/// <summary>
/// Schedule a set of jobs to build the static tree of the broadphase based on the given world.
/// </summary>
public JobHandle ScheduleStaticTreeBuildJobs(
ref PhysicsWorld world, int numThreadsHint, NativeArray <int> shouldDoWork, JobHandle inputDeps)
{
Assert.AreEqual(world.NumStaticBodies, m_StaticTree.NumBodies);
if (world.NumStaticBodies == 0)
{
return(inputDeps);
}
var aabbs = new NativeArray <Aabb>(world.NumStaticBodies, Allocator.TempJob, NativeArrayOptions.UninitializedMemory);
var points = new NativeArray <PointAndIndex>(world.NumStaticBodies, Allocator.TempJob, NativeArrayOptions.UninitializedMemory);
var numStaticBodiesArray = new NativeArray <int>(1, Allocator.TempJob);
JobHandle handle = new PrepareNumStaticBodiesJob
{
NumStaticBodies = world.NumStaticBodies,
BuildStaticTree = shouldDoWork,
NumStaticBodiesArray = numStaticBodiesArray
}.Schedule(inputDeps);
var staticBodyDataJobHandle = new PrepareStaticBodyDataJob
{
RigidBodies = world.StaticBodies,
Aabbs = aabbs,
Points = points,
FiltersOut = m_StaticTree.BodyFilters,
AabbMargin = world.CollisionWorld.CollisionTolerance * 0.5f, // each body contributes half
}.ScheduleUnsafeIndex0(numStaticBodiesArray, 32, handle);
handle = JobHandle.CombineDependencies(staticBodyDataJobHandle, numStaticBodiesArray.Dispose(handle));
return(m_StaticTree.BoundingVolumeHierarchy.ScheduleBuildJobs(
points, aabbs, m_StaticTree.BodyFilters, shouldDoWork, numThreadsHint, handle,
m_StaticTree.Nodes.Length, m_StaticTree.Ranges, m_StaticTree.BranchCount));
}
/// <summary>
/// Build the static tree of the broadphase based on the given array of rigid bodies.
/// </summary>
public void BuildStaticTree(NativeSlice <RigidBody> staticBodies, float aabbMargin)
{
Assert.AreEqual(staticBodies.Length, m_StaticTree.NumBodies);
if (staticBodies.Length == 0)
{
return;
}
// Read bodies
var aabbs = new NativeArray <Aabb>(staticBodies.Length, Allocator.Temp, NativeArrayOptions.UninitializedMemory);
var points = new NativeArray <PointAndIndex>(staticBodies.Length, Allocator.Temp, NativeArrayOptions.UninitializedMemory);
for (int i = 0; i < staticBodies.Length; i++)
{
PrepareStaticBodyDataJob.ExecuteImpl(i, aabbMargin, staticBodies, aabbs, points, m_StaticTree.BodyFilters);
}
// Build tree
m_StaticTree.BoundingVolumeHierarchy.Build(points, aabbs, out int nodeCount);
// Build node filters
m_StaticTree.BoundingVolumeHierarchy.BuildCombinedCollisionFilter(m_StaticTree.BodyFilters, 1, nodeCount - 1);
}
