internal static unsafe void ExecuteImpl(ref PhysicsWorld world, sfloat timeStep,
NativeArray <DispatchPairSequencer.DispatchPair> dispatchPairs,
int dispatchPairReadOffset, int numPairsToRead, ref NativeStream.Writer contactWriter)
{
for (int i = 0; i < numPairsToRead; i++)
{
DispatchPairSequencer.DispatchPair dispatchPair = dispatchPairs[dispatchPairReadOffset + i];
// Invalid pairs can exist by being disabled by users
if (dispatchPair.IsValid)
{
if (dispatchPair.IsContact)
{
// Create contact manifolds for this pair of bodies
var pair = new BodyIndexPair
{
BodyIndexA = dispatchPair.BodyIndexA,
BodyIndexB = dispatchPair.BodyIndexB
};
RigidBody rigidBodyA = world.Bodies[pair.BodyIndexA];
RigidBody rigidBodyB = world.Bodies[pair.BodyIndexB];
MotionVelocity motionVelocityA = pair.BodyIndexA < world.MotionVelocities.Length ?
world.MotionVelocities[pair.BodyIndexA] : MotionVelocity.Zero;
MotionVelocity motionVelocityB = pair.BodyIndexB < world.MotionVelocities.Length ?
world.MotionVelocities[pair.BodyIndexB] : MotionVelocity.Zero;
ManifoldQueries.BodyBody(rigidBodyA, rigidBodyB, motionVelocityA, motionVelocityB,
world.CollisionWorld.CollisionTolerance, timeStep, pair, ref contactWriter);
}
}
}
}
public void Disable()
{
BodyIndexPair = BodyIndexPair.Invalid;
}