// Schedule some jobs to solve the Jacobians stored in the simulation context
internal static unsafe JobHandle ScheduleSolveJacobiansJobs(ref DynamicsWorld dynamicsWorld, float timestep, int numIterations, ref Simulation.Context context, JobHandle inputDeps)
{
JobHandle handle;
int numPhases = context.SolverSchedulerInfo.NumPhases;
// Use persistent allocator to allow these to live until the start of next step
{
NativeArray <int> workItemList = context.SolverSchedulerInfo.NumWorkItems;
//TODO: Change this to Allocator.TempJob when https://github.com/Unity-Technologies/Unity.Physics/issues/7 is resolved
JobHandle collisionEventStreamHandle = NativeStream.ScheduleConstruct(out context.CollisionEventStream, workItemList, inputDeps, Allocator.Persistent);
JobHandle triggerEventStreamHandle = NativeStream.ScheduleConstruct(out context.TriggerEventStream, workItemList, inputDeps, Allocator.Persistent);
handle = JobHandle.CombineDependencies(collisionEventStreamHandle, triggerEventStreamHandle);
float invNumIterations = math.rcp(numIterations);
var phaseInfoPtrs = (Scheduler.SolverSchedulerInfo.SolvePhaseInfo *)NativeArrayUnsafeUtility.GetUnsafeBufferPointerWithoutChecks(context.SolverSchedulerInfo.PhaseInfo);
for (int solverIterationId = 0; solverIterationId < numIterations; solverIterationId++)
{
bool lastIteration = solverIterationId == numIterations - 1;
for (int phaseId = 0; phaseId < numPhases; phaseId++)
{
var job = new SolverJob
{
JacobianReader = context.Jacobians.AsReader(),
PhaseIndex = phaseId,
Phases = context.SolverSchedulerInfo.PhaseInfo,
MotionVelocities = dynamicsWorld.MotionVelocities,
StepInput = new StepInput
{
InvNumSolverIterations = invNumIterations,
IsLastIteration = lastIteration,
Timestep = timestep,
InvTimestep = timestep > 0.0f ? 1.0f / timestep : 0.0f
}
};
// Only initialize event writers for last solver iteration jobs
if (lastIteration)
{
job.CollisionEventsWriter = context.CollisionEventStream.AsWriter();
job.TriggerEventsWriter = context.TriggerEventStream.AsWriter();
}
// NOTE: The last phase must be executed on a single job since it
// int.MaxValue can't be used as batchSize since 19.1 overflows in that case...
bool isLastPhase = phaseId == numPhases - 1;
int batchSize = isLastPhase ? (int.MaxValue / 2) : 1;
int *numWorkItems = &(phaseInfoPtrs[phaseId].NumWorkItems);
handle = job.Schedule(numWorkItems, batchSize, handle);
}
}
}
// Dispose processed data
context.DisposeJacobians = context.Jacobians.Dispose(handle);
context.DisposeJointJacobians = context.JointJacobians.Dispose(handle);
context.DisposeSolverSchedulerData = context.SolverSchedulerInfo.ScheduleDisposeJob(handle);
return(handle);
}
// Schedule some jobs to solve the Jacobians stored in the simulation context
public static unsafe JobHandle ScheduleSolveJacobiansJobs(ref DynamicsWorld dynamicsWorld, float timestep, float3 gravity, int numIterations, ref Simulation.Context context, JobHandle inputDeps)
{
JobHandle handle = inputDeps;
int numPhases = context.SolverSchedulerInfo.NumPhases;
// Use persistent allocator to allow these to live until the start of next step
int numWorkItems = math.max(context.SolverSchedulerInfo.NumWorkItems, 1); // Need at least one work item if user is going to add contacts
{
context.CollisionEventStream = new BlockStream(numWorkItems, 0xb17b474f, Allocator.Persistent);
context.TriggerEventStream = new BlockStream(numWorkItems, 0x43875d8f, Allocator.Persistent);
float invNumIterations = math.rcp(numIterations);
float gravityLength = math.length(gravity);
for (int solverIterationId = 0; solverIterationId < numIterations; solverIterationId++)
{
bool lastIteration = solverIterationId == numIterations - 1;
for (int phaseId = 0; phaseId < numPhases; phaseId++)
{
int numWorkItemsPerPhase = context.SolverSchedulerInfo.NumWorkItemsPerPhase(phaseId);
if (numWorkItemsPerPhase == 0)
{
continue;
}
var job = new SolverJob
{
JacobianReader = context.Jacobians,
WorkItemStartIndexOffset = context.SolverSchedulerInfo.FirstWorkItemsPerPhase(phaseId),
MotionVelocities = dynamicsWorld.MotionVelocities,
StepInput = new StepInput
{
InvNumSolverIterations = invNumIterations,
IsLastIteration = lastIteration,
Timestep = timestep,
GravityLength = gravityLength
}
};
// Only initialize event writers for last solver iteration jobs
if (lastIteration)
{
job.CollisionEventsWriter = context.CollisionEventStream;
job.TriggerEventsWriter = context.TriggerEventStream;
}
bool isLastPhase = phaseId == numPhases - 1;
int batchSize = isLastPhase ? numWorkItemsPerPhase : 1;
handle = job.Schedule(numWorkItemsPerPhase, batchSize, handle);
}
}
}
// Dispose processed data
context.DisposeJacobians = context.Jacobians.ScheduleDispose(handle);
context.DisposeJointJacobians = context.JointJacobians.ScheduleDispose(handle);
context.DisposeSolverSchedulerData = context.SolverSchedulerInfo.ScheduleDisposeJob(handle);
return(handle);
}