// Schedule a set of jobs to synchronize the collision world with the dynamics world.
internal JobHandle ScheduleUpdateDynamicTree(ref PhysicsWorld world, JobHandle inputDeps)
{
if (world.Settings.NumberOfThreadsHint <= 1)
{
return(new UpdateDynamicLayerJob
{
World = world,
TimeStep = world.TimeStep,
Gravity = world.Settings.Gravity
}.Schedule(inputDeps));
}
// Synchronize transforms
var handle = new UpdatePhysicsBodyTransformsJob
{
MotionDatas = world.BodyMotionData,
PhysicsBodies = m_PhysicsBodies
}.Schedule(world.BodyMotionData.Length, 32, inputDeps);
// Update broadphase
return(Broadphase.ScheduleDynamicTreeBuildJobs(ref world, handle));
}
// Schedule all the jobs for the simulation step.
public SimulationJobHandles ScheduleStepJobs(PhysicsWorld physicsWorld, PhysicsCallbacks physicsCallbacks, JobHandle inputDeps)
{
var physicsSettings = physicsWorld.Settings;
SafetyChecks.IsFalse(physicsWorld.TimeStep < 0f);
SimulationContext.Reset(ref physicsWorld, false);
SimulationContext.TimeStep = physicsWorld.TimeStep;
if (physicsWorld.DynamicBodyCount == 0)
{
// No need to do anything, since nothing can move
m_StepHandles = new SimulationJobHandles(inputDeps);
return(m_StepHandles);
}
// Execute phase callback.
var handle = physicsCallbacks.ScheduleCallbacksForPhase(PhysicsCallbacks.Phase.PreStepSimulation, ref physicsWorld, inputDeps);
// Apply gravity and copy input velocities at this point (in parallel with the scheduler, but before the callbacks)
handle = Solver.ScheduleApplyGravityAndCopyInputVelocitiesJob(
ref physicsWorld.DynamicsWorld, SimulationContext.InputVelocities, physicsWorld.TimeStep * physicsSettings.Gravity, handle, physicsSettings.NumberOfThreadsHint);
handle = physicsCallbacks.ScheduleCallbacksForPhase(PhysicsCallbacks.Phase.PostCreateOverlapBodies, ref physicsWorld, handle);
handle = physicsCallbacks.ScheduleCallbacksForPhase(PhysicsCallbacks.Phase.PostCreateContacts, ref physicsWorld, handle);
handle = physicsCallbacks.ScheduleCallbacksForPhase(PhysicsCallbacks.Phase.PostCreateConstraints, ref physicsWorld, handle);
// Integrate motions.
handle = Integrator.ScheduleIntegrateJobs(ref physicsWorld, handle, physicsSettings.NumberOfThreadsHint);
// Schedule phase callback.
handle = physicsCallbacks.ScheduleCallbacksForPhase(PhysicsCallbacks.Phase.PostIntegrate, ref physicsWorld, handle);
m_StepHandles.FinalExecutionHandle = handle;
m_StepHandles.FinalDisposeHandle = handle;
return(m_StepHandles);
}
internal JobHandle ScheduleCallbacksForPhase(Phase phase, ref PhysicsWorld physicsWorld, JobHandle inputDeps)
{
ref var callbacks = ref m_Callbacks[(int)phase];
// Schedule a set of jobs to build the broadphase based on the given world.
internal JobHandle ScheduleBuildBroadphaseJobs(ref PhysicsWorld world, NativeArray <int> buildStaticTree, JobHandle inputDeps)
{
return(Broadphase.ScheduleBuildJobs(ref world, buildStaticTree, inputDeps));
}
public SimulationJobHandles ScheduleStepJobs(PhysicsWorld physicsWorld, PhysicsCallbacks callbacks, JobHandle inputDeps) => new SimulationJobHandles(inputDeps);