Example #1
0
        // Schedule all the jobs for the simulation step.
        // Enqueued callbacks can choose to inject additional jobs at defined sync points.
        // threadCountHint defines which simulation type will be called:
        //     - threadCountHint > 0 will result in default multithreaded simulation
        //     - threadCountHint <=0 will result in a very small number of jobs (1 per physics step phase) that are scheduled sequentially
        // Behavior doesn't change regardless of the threadCountHint provided.
        public unsafe SimulationJobHandles ScheduleStepJobs(SimulationStepInput input, SimulationCallbacks callbacksIn, JobHandle inputDeps, int threadCountHint = 0)
        {
            SafetyChecks.CheckFiniteAndPositiveAndThrow(input.TimeStep, nameof(input.TimeStep));
            SafetyChecks.CheckInRangeAndThrow(input.NumSolverIterations, new int2(1, int.MaxValue), nameof(input.NumSolverIterations));

            bool singleThreadedSim = (threadCountHint <= 0);

            // Dispose and reallocate input velocity buffer, if dynamic body count has increased.
            // Dispose previous collision and trigger event data streams.
            // New event streams are reallocated later when the work item count is known.
            JobHandle handle = SimulationContext.ScheduleReset(input, inputDeps, false);

            SimulationContext.TimeStep = input.TimeStep;

            StepContext = new StepContext();

            if (input.World.NumDynamicBodies == 0)
            {
                // No need to do anything, since nothing can move
                m_StepHandles = new SimulationJobHandles(handle);
                return(m_StepHandles);
            }

            SimulationCallbacks callbacks = callbacksIn ?? new SimulationCallbacks();

            // Find all body pairs that overlap in the broadphase
            var handles = input.World.CollisionWorld.ScheduleFindOverlapsJobs(
                out NativeStream dynamicVsDynamicBodyPairs, out NativeStream dynamicVsStaticBodyPairs, handle, threadCountHint);

            handle = handles.FinalExecutionHandle;
            var disposeHandle1     = handles.FinalDisposeHandle;
            var postOverlapsHandle = handle;

            // Sort all overlapping and jointed body pairs into phases
            handles = m_Scheduler.ScheduleCreatePhasedDispatchPairsJob(
                ref input.World, ref dynamicVsDynamicBodyPairs, ref dynamicVsStaticBodyPairs, handle,
                ref StepContext.PhasedDispatchPairs, out StepContext.SolverSchedulerInfo, threadCountHint);
            handle = handles.FinalExecutionHandle;
            var disposeHandle2 = handles.FinalDisposeHandle;

            // Apply gravity and copy input velocities at this point (in parallel with the scheduler, but before the callbacks)
            var applyGravityAndCopyInputVelocitiesHandle = Solver.ScheduleApplyGravityAndCopyInputVelocitiesJob(
                input.World.DynamicsWorld.MotionVelocities, SimulationContext.InputVelocities,
                input.TimeStep * input.Gravity, singleThreadedSim ? handle : postOverlapsHandle, threadCountHint);

            handle = JobHandle.CombineDependencies(handle, applyGravityAndCopyInputVelocitiesHandle);
            handle = callbacks.Execute(SimulationCallbacks.Phase.PostCreateDispatchPairs, this, ref input.World, handle);

            // Create contact points & joint Jacobians
            handles = NarrowPhase.ScheduleCreateContactsJobs(ref input.World, input.TimeStep,
                                                             ref StepContext.Contacts, ref StepContext.Jacobians, ref StepContext.PhasedDispatchPairs, handle,
                                                             ref StepContext.SolverSchedulerInfo, threadCountHint);
            handle = handles.FinalExecutionHandle;
            var disposeHandle3 = handles.FinalDisposeHandle;

            handle = callbacks.Execute(SimulationCallbacks.Phase.PostCreateContacts, this, ref input.World, handle);

            // Create contact Jacobians
            handles = Solver.ScheduleBuildJacobiansJobs(ref input.World, input.TimeStep, input.Gravity, input.NumSolverIterations,
                                                        handle, ref StepContext.PhasedDispatchPairs, ref StepContext.SolverSchedulerInfo,
                                                        ref StepContext.Contacts, ref StepContext.Jacobians, threadCountHint);
            handle = handles.FinalExecutionHandle;
            var disposeHandle4 = handles.FinalDisposeHandle;

            handle = callbacks.Execute(SimulationCallbacks.Phase.PostCreateContactJacobians, this, ref input.World, handle);

            // Solve all Jacobians
            Solver.StabilizationData solverStabilizationData = new Solver.StabilizationData(input, SimulationContext);
            handles = Solver.ScheduleSolveJacobiansJobs(ref input.World.DynamicsWorld, input.TimeStep, input.NumSolverIterations,
                                                        ref StepContext.Jacobians, ref SimulationContext.CollisionEventDataStream, ref SimulationContext.TriggerEventDataStream,
                                                        ref StepContext.SolverSchedulerInfo, solverStabilizationData, handle, threadCountHint);
            handle = handles.FinalExecutionHandle;
            var disposeHandle5 = handles.FinalDisposeHandle;

            handle = callbacks.Execute(SimulationCallbacks.Phase.PostSolveJacobians, this, ref input.World, handle);

            // Integrate motions
            handle = Integrator.ScheduleIntegrateJobs(ref input.World.DynamicsWorld, input.TimeStep, handle, threadCountHint);

            // Synchronize the collision world
            if (input.SynchronizeCollisionWorld)
            {
                handle = input.World.CollisionWorld.ScheduleUpdateDynamicTree(ref input.World, input.TimeStep, input.Gravity, handle, threadCountHint);  // TODO: timeStep = 0?
            }

            // Return the final simulation handle
            m_StepHandles.FinalExecutionHandle = handle;

            // Different dispose logic for single threaded simulation compared to "standard" threading (multi threaded)
            if (singleThreadedSim)
            {
                handle = dynamicVsDynamicBodyPairs.Dispose(handle);
                handle = dynamicVsStaticBodyPairs.Dispose(handle);
                handle = StepContext.PhasedDispatchPairs.Dispose(handle);
                handle = StepContext.Contacts.Dispose(handle);
                handle = StepContext.Jacobians.Dispose(handle);
                handle = StepContext.SolverSchedulerInfo.ScheduleDisposeJob(handle);

                m_StepHandles.FinalDisposeHandle = handle;
            }
            else
            {
                // Return the final handle, which includes disposing temporary arrays
                JobHandle *deps = stackalloc JobHandle[5]
                {
                    disposeHandle1,
                    disposeHandle2,
                    disposeHandle3,
                    disposeHandle4,
                    disposeHandle5
                };
                m_StepHandles.FinalDisposeHandle = JobHandleUnsafeUtility.CombineDependencies(deps, 5);
            }

            return(m_StepHandles);
        }
Example #2
0
        // Steps the simulation immediately on a single thread without spawning any jobs.
        public static void StepImmediate(SimulationStepInput input, ref SimulationContext simulationContext)
        {
            SafetyChecks.CheckFiniteAndPositiveAndThrow(input.TimeStep, nameof(input.TimeStep));
            SafetyChecks.CheckInRangeAndThrow(input.NumSolverIterations, new int2(1, int.MaxValue), nameof(input.NumSolverIterations));

            if (input.World.NumDynamicBodies == 0)
            {
                // No need to do anything, since nothing can move
                return;
            }

            // Inform the context of the timeStep
            simulationContext.TimeStep = input.TimeStep;

            // Find all body pairs that overlap in the broadphase
            var dynamicVsDynamicBodyPairs = new NativeStream(1, Allocator.Temp);
            var dynamicVsStaticBodyPairs  = new NativeStream(1, Allocator.Temp);
            {
                var dynamicVsDynamicBodyPairsWriter = dynamicVsDynamicBodyPairs.AsWriter();
                var dynamicVsStaticBodyPairsWriter  = dynamicVsStaticBodyPairs.AsWriter();
                input.World.CollisionWorld.FindOverlaps(ref dynamicVsDynamicBodyPairsWriter, ref dynamicVsStaticBodyPairsWriter);
            }

            // Create dispatch pairs
            var dispatchPairs = new NativeList <DispatchPairSequencer.DispatchPair>(Allocator.Temp);

            DispatchPairSequencer.CreateDispatchPairs(ref dynamicVsDynamicBodyPairs, ref dynamicVsStaticBodyPairs,
                                                      input.World.NumDynamicBodies, input.World.Joints, ref dispatchPairs);

            // Apply gravity and copy input velocities
            Solver.ApplyGravityAndCopyInputVelocities(input.World.DynamicsWorld.MotionVelocities,
                                                      simulationContext.InputVelocities, input.TimeStep * input.Gravity);

            // Narrow phase
            var contacts = new NativeStream(1, Allocator.Temp);
            {
                var contactsWriter = contacts.AsWriter();
                NarrowPhase.CreateContacts(ref input.World, dispatchPairs.AsArray(), input.TimeStep, ref contactsWriter);
            }

            // Build Jacobians
            var jacobians = new NativeStream(1, Allocator.Temp);

            {
                var contactsReader  = contacts.AsReader();
                var jacobiansWriter = jacobians.AsWriter();
                Solver.BuildJacobians(ref input.World, input.TimeStep, input.Gravity, input.NumSolverIterations,
                                      dispatchPairs.AsArray(), ref contactsReader, ref jacobiansWriter);
            }

            // Solve Jacobians
            {
                var jacobiansReader       = jacobians.AsReader();
                var collisionEventsWriter = simulationContext.CollisionEventDataStream.AsWriter();
                var triggerEventsWriter   = simulationContext.TriggerEventDataStream.AsWriter();
                Solver.StabilizationData solverStabilizationData = new Solver.StabilizationData(input, simulationContext);
                Solver.SolveJacobians(ref jacobiansReader, input.World.DynamicsWorld.MotionVelocities,
                                      input.TimeStep, input.NumSolverIterations, ref collisionEventsWriter, ref triggerEventsWriter, solverStabilizationData);
            }

            // Integrate motions
            Integrator.Integrate(input.World.DynamicsWorld.MotionDatas, input.World.DynamicsWorld.MotionVelocities, input.TimeStep);

            // Synchronize the collision world if asked for
            if (input.SynchronizeCollisionWorld)
            {
                input.World.CollisionWorld.UpdateDynamicTree(ref input.World, input.TimeStep, input.Gravity);
            }
        }