// Schedule all the jobs for the simulation step.
// Enqueued callbacks can choose to inject additional jobs at defined sync points.
public unsafe void ScheduleStepJobs(SimulationStepInput input, JobHandle inputDeps)
{
if (input.TimeStep < 0)
{
throw new ArgumentOutOfRangeException();
}
if (input.ThreadCountHint <= 0)
{
throw new ArgumentOutOfRangeException();
}
if (input.NumSolverIterations <= 0)
{
throw new ArgumentOutOfRangeException();
}
// Dispose event streams from previous frame
JobHandle handle = DisposeEventStreams(inputDeps);
// Allocate storage for input velocities
m_Storage.InputVelocityCount = input.World.NumDynamicBodies;
m_Context = new Context
{
TimeStep = input.TimeStep,
InputVelocities = m_Storage.InputVelocities
};
if (input.World.NumDynamicBodies == 0)
{
// No need to do anything, since nothing can move
FinalSimulationJobHandle = handle;
FinalJobHandle = handle;
return;
}
SimulationCallbacks callbacks = input.Callbacks ?? new SimulationCallbacks();
// Find all body pairs that overlap in the broadphase
handle = input.World.CollisionWorld.Broadphase.ScheduleFindOverlapsJobs(
out BlockStream dynamicVsDynamicBodyPairs, out BlockStream dynamicVsStaticBodyPairs, ref m_Context, handle);
var postOverlapsHandle = handle;
// Sort all overlapping and jointed body pairs into phases
handle = m_Scheduler.ScheduleCreatePhasedDispatchPairsJob(
ref input.World, ref dynamicVsDynamicBodyPairs, ref dynamicVsStaticBodyPairs, ref m_Context, handle);
// Apply gravity and copy input velocities at this point (in parallel with the scheduler, but before the callbacks)
var applyGravityAndCopyInputVelocitiesHandle = Solver.ScheduleApplyGravityAndCopyInputVelocitiesJob(
ref input.World.DynamicsWorld, m_Storage.InputVelocities, input.TimeStep * input.Gravity, postOverlapsHandle);
handle = JobHandle.CombineDependencies(handle, applyGravityAndCopyInputVelocitiesHandle);
handle = callbacks.Execute(SimulationCallbacks.Phase.PostCreateDispatchPairs, this, ref input.World, handle);
// Create contact points & joint Jacobians
handle = NarrowPhase.ScheduleProcessBodyPairsJobs(ref input.World, input.TimeStep, input.NumSolverIterations, ref m_Context, handle);
handle = callbacks.Execute(SimulationCallbacks.Phase.PostCreateContacts, this, ref input.World, handle);
// Create contact Jacobians
handle = Solver.ScheduleBuildContactJacobiansJobs(ref input.World.DynamicsWorld, input.TimeStep, math.length(input.Gravity), ref m_Context, handle);
handle = callbacks.Execute(SimulationCallbacks.Phase.PostCreateContactJacobians, this, ref input.World, handle);
// Solve all Jacobians
handle = Solver.ScheduleSolveJacobiansJobs(ref input.World.DynamicsWorld, input.TimeStep, input.NumSolverIterations, ref m_Context, handle);
handle = callbacks.Execute(SimulationCallbacks.Phase.PostSolveJacobians, this, ref input.World, handle);
// Integrate motions
handle = Integrator.ScheduleIntegrateJobs(ref input.World.DynamicsWorld, input.TimeStep, handle);
// Synchronize the collision world
if (input.SynchronizeCollisionWorld)
{
handle = input.World.CollisionWorld.ScheduleUpdateDynamicLayer(ref input.World, input.TimeStep, input.Gravity, input.ThreadCountHint, handle); // TODO: timeStep = 0?
}
// Return the final simulation handle
FinalSimulationJobHandle = handle;
// Return the final handle, which includes disposing temporary arrays
JobHandle *deps = stackalloc JobHandle[11]
{
FinalSimulationJobHandle,
m_Context.DisposeOverlapPairs0,
m_Context.DisposeOverlapPairs1,
m_Context.DisposeBroadphasePairs0,
m_Context.DisposeBroadphasePairs1,
m_Context.DisposeContacts,
m_Context.DisposeJacobians,
m_Context.DisposeJointJacobians,
m_Context.DisposeSolverSchedulerData,
m_Context.DisposeProcessBodyPairs,
m_Context.DisposePhasedDispatchPairs
};
FinalJobHandle = JobHandleUnsafeUtility.CombineDependencies(deps, 11);
}
// Schedule all the jobs for the simulation step.
// Enqueued callbacks can choose to inject additional jobs at defined sync points.
public void ScheduleStepJobs(SimulationStepInput input, JobHandle inputDeps, out JobHandle finalSimulationJobHandle, out JobHandle finalJobHandle)
{
// Dispose event streams from previous frame
DisposeEventStreams();
m_Context = new Context();
if (input.World.NumDynamicBodies == 0)
{
// No need to do anything, since nothing can move
finalSimulationJobHandle = new JobHandle();
finalJobHandle = new JobHandle();
return;
}
SimulationCallbacks callbacks = input.Callbacks ?? new SimulationCallbacks();
JobHandle handle = inputDeps;
// We need to make sure that broadphase tree building is done before we schedule FindOverlapsJobs.
handle.Complete();
// Find all body pairs that overlap in the broadphase
handle = input.World.CollisionWorld.Broadphase.ScheduleFindOverlapsJobs(
out BlockStream dynamicVsDynamicBroadphasePairsStream, out BlockStream staticVsDynamicBroadphasePairsStream, handle);
handle.Complete(); // Need to know the total number of pairs before continuing
// Create phased dispatch pairs for all interacting body pairs
handle = m_Scheduler.ScheduleCreatePhasedDispatchPairsJob(
ref input.World, ref dynamicVsDynamicBroadphasePairsStream, ref staticVsDynamicBroadphasePairsStream, ref m_Context, handle);
handle.Complete(); // Need to know the total number of work items before continuing
handle = callbacks.Execute(SimulationCallbacks.Phase.PostCreateDispatchPairs, this, handle);
m_Context.CreateBodyPairsHandle = handle;
// Create contact points & joint Jacobians
handle = NarrowPhase.ScheduleProcessBodyPairsJobs(ref input.World, input.TimeStep, input.NumSolverIterations, ref m_Context, handle);
handle = callbacks.Execute(SimulationCallbacks.Phase.PostCreateContacts, this, handle);
m_Context.CreateContactsHandle = handle;
// Create contact Jacobians
handle = Solver.ScheduleBuildContactJacobiansJobs(ref input.World.DynamicsWorld, input.TimeStep, ref m_Context, handle);
handle = callbacks.Execute(SimulationCallbacks.Phase.PostCreateContactJacobians, this, handle);
m_Context.CreateContactJacobiansHandle = handle;
// Solve all Jacobians
int numIterations = input.NumSolverIterations > 0 ? input.NumSolverIterations : 4;
handle = Solver.ScheduleSolveJacobiansJobs(ref input.World.DynamicsWorld, input.TimeStep, input.Gravity, numIterations, ref m_Context, handle);
handle = callbacks.Execute(SimulationCallbacks.Phase.PostSolveJacobians, this, handle);
m_Context.SolveContactJacobiansHandle = handle;
// Integration motions
handle = Integrator.ScheduleIntegrateJobs(ref input.World.DynamicsWorld, input.TimeStep, input.Gravity, handle);
handle = callbacks.Execute(SimulationCallbacks.Phase.PostIntegrateMotions, this, handle);
m_Context.IntegrateMotionsHandle = handle;
// Synchronize the collision world
if (input.SynchronizeCollisionWorld)
{
handle = input.World.CollisionWorld.ScheduleUpdateDynamicLayer(ref input.World, input.TimeStep, input.ThreadCountHint, handle); // TODO: timeStep = 0?
}
// Return the final simulation handle
finalSimulationJobHandle = handle;
// Return the final handle, which includes disposing temporary arrays
finalJobHandle = JobHandle.CombineDependencies(finalSimulationJobHandle, m_Context.DisposeBroadphasePairs, m_Context.DisposeContacts);
finalJobHandle = JobHandle.CombineDependencies(finalJobHandle, m_Context.DisposeJacobians, m_Context.DisposeJointJacobians);
finalJobHandle = JobHandle.CombineDependencies(finalJobHandle, m_Context.DisposeSolverSchedulerData);
}