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com.unity.physics 0.3.0-preview.1

com.unity.physics

Notes: processedReleased March 11, 2020

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Unity Compatibility

Minimum Unity: 2019.3 (0f1)

Package Dependencies

🔄 Changes

  • Dependencies
  • - Updated Entities from `0.3.0-preview.4` to `0.6.0-preview.24`
  • - Added Burst `1.3.0-preview.3`
  • - Added Collections `0.5.2-preview.8`
  • - Added Jobs `0.2.5-preview.20`
  • - Added Mathematics `1.1.0`
  • Run-Time API
  • - Added the following new types:
  • - `CollisionEvents` (allows iterating through events directly using a `foreach` loop, rather than only via `ICollisionEventsJob`)
  • - `DispatchPairSequencer`
  • - `IBodyPairsJobBase`
  • - `ICollisionEventsJobBase`
  • - `IContactsJobBase`
  • - `IJacobiansJobBase`
  • - `ITriggerEventsJobBase`
  • - `Integrator`
  • - `JointFrame`
  • - `Math.FloatRange`
  • - `NarrowPhase`
  • - `SimulationContext`
  • - `SimulationJobHandles`
  • - `Solver`
  • - `TriggerEvents` (allows iterating through events directly using a `foreach` loop, rather than only via `ITriggerEventsJob`)
  • - `Velocity`
  • - Added the following members:
  • - `CollisionWorld.DynamicBodies`
  • - `CollisionWorld.NumDynamicBodies`
  • - `CollisionWorld.NumStaticBodies`
  • - `CollisionWorld.StaticBodies`
  • - `CollisionWorld.BuildBroadphase()`
  • - `CollisionWorld.FindOverlaps()`
  • - `CollisionWorld.Reset()`
  • - `CollisionWorld.ScheduleBuildBroadphaseJobs()`
  • - `CollisionWorld.ScheduleFindOverlapsJobs()`
  • - `CollisionWorld.ScheduleUpdateDynamicTree()`
  • - `CollisionWorld.UpdateDynamicTree()`
  • - `DynamicsWorld.Reset()`
  • - `Math.DecomposeRigidBodyOrientation()`
  • - `Math.DecomposeRigidBodyTransform()`
  • - `MassFactors.InverseInertiaFactorA`
  • - `MassFactors.InverseInertiaFactorB`
  • - `MassFactors.InverseMassFactorA`
  • - `MassFactors.InverseMassFactorB`
  • - `MotionVelocity.InverseInertia`
  • - `MotionVelocity.InverseMass`
  • - `Simulation.CollisionEvents`
  • - `Simulation.TriggerEvents`
  • - `Simulation.StepImmediate()`
  • - Changed the following members/types:
  • - `CollisionWorld` constructor now requires specifying the number of dynamic and static bodies separately
  • - `CollisionWorld.NumBodies` is now read-only
  • - `DynamicsWorld.NumJoints` is now read-only
  • - `DynamicsWorld.NumMotions` is now read-only
  • - `ISimulation.ScheduleStepJobs()` now requires callbacks and thread count hint
  • - `ITreeOverlapCollector.AddPairs()` now has optional bool parameter to swap the bodies
  • - `Joint.JointData` is now `BlobAssetReference` instead of `Joint*`
  • - `RigidBody.Collider` is now `BlobAssetReference` instead of `Collider*`
  • - The following types no longer implement `ICloneable`. Their `Clone()` methods now return instances of their respective types rather than `object`:
  • - `CollisionWorld`
  • - `DynamicsWorld`
  • - `PhysicsWorld`
  • - The following types now implement `IEquatable`:
  • - `Constraint`
  • - Deprecated the following members:
  • - `CollisionFilter.IsValid` (use its opposite, `CollisionFilter.IsEmpty` instead)
  • - `CollisionWorld.ScheduleUpdateDynamicLayer()` (use `ScheduleUpdateDynamicTree()` instead)
  • - `Constraint.StiffSpring()` (use `Constraint.LimitedDistance()` instead)
  • - `Constraint` factory signatures passing `float` values for ranges (use new signatures taking `FloatRange` instead):
  • - `Cone()`
  • - `Cylindrical()`
  • - `Planar()`
  • - `Twist()`
  • - `JointData.Create()` signature passing `MTransform` and `Constraint[]` (use new signature that takes `JointFrame` and `NativeArray` instead)
  • - `JointData.CreateStiffSpring()` (use `JointData.CreateLimitedDistance()` instead)
  • - `JointData` factory signatures passing `float3` and `quaternion` pairs for joint frames (use new signatures taking `JointFrame` instead):
  • - `CreateFixed()`
  • - `CreateHinge()`
  • - `CreateLimitedHinge()`
  • - `CreatePrismatic()`
  • - `CreateRagdoll()`
  • - `MassFactors.InvInertiaAndMassFactorA` (use `InverseInertiaFactorA` and/or `InverseMassFactorA` instead)
  • - `MassFactors.InvInertiaAndMassFactorB` (use `InverseInertiaFactorB` and/or `InverseMassFactorB` instead)
  • - `MotionVelocity.InverseInertiaAndMass` (use `InverseInertia` and/or `InverseMass` instead)
  • - `RigidBody.HasCollider` (use `Collider.IsCreated` instead)
  • - `SimplexSolver.Solve()` signature passing `PhysicsWorld` (use new signature that does not require one, as it is not used)
  • - `SimulationStepInput.ThreadCountHint` (supply desired value directly to `ScheduleStepJobs()`)
  • - Removed the following expired members:
  • - `Broadphase.ScheduleBuildJobs()` signature that does not specify gravity
  • - `CollisionWorld.ScheduleUpdateDynamicLayer()` signature that does not specify gravity
  • - `JointData.NumConstraints`
  • - `MeshCollider.Create()` signatures taking `NativeArray`
  • - `PhysicsWorld.CollisionTolerance`
  • - `SimplexSolver.Solve()` signature taking `NativeArray`
  • - `SimulationStepInput.Callbacks` (removed without expiration; pass callbacks to `ScheduleStepJobs()`)
  • Authoring/Conversion API
  • - Added the following new types:
  • - `LegacyJointConversionSystem`
  • - `CapsuleGeometryAuthoring`
  • - Added the following members:
  • - `PhysicsShapeAuthoring.GetCapsuleProperties()` signature returning `CapsuleGeometryAuthoring`
  • - `PhysicsShapeAuthoring.SetCapsule()` signature passing `CapsuleGeometryAuthoring`
  • - Deprecated the following members:
  • - `PhysicsShapeAuthoring.GetCapsuleProperties()` signature returning `CapsuleGeometry`
  • - `PhysicsShapeAuthoring.SetCapsule()` signature passing `CapsuleGeometry`
  • - Removed the following expired members/types:
  • - `BaseShapeConversionSystem.ProduceColliderBlob()`
  • - `DisplayCollisionEventsSystem.DisplayCollisionEventsJob`
  • - `DisplayCollisionEventsSystem.FinishDisplayCollisionEventsJob`
  • - `DisplayCollisionEventsSystem.ScheduleCollisionEventsJob()`
  • - `DisplayContactsSystem.DisplayContactsJob`
  • - `DisplayContactsSystem.FinishDisplayContactsJob`
  • - `DisplayContactsSystem.ScheduleContactsJob()`
  • - `DisplayTriggerEventsSystem.DisplayTriggerEventsJob`
  • - `DisplayTriggerEventsSystem.FinishDisplayTriggerEventsJob`
  • - `DisplayTriggerEventsSystem.ScheduleTriggerEventsJob()`
  • - `PhysicsShapeAuthoring.GetMeshProperties()` using `NativeList`. Use the signature taking `NativeList` instead
  • Run-Time Behavior
  • - The data protocol for static rigid bodies has changed so that at least one of `Translation`, `Rotation`, or `LocalToWorld` is required.
  • - If a static body as a `Parent`, then its transform is always decomposed from its `LocalToWorld` component (which may be the result of last frame's transformations if you have not manually updated it).
  • - If there is no `Parent`, then the body is assumed to be in world space and its `Translation` and `Rotation` are read directly as before, if they exist; otherwise corresponding values are decomposed from `LocalToWorld` if it exists.
  • - In any case where a value must be decomposed from `LocalToWorld` but none exists, then a corresponding identity value is used (`float3.zero` for `Translation` and `quaternion.identity` for `Rotation`).
  • - The following `CollisionWorld` queries no longer assert if the supplied collision filter is empty:
  • - `CalculateDistance()`
  • - `CastCollider()`
  • - `CastRay()`
  • - `OverlapAabb()`
  • - `Simulation.ScheduleStepJobs()` can now schedule different types of simulation:
  • - Providing a valid `threadCountHint` (>0) as the last parameter will schedule a multi-threaded simulation
  • - Not providing a `threadCount` or providing an invalid value (<=0) will result in a simulation with a very small number of jobs being spawned (one per step phase)
  • - Both simulation types offer the exact same customization options (callbacks) and outputs (events)
  • - `ISimulation.Step()` is intended to allow you to step a simulation immediately in the calling code instead of spawning jobs
  • - Unfortunately, `Unity.Physics.Simulation` is currently not Burst-compatible, and therefore can't be wrapped in a Burst compiled job
  • - `Simulation.StepImmediate()` should be wrapped in a single Burst compiled job for lightweight stepping logic; however, it doesn't support callbacks
  • - If callbacks are needed, one should implement the physics step using a set of function calls that represent different phases of the physics engine and add customization logic in between these calls; this should all be wrapped in a Burst compiled job; check `Simulation.StepImmediate()` for the full list of functions that need to be called
  • - Previously, if an Entity referenced by a `PhysicsJoint` component was deleted, `BuildPhysicsWorld.CreateJoints()` would assert after failing to find a valid rigid body index. Now, if no valid body is found, the `Joint.BodyIndexPair` is marked as invalid instead and the simulation will ignore them.
  • - Triggers no longer influence the center of mass or inertia of any compound colliders that they are part of.
  • Authoring/Conversion Behavior
  • - Implicitly static shapes (as well as explicitly static bodies) in a hierarchy are no longer un-parented during the conversion process. Dynamic and kinematic bodies still are.
  • - Bevel radius and convex hull simplification tolerance are no longer modified by an object's scale when it is converted.
  • - Improved performance of converting mesh colliders and convex hulls, particularly when they appear as multiple child instances in a compound collider.
  • - Improved visualization of primitive shapes in the SceneView.
  • - `PhysicsShapeAuthoring` components are now editable from within the SceneView.
  • - `PhysicsShapeAuthoring` primitives are now oriented more correctly when non uniformly scaled.

🔧 Bug Fixes

  • Fixed regression where displaying a mesh or convex hull preview on a shape authoring component immediately after a domain reload would trigger an assert.
  • Fixed possible bug where classic `MeshCollider` components might convert to the incorrect shape.
  • Frame Selected (F key in scene view) now properly focuses on the collision shape bounds.
  • `ConvexCollider.Create()` had been allocating too much memory for `FaceVerticesIndex` array.
  • `MotionVelocity.CalculateExpansion()` formula changed to reduce expansion of AABB due to rotation.
  • `ForceUnique` checkbox in the Inspector is no longer disabled for primitive `PhysicsShape` types.
  • Fixed a bug in scheduling resulting in race conditions during the solving phase.
  • `PhysicsStepAuthoring` and `PhysicsDebugDisplayAuthoring` no longer throw exceptions when embedded in a sub-scene.

⚠️ Known Issues

  • Due to a bug in the `TRSToLocalToParent` system, static bodies in a hierarchy will always cause the broad phase to be rebuilt. This will be fixed in the next version of entities after 0.6.0.
  • Not all properties on classic joint components are converted yet:
  • - Converted properties include connected bodies, axes, collisions, anchors, and linear/angular limits.
  • - Motors, spring forces, mass scale, break limits, and projection settings are currently ignored.
  • - Swapping bodies on `ConfigurableJoint` is not yet supported.
  • - `ConfigurableJoint` setups with at least one free axis of angular motion are only stable if both other axes are locked (hinge), or both other axes are free (ball-and-socket).
  • - Because solver behavior differs, some configurations also currently have a different feel from their classic counterparts.
  • Modifying classic joints with Live Link enabled will currently leak memory.
  • SceneView editing of `PhysicsShapeAuthoring` components currently only affects their size, but not their center offset.