/// <summary>
/// Schedule building of the static layer in broadphase.
/// Note: If param staticLayerChangeInfo.HaveStaticBodiesChanged indicates static layer needs to be rebuilt,
/// than Adjust* jobs will early out and Build* jobs will be executed.
/// Otherwise if staticLayerChangeInfo indicates that rebuild is not required,
/// Adjust* jobs will be executed and Build* will early out in runtime.
/// </summary>
public unsafe JobHandle ScheduleStaticTreeBuildJobs(
ref PhysicsWorld world, int numThreadsHint, ref StaticLayerChangeInfo staticLayerChangeInfo,
NativeArray <CollisionFilter> previousFrameBodyFilters, JobHandle inputDeps)
{
JobHandle handle = inputDeps;
m_StaticTree.NodeCount = world.NumStaticBodies + BoundingVolumeHierarchy.Constants.MaxNumTreeBranches;
int dynamicBodyDiffFromPreviousFrame = world.NumDynamicBodies - m_DynamicTree.BodyCount;
// Fix up the static tree.
JobHandle adjustBodyIndices = new AdjustBodyIndicesJob
{
StaticNodes = m_StaticTree.Nodes,
NumStaticNodes = m_StaticTree.Nodes.Length,
NumDynamicBodiesDiff = dynamicBodyDiffFromPreviousFrame,
HaveStaticBodiesChanged = staticLayerChangeInfo.HaveStaticBodiesChangedArray
}.Schedule(handle);
// Fix up body filters for static bodies.
JobHandle adjustStaticBodyFilters = new AdjustStaticBodyFilters
{
NumDynamicBodiesDiff = dynamicBodyDiffFromPreviousFrame,
PreviousFrameBodyFilters = previousFrameBodyFilters,
BodyFilters = m_BodyFilters,
NumStaticBodies = world.NumStaticBodies,
NumDynamicBodies = world.NumDynamicBodies,
HaveStaticBodiesChanged = staticLayerChangeInfo.HaveStaticBodiesChangedArray
}.Schedule(handle);
handle = JobHandle.CombineDependencies(adjustBodyIndices, adjustStaticBodyFilters);
var aabbs = new NativeArray <Aabb>(world.NumBodies, Allocator.TempJob, NativeArrayOptions.UninitializedMemory);
var lookup = new NativeArray <PointAndIndex>(world.NumStaticBodies, Allocator.TempJob, NativeArrayOptions.UninitializedMemory);
handle = new BuildStaticBodyDataJob
{
RigidBodies = world.StaticBodies,
Aabbs = aabbs,
FiltersOut = new NativeSlice <CollisionFilter>(m_BodyFilters, world.NumDynamicBodies, world.NumStaticBodies),
Lookup = lookup,
Offset = world.NumDynamicBodies,
AabbMargin = world.CollisionWorld.CollisionTolerance / 2.0f // each body contributes half,
}.ScheduleUnsafeIndex0(staticLayerChangeInfo.NumStaticBodiesArray, 32, handle);
return(m_StaticTree.BoundingVolumeHierarchy.ScheduleBuildJobs(
lookup, aabbs, m_BodyFilters, staticLayerChangeInfo.HaveStaticBodiesChangedArray, numThreadsHint, handle,
m_StaticTree.NodeCount, m_StaticTree.Ranges, m_StaticTree.m_BranchCount));
}
/// <summary>
/// Schedule a set of jobs to build the broadphase based on the given world.
/// </summary>
public JobHandle ScheduleBuildJobs(ref PhysicsWorld world, float timeStep, float3 gravity, int numThreadsHint, ref StaticLayerChangeInfo staticLayerChangeInfo, JobHandle inputDeps)
{
var previousFrameBodyFilters = new NativeArray <CollisionFilter>(m_BodyFilters, Allocator.TempJob);
if (world.NumBodies > m_BodyFilters.Length)
{
m_BodyFilters.Dispose();
m_BodyFilters = new NativeArray <CollisionFilter>(world.NumBodies, Allocator.Persistent, NativeArrayOptions.UninitializedMemory);
}
m_StaticTree.BodyCount = world.NumStaticBodies;
JobHandle staticTree = ScheduleStaticTreeBuildJobs(ref world, numThreadsHint, ref staticLayerChangeInfo, previousFrameBodyFilters, inputDeps);
m_DynamicTree.BodyCount = world.NumDynamicBodies;
JobHandle dynamicTree = inputDeps;
if (world.NumDynamicBodies > 0)
{
dynamicTree = ScheduleDynamicTreeBuildJobs(ref world, timeStep, gravity, numThreadsHint, inputDeps);
}
return(JobHandle.CombineDependencies(staticTree, dynamicTree));
}
public JobHandle ScheduleBuildJobs(ref PhysicsWorld world, float timeStep, int numThreadsHint, ref StaticLayerChangeInfo staticLayerChangeInfo, JobHandle inputDeps)
{
PhysicsStep stepComponent = PhysicsStep.Default;
return(ScheduleBuildJobs(ref world, timeStep, stepComponent.Gravity, numThreadsHint, ref staticLayerChangeInfo, inputDeps));
}
