public unsafe void BuildTreeAndOverlapTasks([Values(2, 10, 33, 100)] int elementCount)
{
const int threadCount = 8;
elementCount *= 2;
int numNodes = elementCount + Constants.MaxNumTreeBranches;
var points = new NativeArray <PointAndIndex>(elementCount, Allocator.TempJob, NativeArrayOptions.UninitializedMemory);
var aabbs = new NativeArray <Aabb>(elementCount, Allocator.TempJob, NativeArrayOptions.UninitializedMemory);
var filters = new NativeArray <CollisionFilter>(elementCount, Allocator.TempJob, NativeArrayOptions.UninitializedMemory);
var nodefilters = new NativeArray <CollisionFilter>(numNodes, Allocator.TempJob, NativeArrayOptions.UninitializedMemory);
var branchCount = new NativeArray <int>(1, Allocator.TempJob, NativeArrayOptions.UninitializedMemory);
InitInputWithCopyArrays(points, aabbs, filters);
// Override filter data with default filters.
for (int i = 0; i < filters.Length; i++)
{
filters[i] = CollisionFilter.Default;
}
for (int i = 0; i < nodefilters.Length; i++)
{
nodefilters[i] = CollisionFilter.Default;
}
var nodes = new NativeArray <Node>(numNodes, Allocator.TempJob, NativeArrayOptions.UninitializedMemory);
var ranges = new NativeArray <Range>(Constants.MaxNumTreeBranches, Allocator.TempJob, NativeArrayOptions.UninitializedMemory);
var branchNodeOffset = new NativeArray <int>(Constants.MaxNumTreeBranches, Allocator.TempJob, NativeArrayOptions.UninitializedMemory);
JobHandle handle = new BuildFirstNLevelsJob
{
Points = points,
Nodes = (Node *)nodes.GetUnsafePtr(),
Ranges = ranges,
BranchNodeOffsets = branchNodeOffset,
BranchCount = branchCount,
ThreadCount = threadCount,
}.Schedule();
handle = new BuildBranchesJob
{
Points = points,
Aabbs = aabbs,
BodyFilters = filters,
Nodes = (Node *)nodes.GetUnsafePtr(),
Ranges = ranges,
BranchNodeOffsets = branchNodeOffset,
BranchCount = branchCount
}.Schedule(Constants.MaxNumTreeBranches, 1, handle);
handle = new FinalizeTreeJob
{
Aabbs = aabbs,
LeafFilters = filters,
Nodes = (Node *)nodes.GetUnsafePtr(),
BranchNodeOffsets = branchNodeOffset,
NumNodes = numNodes,
BranchCount = branchCount
}.Schedule(handle);
handle.Complete();
int numBranchOverlapPairs = branchCount[0] * (branchCount[0] + 1) / 2;
var nodePairIndices = new NativeArray <int2>(numBranchOverlapPairs, Allocator.TempJob, NativeArrayOptions.UninitializedMemory);
var collisionPairs = new BlockStream(numBranchOverlapPairs, 0xb08c3d78);
handle = new Broadphase.DynamicVsDynamicBuildBranchNodePairsJob
{
Ranges = ranges,
NumBranches = branchCount[0],
NodePairIndices = nodePairIndices
}.Schedule();
handle = new Broadphase.DynamicVsDynamicFindOverlappingPairsJob
{
DynamicNodes = nodes,
PairWriter = collisionPairs,
BodyFilters = filters,
NodePairIndices = nodePairIndices,
DynamicNodeFilters = nodefilters,
}.Schedule(numBranchOverlapPairs, numBranchOverlapPairs, handle);
handle.Complete();
int numPairs = collisionPairs.ComputeItemCount();
Debug.Log($"Num colliding pairs: {numPairs}");
var bvh = new BoundingVolumeHierarchy(nodes);
bvh.CheckIntegrity();
Assert.IsTrue(elementCount / 2 == numPairs);
filters.Dispose();
nodefilters.Dispose();
nodes.Dispose();
ranges.Dispose();
collisionPairs.Dispose();
branchCount.Dispose();
}
public unsafe void BuildTreeTasks([Values(2, 10, 33, 100, 1000)] int elementCount)
{
const int threadCount = 8;
int numNodes = elementCount + Constants.MaxNumTreeBranches;
var points = new NativeArray <PointAndIndex>(elementCount, Allocator.TempJob, NativeArrayOptions.UninitializedMemory);
var aabbs = new NativeArray <Aabb>(elementCount, Allocator.TempJob, NativeArrayOptions.UninitializedMemory);
var filters = new NativeArray <CollisionFilter>(elementCount, Allocator.TempJob, NativeArrayOptions.UninitializedMemory);
InitInputArrays(points, aabbs, filters);
var nodes = new NativeArray <Node>(numNodes, Allocator.TempJob, NativeArrayOptions.UninitializedMemory);
var ranges = new NativeArray <Range>(Constants.MaxNumTreeBranches, Allocator.TempJob, NativeArrayOptions.UninitializedMemory);
var branchNodeOffset = new NativeArray <int>(Constants.MaxNumTreeBranches, Allocator.TempJob, NativeArrayOptions.UninitializedMemory);
var branchCount = new NativeArray <int>(1, Allocator.TempJob, NativeArrayOptions.UninitializedMemory);
var handle = new BuildFirstNLevelsJob
{
Points = points,
Nodes = (Node *)nodes.GetUnsafePtr(),
Ranges = ranges,
BranchNodeOffsets = branchNodeOffset,
BranchCount = branchCount,
ThreadCount = threadCount
}.Schedule();
var task2 = new BuildBranchesJob
{
Points = points,
Aabbs = aabbs,
BodyFilters = filters,
Nodes = (Node *)nodes.GetUnsafePtr(),
NodeFilters = null,
Ranges = ranges,
BranchNodeOffsets = branchNodeOffset,
BranchCount = branchCount
};
var task3 = new FinalizeTreeJob
{
Aabbs = aabbs,
Nodes = (Node *)nodes.GetUnsafePtr(),
BranchNodeOffsets = branchNodeOffset,
NumNodes = nodes.Length,
LeafFilters = filters,
BranchCount = branchCount
};
handle = task2.Schedule(Constants.MaxNumTreeBranches, 1, handle);
handle = task3.Schedule(handle);
handle.Complete();
var bvh = new BoundingVolumeHierarchy(nodes);
bvh.CheckIntegrity();
filters.Dispose();
nodes.Dispose();
ranges.Dispose();
branchCount.Dispose();
}