// Schedule some jobs to build Jacobians from the contacts stored in the simulation context
public static JobHandle ScheduleBuildContactJacobiansJobs(ref DynamicsWorld world, float timeStep, ref Simulation.Context context, JobHandle inputDeps)
{
var buildJob = new BuildContactJacobiansJob
{
ContactReader = context.Contacts,
JointJacobianReader = context.JointJacobians,
JacobianWriter = context.Jacobians,
TimeStep = timeStep,
MotionDatas = world.MotionDatas,
MotionVelocities = world.MotionVelocities
};
int numWorkItems = context.SolverSchedulerInfo.NumWorkItems;
JobHandle handle = buildJob.Schedule(numWorkItems, 1, inputDeps);
context.DisposeContacts = context.Contacts.ScheduleDispose(handle);
return(handle);
}
// Schedule some jobs to build Jacobians from the contacts stored in the simulation context
internal static JobHandle ScheduleBuildContactJacobiansJobs(ref DynamicsWorld world, float timeStep, float gravityAcceleration, ref Simulation.Context context, JobHandle inputDeps)
{
var buildJob = new BuildContactJacobiansJob
{
ContactReader = context.Contacts.AsReader(),
JointJacobianReader = context.JointJacobians.AsReader(),
JacobianWriter = context.Jacobians.AsWriter(),
TimeStep = timeStep,
InvTimeStep = timeStep > 0.0f ? 1.0f / timeStep : 0.0f,
GravityAcceleration = gravityAcceleration,
MotionDatas = world.MotionDatas,
MotionVelocities = world.MotionVelocities
};
JobHandle handle = buildJob.ScheduleUnsafeIndex0(context.SolverSchedulerInfo.NumWorkItems, 1, inputDeps);
context.DisposeContacts = context.Contacts.Dispose(handle);
return(handle);
}
