = math.normalize(outVelocity);
float slopeAngleSin = math.max(0.0f, math.dot(outVelocity, downwardsDirection) - k_SimplexSolverEpsilon);
float slopeAngleCosSq = 1 - slopeAngleSin * slopeAngleSin;
if (slopeAngleCosSq < maxSlopeCos * maxSlopeCos)
{
characterState = CharacterSupportState.Sliding;
}
else
{
characterState = CharacterSupportState.Supported;
}
}
}
}
public virtual void Init()
{
array = new NativeArray(1);
}
public static unsafe void CollideAndIntegrate(
CharacterControllerStepInput stepInput, float characterMass, bool affectBodies, Collider *collider,
MaxHitsCollector <DistanceHit> distanceHitsCollector, ref NativeArray <ColliderCastHit> castHits, ref NativeArray <SurfaceConstraintInfo> constraints,
ref RigidTransform transform, ref float3 linearVelocity, ref BlockStream.Writer deferredImpulseWriter)
{
CollideAndIntegrate(stepInput, characterMass, affectBodies, collider,
ref castHits, ref constraints, distanceHitsCollector.NumHits,
ref transform, ref linearVelocity, ref deferredImpulseWriter);
}
public StringBuilder()
{
_internalArray = new NativeArray<string>();
}
public static unsafe void CollideAndIntegrate(
CharacterControllerStepInput stepInput, float characterMass, bool affectBodies, Collider *collider,
ref NativeArray <ColliderCastHit> castHits, ref NativeArray <SurfaceConstraintInfo> constraints, int numConstraints,
ref RigidTransform transform, ref float3 linearVelocity, ref BlockStream.Writer deferredImpulseWriter)
{
// Copy parameters
float deltaTime = stepInput.DeltaTime;
float3 gravity = stepInput.Gravity;
float3 up = stepInput.Up;
PhysicsWorld world = stepInput.World;
float remainingTime = deltaTime;
float3 lastDisplacement = linearVelocity * remainingTime;
float3 newPosition = transform.pos;
quaternion orientation = transform.rot;
float3 newVelocity = linearVelocity;
float maxSlopeCos = math.cos(stepInput.MaxSlope);
const float timeEpsilon = 0.000001f;
for (int i = 0; i < stepInput.MaxIterations && remainingTime > timeEpsilon; i++)
{
float3 gravityMovement = gravity * remainingTime * remainingTime * 0.5f;
// Then do a collider cast (but not in first iteration)
if (i > 0)
{
int numCastConstraints = 0;
float3 displacement = lastDisplacement + gravityMovement;
MaxHitsCollector <ColliderCastHit> collector = new MaxHitsCollector <ColliderCastHit>(stepInput.RigidBodyIndex, 1.0f, ref castHits);
ColliderCastInput input = new ColliderCastInput()
{
Collider = collider,
Orientation = orientation,
Start = newPosition,
End = newPosition + displacement * (1.0f + stepInput.ContactTolerance),
};
world.CastCollider(input, ref collector);
// Iterate over hits and create constraints from them
for (int hitIndex = 0; hitIndex < collector.NumHits; hitIndex++)
{
ColliderCastHit hit = collector.AllHits[hitIndex];
CreateConstraint(stepInput.World, stepInput.Up,
hit.RigidBodyIndex, hit.ColliderKey, hit.Position, hit.SurfaceNormal, hit.Fraction * math.length(lastDisplacement),
stepInput.SkinWidth, maxSlopeCos, ref constraints, ref numCastConstraints);
}
numConstraints = numCastConstraints;
}
// Min delta time for solver to break
float minDeltaTime = 0.0f;
if (math.lengthsq(newVelocity) > k_SimplexSolverEpsilonSq)
{
// Min delta time to travel at least 1cm
minDeltaTime = 0.01f / math.length(newVelocity);
}
// Solve
float3 prevVelocity = newVelocity;
float3 prevPosition = newPosition;
SimplexSolver.Solve(world, remainingTime, minDeltaTime, up, numConstraints, ref constraints, ref newPosition, ref newVelocity, out float integratedTime);
// Apply impulses to hit bodies
if (affectBodies)
{
CalculateAndStoreDeferredImpulses(stepInput, characterMass, prevVelocity, numConstraints, ref constraints, ref deferredImpulseWriter);
}
float3 newDisplacement = newPosition - prevPosition;
// Check if we can walk to the position simplex solver has suggested
MaxHitsCollector <ColliderCastHit> newCollector = new MaxHitsCollector <ColliderCastHit>(stepInput.RigidBodyIndex, 1.0f, ref castHits);
int newContactIndex = -1;
// If simplex solver moved the character we need to re-cast to make sure it can move to new position
if (math.lengthsq(newDisplacement) > k_SimplexSolverEpsilon)
{
float3 displacement = newDisplacement + gravityMovement;
ColliderCastInput input = new ColliderCastInput()
{
Collider = collider,
Orientation = orientation,
Start = prevPosition,
End = prevPosition + displacement * (1.0f + stepInput.ContactTolerance)
};
world.CastCollider(input, ref newCollector);
float minFraction = float.MaxValue;
for (int hitIndex = 0; hitIndex < newCollector.NumHits; hitIndex++)
{
ColliderCastHit hit = newCollector.AllHits[hitIndex];
if (hit.Fraction < minFraction)
{
bool found = false;
for (int constraintIndex = 0; constraintIndex < numConstraints; constraintIndex++)
{
SurfaceConstraintInfo constraint = constraints[constraintIndex];
if (constraint.RigidBodyIndex == hit.RigidBodyIndex &&
constraint.ColliderKey.Equals(hit.ColliderKey))
{
found = true;
break;
}
}
if (!found)
{
minFraction = hit.Fraction;
newContactIndex = hitIndex;
}
}
}
}
// Move character along the newDisplacement direction until it reaches this new contact
if (newContactIndex >= 0)
{
ColliderCastHit newContact = newCollector.AllHits[newContactIndex];
Assert.IsTrue(newContact.Fraction >= 0.0f && newContact.Fraction <= 1.0f);
integratedTime *= newContact.Fraction;
newPosition = prevPosition + newDisplacement * newContact.Fraction;
}
remainingTime -= integratedTime;
// Remember last displacement for next iteration
lastDisplacement = newVelocity * remainingTime;
}
// Write back position and velocity
transform.pos = newPosition;
linearVelocity = newVelocity;
}
public Lock()
{
_owner = null;
_waitingOwners = new NativeArray<TaskHandle>();
}
private static void AddMaxSlopeConstraint(float3 up, ref SurfaceConstraintInfo constraint, ref NativeArray <SurfaceConstraintInfo> constraints, ref int numConstraints)
{
float verticalComponent = math.dot(constraint.Plane.Normal, up);
SurfaceConstraintInfo newConstraint = constraint;
newConstraint.Plane.Normal = math.normalize(newConstraint.Plane.Normal - verticalComponent * up);
float distance = newConstraint.Plane.Distance;
// Calculate distance to the original plane along the new normal.
// Clamp the new distance to 2x the old distance to avoid penetration recovery explosions.
newConstraint.Plane.Distance = distance / math.max(math.dot(newConstraint.Plane.Normal, constraint.Plane.Normal), 0.5f);
if (newConstraint.Plane.Distance < 0.0f)
{
// Disable penetration recovery for the original plane
constraint.Plane.Distance = 0.0f;
// Set the new constraint velocity
float3 newVel = newConstraint.Velocity - newConstraint.Plane.Normal * newConstraint.Plane.Distance;
newConstraint.Velocity = newVel;
}
// Prepare velocity to resolve penetration
ResolveConstraintPenetration(ref newConstraint);
// Add max slope constraint to the list
constraints[numConstraints++] = newConstraint;
}