public unsafe static void Execute(ref BodyPairsJobData <T> jobData, IntPtr additionalData,
IntPtr bufferRangePatchData, ref JobRanges ranges, int jobIndex)
{
for (int currentIdx = 0; currentIdx < jobData.PhasedDispatchPairs.Length; currentIdx++)
{
// Skip joint pairs
if (jobData.PhasedDispatchPairs[currentIdx].IsJoint)
{
continue;
}
DispatchPairSequencer.DispatchPair dispatchPair = jobData.PhasedDispatchPairs[currentIdx];
var pair = new ModifiableBodyPair
{
BodyIndexPair = new BodyIndexPair {
BodyIndexA = dispatchPair.BodyIndexA, BodyIndexB = dispatchPair.BodyIndexB
},
EntityPair = new EntityPair
{
EntityA = jobData.Bodies[dispatchPair.BodyIndexA].Entity,
EntityB = jobData.Bodies[dispatchPair.BodyIndexB].Entity
}
};
jobData.UserJobData.Execute(ref pair);
if (pair.BodyIndexA == -1 || pair.BodyIndexB == -1)
{
jobData.PhasedDispatchPairs[currentIdx] = DispatchPairSequencer.DispatchPair.Invalid;
}
}
}
internal static unsafe void ExecuteImpl(ref PhysicsWorld world, float timeStep,
NativeArray <DispatchPairSequencer.DispatchPair> dispatchPairs,
int dispatchPairReadOffset, int numPairsToRead, ref NativeStream.Writer contactWriter)
{
for (int i = 0; i < numPairsToRead; i++)
{
DispatchPairSequencer.DispatchPair dispatchPair = dispatchPairs[dispatchPairReadOffset + i];
// Invalid pairs can exist by being disabled by users
if (dispatchPair.IsValid)
{
if (dispatchPair.IsContact)
{
// Create contact manifolds for this pair of bodies
var pair = new BodyIndexPair
{
BodyIndexA = dispatchPair.BodyIndexA,
BodyIndexB = dispatchPair.BodyIndexB
};
RigidBody rigidBodyA = world.Bodies[pair.BodyIndexA];
RigidBody rigidBodyB = world.Bodies[pair.BodyIndexB];
MotionVelocity motionVelocityA = pair.BodyIndexA < world.MotionVelocities.Length ?
world.MotionVelocities[pair.BodyIndexA] : MotionVelocity.Zero;
MotionVelocity motionVelocityB = pair.BodyIndexB < world.MotionVelocities.Length ?
world.MotionVelocities[pair.BodyIndexB] : MotionVelocity.Zero;
ManifoldQueries.BodyBody(rigidBodyA, rigidBodyB, motionVelocityA, motionVelocityB,
world.CollisionWorld.CollisionTolerance, timeStep, pair, ref contactWriter);
}
}
}
}
public unsafe static void Execute(ref BodyPairsJobData <T> jobData, IntPtr additionalData,
IntPtr bufferRangePatchData, ref JobRanges ranges, int jobIndex)
{
int currentIdx = 0;
while (currentIdx < jobData.PhasedDispatchPairs.Length)
{
DispatchPairSequencer.DispatchPair dispatchPair = jobData.PhasedDispatchPairs[currentIdx];
var pair = new ModifiableBodyPair
{
BodyIndices = new BodyIndexPair {
BodyAIndex = dispatchPair.BodyAIndex, BodyBIndex = dispatchPair.BodyBIndex
},
Entities = new EntityPair
{
EntityA = jobData.Bodies[dispatchPair.BodyAIndex].Entity,
EntityB = jobData.Bodies[dispatchPair.BodyBIndex].Entity
}
};
jobData.UserJobData.Execute(ref pair);
if (pair.BodyIndices.BodyAIndex == -1 || pair.BodyIndices.BodyBIndex == -1)
{
jobData.PhasedDispatchPairs[currentIdx] = DispatchPairSequencer.DispatchPair.Invalid;
}
do
{
currentIdx++;
} while (currentIdx < jobData.PhasedDispatchPairs.Length && jobData.PhasedDispatchPairs[currentIdx].IsJoint);
}
}