// Iterates the provided dispatch pairs and creates contacts and based on them.
public static void CreateContacts(ref PhysicsWorld world, NativeArray <DispatchPairSequencer.DispatchPair> dispatchPairs, float timeStep,
ref NativeStream.Writer contactsWriter)
{
contactsWriter.BeginForEachIndex(0);
ParallelCreateContactsJob.ExecuteImpl(ref world, timeStep, dispatchPairs, 0, dispatchPairs.Length, ref contactsWriter);
contactsWriter.EndForEachIndex();
}
// Schedules a set of jobs to iterate the provided dispatch pairs and create contacts based on them.
internal static SimulationJobHandles ScheduleCreateContactsJobs(ref PhysicsWorld world, float timeStep,
ref NativeStream contacts, ref NativeStream jacobians, ref NativeList <DispatchPairSequencer.DispatchPair> dispatchPairs,
JobHandle inputDeps, ref DispatchPairSequencer.SolverSchedulerInfo solverSchedulerInfo, bool multiThreaded = true)
{
SimulationJobHandles returnHandles = default;
if (!multiThreaded)
{
contacts = new NativeStream(1, Allocator.TempJob);
jacobians = new NativeStream(1, Allocator.TempJob);
returnHandles.FinalExecutionHandle = new CreateContactsJob
{
World = world,
TimeStep = timeStep,
DispatchPairs = dispatchPairs.AsDeferredJobArray(),
ContactsWriter = contacts.AsWriter()
}.Schedule(inputDeps);
}
else
{
var numWorkItems = solverSchedulerInfo.NumWorkItems;
var contactsHandle = NativeStream.ScheduleConstruct(out contacts, numWorkItems, inputDeps, Allocator.TempJob);
var jacobiansHandle = NativeStream.ScheduleConstruct(out jacobians, numWorkItems, inputDeps, Allocator.TempJob);
var processHandle = new ParallelCreateContactsJob
{
World = world,
TimeStep = timeStep,
DispatchPairs = dispatchPairs.AsDeferredJobArray(),
SolverSchedulerInfo = solverSchedulerInfo,
ContactsWriter = contacts.AsWriter()
}.ScheduleUnsafeIndex0(numWorkItems, 1, JobHandle.CombineDependencies(contactsHandle, jacobiansHandle));
returnHandles.FinalExecutionHandle = processHandle;
}
return(returnHandles);
}