Example #1
0
        internal static JobHandle ScheduleProcessBodyPairsJobs(ref PhysicsWorld world, float timeStep, int numIterations, ref Simulation.Context context, JobHandle inputDeps)
        {
            var numWorkItems         = context.SolverSchedulerInfo.NumWorkItems;
            var contactsHandle       = NativeStream.ScheduleConstruct(out context.Contacts, numWorkItems, inputDeps, Allocator.TempJob);
            var jointJacobiansHandle = NativeStream.ScheduleConstruct(out context.JointJacobians, numWorkItems, inputDeps, Allocator.TempJob);
            var jacobiansHandle      = NativeStream.ScheduleConstruct(out context.Jacobians, numWorkItems, inputDeps, Allocator.TempJob);

            var processHandle = new ProcessBodyPairsJob
            {
                World               = world,
                TimeStep            = timeStep,
                NumIterations       = numIterations,
                PhasedDispatchPairs = context.PhasedDispatchPairs.AsDeferredJobArray(),
                SolverSchedulerInfo = context.SolverSchedulerInfo,
                ContactWriter       = context.Contacts.AsWriter(),
                JointJacobianWriter = context.JointJacobians.AsWriter(),
            }.ScheduleUnsafeIndex0(numWorkItems, 1, JobHandle.CombineDependencies(contactsHandle, jointJacobiansHandle, jacobiansHandle));


            context.DisposeProcessBodyPairs = NativeListUtilityTemp.DisposeHotFix(ref context.PhasedDispatchPairs, processHandle);

            return(processHandle);
        }
Example #2
0
        // Schedule a set of jobs which will write all overlapping body pairs to the given steam,
        // where at least one of the bodies is dynamic. The results are unsorted.
        internal JobHandle ScheduleFindOverlapsJobs(out BlockStream dynamicVsDynamicPairsStream, out BlockStream staticVsDynamicPairsStream, ref Simulation.Context context, JobHandle inputDeps)
        {
            var dynamicVsDynamicNodePairIndices = new NativeList <int2>(Allocator.TempJob);
            var staticVsDynamicNodePairIndices  = new NativeList <int2>(Allocator.TempJob);

            JobHandle allocateDeps = new AllocateDynamicVsStaticNodePairs
            {
                dynamicVsDynamicNodePairIndices = dynamicVsDynamicNodePairIndices,
                staticVsDynamicNodePairIndices  = staticVsDynamicNodePairIndices,
                dynamicBranchCount = m_DynamicTree.m_BranchCount,
                staticBranchCount  = m_StaticTree.m_BranchCount
            }.Schedule(inputDeps);

            // Build pairs of branch node indices
            JobHandle dynamicVsDynamicPairs = new DynamicVsDynamicBuildBranchNodePairsJob
            {
                Ranges          = m_DynamicTree.Ranges,
                NumBranches     = m_DynamicTree.m_BranchCount,
                NodePairIndices = dynamicVsDynamicNodePairIndices.AsDeferredJobArray()
            }.Schedule(allocateDeps);

            JobHandle staticVsDynamicPairs = new StaticVsDynamicBuildBranchNodePairsJob
            {
                DynamicRanges      = m_DynamicTree.Ranges,
                StaticRanges       = m_StaticTree.Ranges,
                NumStaticBranches  = m_StaticTree.m_BranchCount,
                NumDynamicBranches = m_DynamicTree.m_BranchCount,
                NodePairIndices    = staticVsDynamicNodePairIndices.AsDeferredJobArray()
            }.Schedule(allocateDeps);

            //@TODO: We only need a dependency on allocateDeps, but the safety system doesn't understand that we can not change length list in DynamicVsDynamicBuildBranchNodePairsJob & StaticVsDynamicBuildBranchNodePairsJob
            //       if this is a performance issue we can use [NativeDisableContainerSafetyRestriction] on DynamicVsDynamicBuildBranchNodePairsJob & StaticVsDynamicBuildBranchNodePairsJob
            JobHandle dynamicConstruct = BlockStream.ScheduleConstruct(out dynamicVsDynamicPairsStream, dynamicVsDynamicNodePairIndices, 0x0a542b34, dynamicVsDynamicPairs);
            JobHandle staticConstruct  = BlockStream.ScheduleConstruct(out staticVsDynamicPairsStream, staticVsDynamicNodePairIndices, 0x0a542666, staticVsDynamicPairs);

            // Write all overlaps to the stream (also deallocates nodePairIndices)
            JobHandle dynamicVsDynamicHandle = new DynamicVsDynamicFindOverlappingPairsJob
            {
                DynamicNodes       = m_DynamicTree.Nodes,
                BodyFilters        = m_BodyFilters,
                DynamicNodeFilters = m_DynamicTree.NodeFilters,
                PairWriter         = dynamicVsDynamicPairsStream,
                NodePairIndices    = dynamicVsDynamicNodePairIndices.AsDeferredJobArray()
            }.Schedule(dynamicVsDynamicNodePairIndices, 1, JobHandle.CombineDependencies(dynamicVsDynamicPairs, dynamicConstruct));

            // Write all overlaps to the stream (also deallocates nodePairIndices)
            JobHandle staticVsDynamicHandle = new StaticVsDynamicFindOverlappingPairsJob
            {
                StaticNodes        = m_StaticTree.Nodes,
                DynamicNodes       = m_DynamicTree.Nodes,
                BodyFilters        = m_BodyFilters,
                StaticNodeFilters  = m_StaticTree.NodeFilters,
                DynamicNodeFilters = m_DynamicTree.NodeFilters,
                PairWriter         = staticVsDynamicPairsStream,
                NodePairIndices    = staticVsDynamicNodePairIndices.AsDeferredJobArray()
            }.Schedule(staticVsDynamicNodePairIndices, 1, JobHandle.CombineDependencies(staticVsDynamicPairs, staticConstruct));

            // Dispose node pair lists
            context.DisposeOverlapPairs0 = NativeListUtilityTemp.DisposeHotFix(ref dynamicVsDynamicNodePairIndices, dynamicVsDynamicHandle);
            context.DisposeOverlapPairs1 = NativeListUtilityTemp.DisposeHotFix(ref staticVsDynamicNodePairIndices, staticVsDynamicHandle);

            return(JobHandle.CombineDependencies(dynamicVsDynamicHandle, staticVsDynamicHandle));
        }
        // Schedule a set of jobs which will write all overlapping body pairs to the given steam,
        // where at least one of the bodies is dynamic. The results are unsorted.
        public SimulationJobHandles ScheduleFindOverlapsJobs(out NativeStream dynamicVsDynamicPairsStream, out NativeStream staticVsDynamicPairsStream,
                                                             JobHandle inputDeps, int threadCountHint = 0)
        {
            SimulationJobHandles returnHandles = default;

            if (threadCountHint <= 0)
            {
                dynamicVsDynamicPairsStream        = new NativeStream(1, Allocator.TempJob);
                staticVsDynamicPairsStream         = new NativeStream(1, Allocator.TempJob);
                returnHandles.FinalExecutionHandle = new FindOverlapsJob
                {
                    Broadphase = this,
                    DynamicVsDynamicPairsWriter = dynamicVsDynamicPairsStream.AsWriter(),
                    StaticVsDynamicPairsWriter  = staticVsDynamicPairsStream.AsWriter()
                }.Schedule(inputDeps);

                return(returnHandles);
            }

            var dynamicVsDynamicNodePairIndices = new NativeList <int2>(Allocator.TempJob);
            var staticVsDynamicNodePairIndices  = new NativeList <int2>(Allocator.TempJob);

            JobHandle allocateDeps = new AllocateDynamicVsStaticNodePairs
            {
                dynamicVsDynamicNodePairIndices = dynamicVsDynamicNodePairIndices,
                staticVsDynamicNodePairIndices  = staticVsDynamicNodePairIndices,
                dynamicBranchCount = m_DynamicTree.BranchCount,
                staticBranchCount  = m_StaticTree.BranchCount
            }.Schedule(inputDeps);

            // Build pairs of branch node indices
            JobHandle dynamicVsDynamicPairs = new DynamicVsDynamicBuildBranchNodePairsJob
            {
                Ranges          = m_DynamicTree.Ranges,
                NumBranches     = m_DynamicTree.BranchCount,
                NodePairIndices = dynamicVsDynamicNodePairIndices.AsDeferredJobArray()
            }.Schedule(allocateDeps);

            JobHandle staticVsDynamicPairs = new StaticVsDynamicBuildBranchNodePairsJob
            {
                DynamicRanges      = m_DynamicTree.Ranges,
                StaticRanges       = m_StaticTree.Ranges,
                NumStaticBranches  = m_StaticTree.BranchCount,
                NumDynamicBranches = m_DynamicTree.BranchCount,
                NodePairIndices    = staticVsDynamicNodePairIndices.AsDeferredJobArray()
            }.Schedule(allocateDeps);

            //@TODO: We only need a dependency on allocateDeps, but the safety system doesn't understand that we can not change length list in DynamicVsDynamicBuildBranchNodePairsJob & StaticVsDynamicBuildBranchNodePairsJob
            //       if this is a performance issue we can use [NativeDisableContainerSafetyRestriction] on DynamicVsDynamicBuildBranchNodePairsJob & StaticVsDynamicBuildBranchNodePairsJob
            JobHandle dynamicConstruct = NativeStream.ScheduleConstruct(out dynamicVsDynamicPairsStream, dynamicVsDynamicNodePairIndices, dynamicVsDynamicPairs, Allocator.TempJob);
            JobHandle staticConstruct  = NativeStream.ScheduleConstruct(out staticVsDynamicPairsStream, staticVsDynamicNodePairIndices, staticVsDynamicPairs, Allocator.TempJob);

            // Write all overlaps to the stream (also deallocates nodePairIndices)
            JobHandle dynamicVsDynamicHandle = new DynamicVsDynamicFindOverlappingPairsJob
            {
                DynamicTree     = m_DynamicTree,
                PairWriter      = dynamicVsDynamicPairsStream.AsWriter(),
                NodePairIndices = dynamicVsDynamicNodePairIndices.AsDeferredJobArray()
            }.Schedule(dynamicVsDynamicNodePairIndices, 1, JobHandle.CombineDependencies(dynamicVsDynamicPairs, dynamicConstruct));

            // Write all overlaps to the stream (also deallocates nodePairIndices)
            JobHandle staticVsDynamicHandle = new StaticVsDynamicFindOverlappingPairsJob
            {
                StaticTree      = m_StaticTree,
                DynamicTree     = m_DynamicTree,
                PairWriter      = staticVsDynamicPairsStream.AsWriter(),
                NodePairIndices = staticVsDynamicNodePairIndices.AsDeferredJobArray()
            }.Schedule(staticVsDynamicNodePairIndices, 1, JobHandle.CombineDependencies(staticVsDynamicPairs, staticConstruct));

            // Dispose node pair lists
            var disposeOverlapPairs0 = NativeListUtilityTemp.DisposeHotFix(ref dynamicVsDynamicNodePairIndices, dynamicVsDynamicHandle);
            var disposeOverlapPairs1 = NativeListUtilityTemp.DisposeHotFix(ref staticVsDynamicNodePairIndices, staticVsDynamicHandle);

            returnHandles.FinalDisposeHandle   = JobHandle.CombineDependencies(disposeOverlapPairs0, disposeOverlapPairs1);
            returnHandles.FinalExecutionHandle = JobHandle.CombineDependencies(dynamicVsDynamicHandle, staticVsDynamicHandle);

            return(returnHandles);
        }