protected override void OnUpdate()
{
// Make sure last frame's physics jobs are complete before any new ones start
m_InputDependencyToComplete.Complete();
float timeStep = Time.DeltaTime;
// Tweak if you want a different simulation for this world
PhysicsStep stepComponent = PhysicsStep.Default;
if (HasSingleton <PhysicsStep>())
{
stepComponent = GetSingleton <PhysicsStep>();
}
#region Build World
Dependency = PhysicsWorldBuilder.SchedulePhysicsWorldBuild(this, ref PhysicsData,
Dependency, timeStep, stepComponent.MultiThreaded > 0, stepComponent.Gravity, LastSystemVersion);
#endregion
#region Step World
// Early-out to prevent simulation context creation in stepper, generally not required
if (PhysicsData.PhysicsWorld.NumBodies <= 1)
{
return;
}
var stepInput = new SimulationStepInput()
{
World = PhysicsData.PhysicsWorld,
TimeStep = timeStep,
Gravity = stepComponent.Gravity,
SynchronizeCollisionWorld = false,
NumSolverIterations = stepComponent.SolverIterationCount,
SolverStabilizationHeuristicSettings = stepComponent.SolverStabilizationHeuristicSettings,
HaveStaticBodiesChanged = PhysicsData.HaveStaticBodiesChanged,
};
m_Stepper.ScheduleSimulationStepJobs(stepComponent.SimulationType, WorldFilter.Value, stepInput, Dependency, stepComponent.MultiThreaded > 0);
// Include the final simulation handle
// (Not FinalJobHandle since other systems shouldn't need to depend on the dispose jobs)
Dependency = JobHandle.CombineDependencies(Dependency, m_Stepper.FinalSimulationJobHandle);
#endregion
#region Export World
Dependency = PhysicsWorldExporter.SchedulePhysicsWorldExport(this, in PhysicsData.PhysicsWorld, Dependency, PhysicsData.DynamicEntityGroup);
#endregion
// Just to make sure current server step jobs are complete before next step starts
m_InputDependencyToComplete = Dependency;
}
protected override JobHandle OnUpdate(JobHandle inputDeps)
{
var handle = JobHandle.CombineDependencies(m_BuildPhysicsWorldSystem.FinalJobHandle, inputDeps);
PhysicsStep stepComponent = PhysicsStep.Default;
if (HasSingleton <PhysicsStep>())
{
stepComponent = GetSingleton <PhysicsStep>();
}
// Swap the simulation implementation if the requested type changed
if (Simulation.Type != stepComponent.SimulationType)
{
Simulation.Dispose();
Simulation = m_SimulationCreators[(int)stepComponent.SimulationType]();
}
#if !UNITY_DOTSPLAYER
float timeStep = UnityEngine.Time.fixedDeltaTime;
#else
float timeStep = Time.DeltaTime;
#endif
// Schedule the simulation jobs
var stepInput = new SimulationStepInput
{
World = m_BuildPhysicsWorldSystem.PhysicsWorld,
TimeStep = timeStep,
ThreadCountHint = stepComponent.ThreadCountHint,
Gravity = stepComponent.Gravity,
SynchronizeCollisionWorld = false,
NumSolverIterations = stepComponent.SolverIterationCount,
Callbacks = m_Callbacks
};
Simulation.ScheduleStepJobs(stepInput, handle);
FinalSimulationJobHandle = Simulation.FinalSimulationJobHandle;
FinalJobHandle = Simulation.FinalJobHandle;
// Clear the callbacks. User must enqueue them again before the next step.
m_Callbacks.Clear();
return(handle);
}
public void Update()
{
// +1 for the default static body
PhysicsWorld.Reset(m_NumStaticBodies + 1, m_NumDynamicBodies, m_NumJoints);
SimulationStepInput input = new SimulationStepInput
{
World = PhysicsWorld,
TimeStep = Time.fixedDeltaTime,
NumSolverIterations = PhysicsStep.Default.SolverIterationCount,
Gravity = PhysicsStep.Default.Gravity
};
int numOfBodies = m_NumDynamicBodies + m_NumStaticBodies;
NativeHashMap <int, int> indexMap = new NativeHashMap <int, int>(m_Bodies.Length, Allocator.TempJob);
SimulationContext.Reset(ref PhysicsWorld);
new SingleThreadedPhysicsSimulationJob
{
Bodies = m_Bodies,
Joints = m_Joints,
Input = input,
SimulationContext = SimulationContext,
IndexMap = indexMap
}.Schedule().Complete();
// Map the results to GameObjects
for (int i = 0; i < numOfBodies; i++)
{
if (!m_Bodies[i].IsDynamic)
{
continue;
}
m_BodyIndexToGameObjectMapping.TryGetValue(i, out GameObject g);
var t = g.GetComponent <Transform>();
t.position = m_Bodies[i].Position;
t.rotation = m_Bodies[i].Orientation;
}
indexMap.Dispose();
}
void StepWorldXTimes(int stepAmount)
{
PhysicsStep stepComponent = PhysicsStep.Default;
var stepInput = new SimulationStepInput
{
World = m_BuildPhysicsWorld.PhysicsWorld,
TimeStep = Time.DeltaTime,
NumSolverIterations = stepComponent.SolverIterationCount,
SolverStabilizationHeuristicSettings = stepComponent.SolverStabilizationHeuristicSettings,
Gravity = stepComponent.Gravity,
SynchronizeCollisionWorld = true
};
for (int i = 0; i < stepAmount; i++)
{
SimulationContext.Reset(stepInput);
Debug.Log("Ball position in simulation " + GetBallPosition());
Simulation.StepImmediate(stepInput, ref SimulationContext);
}
}
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,
SynchronizeCollisionWorld = true,
TimeStep = Time.fixedDeltaTime
};
// 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(ref stepInput.World);
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();
internal static void CreateRigidBodiesAndMotions(SimulationStepInput input,
NativeList <BodyInfo> bodies, NativeHashMap <int, int> indexMap)
{
NativeArray <RigidBody> dynamicBodies = input.World.DynamicBodies;
NativeArray <RigidBody> staticBodies = input.World.StaticBodies;
NativeArray <MotionData> motionDatas = input.World.MotionDatas;
NativeArray <MotionVelocity> motionVelocities = input.World.MotionVelocities;
int dynamicBodyIndex = 0;
int staticBodyIndex = 0;
for (int i = 0; i < bodies.Length; i++)
{
BodyInfo bodyInfo = bodies[i];
unsafe
{
Unity.Physics.Collider *collider = (Unity.Physics.Collider *)bodyInfo.Collider.GetUnsafePtr();
if (bodyInfo.IsDynamic)
{
dynamicBodies[dynamicBodyIndex] = new RigidBody
{
WorldFromBody = new RigidTransform(bodyInfo.Orientation, bodyInfo.Position),
Collider = bodyInfo.Collider,
Entity = Entity.Null,
CustomTags = 0
};
motionDatas[dynamicBodyIndex] = new MotionData
{
WorldFromMotion = new RigidTransform(
math.mul(bodyInfo.Orientation, collider->MassProperties.MassDistribution.Transform.rot),
math.rotate(bodyInfo.Orientation, collider->MassProperties.MassDistribution.Transform.pos) + bodyInfo.Position
),
BodyFromMotion = new RigidTransform(collider->MassProperties.MassDistribution.Transform.rot, collider->MassProperties.MassDistribution.Transform.pos),
LinearDamping = 0.0f,
AngularDamping = 0.0f
};
motionVelocities[dynamicBodyIndex] = new MotionVelocity
{
LinearVelocity = bodyInfo.LinearVelocity,
AngularVelocity = bodyInfo.AngularVelocity,
InverseInertia = math.rcp(collider->MassProperties.MassDistribution.InertiaTensor * bodyInfo.Mass),
InverseMass = math.rcp(bodyInfo.Mass),
AngularExpansionFactor = collider->MassProperties.AngularExpansionFactor,
GravityFactor = 1.0f
};
indexMap.Add(i, dynamicBodyIndex);
dynamicBodyIndex++;
}
else
{
staticBodies[staticBodyIndex] = new RigidBody
{
WorldFromBody = new RigidTransform(bodyInfo.Orientation, bodyInfo.Position),
Collider = bodyInfo.Collider,
Entity = Entity.Null,
CustomTags = 0
};
staticBodyIndex++;
}
}
}
// Create default static body
unsafe
{
staticBodies[staticBodyIndex] = new RigidBody
{
WorldFromBody = new RigidTransform(quaternion.identity, float3.zero),
Collider = default,
public static void StepImmediate(SimulationStepInput input, ref SimulationContext simulationContext)
{
ref PhysicsWorld world = ref input.World;
public SimulationJobHandles ScheduleStepJobs(SimulationStepInput input, SimulationCallbacks callbacks, JobHandle inputDeps, int threadCountHint = 0) => new SimulationJobHandles(inputDeps);
public void Step(SimulationStepInput input)
{
}
public void Update()
{
// +1 default static body
var NumStaticBodies = (m_BodyInfos.Length - m_NumDynamicBodies) + 1;
PhysicsWorld.Reset(NumStaticBodies, m_NumDynamicBodies, m_JointInfos.Length);
SimulationStepInput input = new SimulationStepInput
{
World = PhysicsWorld,
TimeStep = World.DefaultGameObjectInjectionWorld.GetExistingSystem <FixedStepSimulationSystemGroup>().Timestep,
NumSolverIterations = PhysicsStep.Default.SolverIterationCount,
SolverStabilizationHeuristicSettings = PhysicsStep.Default.SolverStabilizationHeuristicSettings,
Gravity = PhysicsStep.Default.Gravity
};
int numOfBodies = m_NumDynamicBodies + NumStaticBodies;
using (var indexMap = new NativeHashMap <int, int>(m_BodyInfos.Length, Allocator.TempJob))
{
#if HAVOK_PHYSICS_EXISTS
if (SimulateHavok)
{
HavokSimulationContext.Reset(ref PhysicsWorld);
new SingleThreadedPhysicsHavokSimulationJob
{
Bodies = m_BodyInfos,
Joints = m_JointInfos,
Input = input,
SimulationContext = HavokSimulationContext,
BodyInfoToBodiesIndexMap = indexMap
}.Run();
}
else
#endif
{
SimulationContext.Reset(input);
new SingleThreadedPhysicsSimulationJob
{
BodyInfos = m_BodyInfos,
JointInfos = m_JointInfos,
Input = input,
SimulationContext = SimulationContext,
BodyInfoToBodiesIndexMap = indexMap
}.Run();
}
}
// Map the results to GameObjects
for (int i = 0; i < m_BodyInfos.Length; i++)
{
if (!m_BodyInfos[i].IsDynamic)
{
continue;
}
m_BodyInfoIndexToGameObjectMapping.TryGetValue(i, out GameObject g);
g.transform.position = m_BodyInfos[i].Position;
g.transform.rotation = m_BodyInfos[i].Orientation;
}
}
void ISimulation.ScheduleStepJobs(SimulationStepInput input, JobHandle inputDeps, out JobHandle finalSimulationJobHandle, out JobHandle finalJobHandle) => throw new NotImplementedException();
public void ScheduleStepJobs(SimulationStepInput input, JobHandle inputDeps)
{
}
public void ScheduleStepJobs(SimulationStepInput input, JobHandle inputDeps,
out JobHandle finalSimulationJobHandle, out JobHandle finalJobHandle)
{
finalSimulationJobHandle = new JobHandle();
finalJobHandle = new JobHandle();
}
public SimulationJobHandles ScheduleStepJobs(SimulationStepInput input, SimulationCallbacks callbacks, JobHandle inputDeps, bool multiThreaded = true) => new SimulationJobHandles(inputDeps);