update github workflows

Author: popcron

.github/workflows/publish.yml

@@ -81,7 +81,7 @@ jobs:
       - name: Setup
         uses: actions/setup-dotnet@v4
         with:
-          dotnet-version:  |
+          dotnet-version: |
             9.0.x
             10.0.x
 

.github/workflows/test.yml

@@ -94,7 +94,7 @@ jobs:
       - name: Setup
         uses: actions/setup-dotnet@v4
         with:
-          dotnet-version:  10.0.x
+          dotnet-version: 10.0.x
 
       - name: Test
         run: dotnet test "${{ github.event.repository.name }}/tests" -c Debug --logger "trx"

source/BepuBufferPool.cs

@@ -18,6 +18,11 @@ public readonly void Dispose()
         {
             BufferPool bufferPool = this;
             bufferPool.Clear();
+            if (bufferPool is IDisposable disposableBufferPool)
+            {
+                disposableBufferPool.Dispose();
+            }
+
             handle.Free();
         }
 

source/BodyState.cs source/PhysicsObjectState.cssource/BodyState.cs renamed to source/PhysicsObjectState.cs

@@ -2,15 +2,17 @@
 
 namespace Physics.Systems
 {
-    public struct BodyState
+    public struct PhysicsObjectState
     {
+        public bool valid;
         public Vector3 position;
         public Quaternion rotation;
         public Vector3 linearVelocity;
         public Vector3 angularVelocity;
 
-        public BodyState(Vector3 position, Quaternion rotation, Vector3 linearVelocity, Vector3 angularVelocity)
+        public PhysicsObjectState(Vector3 position, Quaternion rotation, Vector3 linearVelocity, Vector3 angularVelocity)
         {
+            valid = true;
             this.position = position;
             this.rotation = rotation;
             this.linearVelocity = linearVelocity;

source/Systems/PhysicsSystem.cs

@@ -21,7 +21,7 @@ public partial class PhysicsSystem : SystemBase, IListener<RaycastRequest>, ILis
         private readonly List<RaycastHit> hits;
         private readonly List<uint> toRemove;
         private readonly List<uint> usedShapes;
-        private readonly Array<BodyState> physicsObjectState;
+        private readonly Array<PhysicsObjectState> physicsObjectStates;
         private readonly Dictionary<uint, CompiledBody> bodies;
         private readonly Dictionary<uint, CompiledShape> shapes;
         private readonly Dictionary<(int, bool), uint> handleToBody;
@@ -53,7 +53,7 @@ public PhysicsSystem(Simulator simulator, World world) : base(simulator)
             hits = new();
             toRemove = new();
             usedShapes = new();
-            physicsObjectState = new();
+            physicsObjectStates = new();
             bodies = new();
             shapes = new();
             handleToBody = new();
@@ -90,7 +90,7 @@ public override void Dispose()
             handleToBody.Dispose();
             shapes.Dispose();
             bodies.Dispose();
-            physicsObjectState.Dispose();
+            physicsObjectStates.Dispose();
             bepuSimulation.Dispose();
             bufferPool.Dispose();
             gravity.Dispose();
@@ -117,14 +117,30 @@ void IListener<PhysicsUpdate>.Receive(ref PhysicsUpdate message)
             gravity.Write(GetGlobalGravity());
             AddMissingComponents();
             ApplyPointGravity(message.deltaTime);
-            CreateAndDestroyPhysicsObjects();
+
+            // create shapes and bodies for entities that dont have them yet
+            int capacity = (world.MaxEntityValue + 1).GetNextPowerOf2();
+            int currentLength = this.physicsObjectStates.Length;
+            if (currentLength < capacity)
+            {
+                this.physicsObjectStates.Length = capacity;
+
+                // reset the new entires to default
+                for (int i = currentLength; i < capacity; i++)
+                {
+                    this.physicsObjectStates[i] = default;
+                }
+            }
+
+            Span<PhysicsObjectState> physicsObjectStates = this.physicsObjectStates.AsSpan();
+            CreateAndDestroyPhysicsObjects(physicsObjectStates);
 
             if (message.deltaTime > 0)
             {
                 bepuSimulation.Timestep((float)message.deltaTime);
             }
 
-            CopyPhysicsObjectStateToEntities(bodyType, ltwType);
+            CopyPhysicsObjectStateToEntities(physicsObjectStates);
         }
 
         private void ApplyPointGravity(double deltaTime)
@@ -241,7 +257,7 @@ public uint GetPhysicsEntity(int handle, bool isStatic)
             return handleToBody[(handle, isStatic)];
         }
 
-        private void CreateAndDestroyPhysicsObjects()
+        private void CreateAndDestroyPhysicsObjects(Span<PhysicsObjectState> physicsObjectStates)
         {
             //remove shapes and bodies of entities that dont exist anymore
             toRemove.Clear();
@@ -261,7 +277,7 @@ private void CreateAndDestroyPhysicsObjects()
                         bepuSimulation.Bodies.Remove(body.DynamicBody);
                     }
 
-                    physicsObjectState[(int)bodyEntity] = default;
+                    physicsObjectStates[(int)bodyEntity] = default;
                     body.Dispose();
                     toRemove.Add(bodyEntity);
                 }
@@ -272,13 +288,6 @@ private void CreateAndDestroyPhysicsObjects()
                 bodies.Remove(bodyEntity);
             }
 
-            //create shapes and bodies for entities that dont have them yet
-            int capacity = (world.MaxEntityValue + 1).GetNextPowerOf2();
-            if (physicsObjectState.Length < capacity)
-            {
-                physicsObjectState.Length = capacity;
-            }
-
             usedShapes.Clear();
 
             ComponentQuery<IsBody, LocalToWorld, WorldRotation> bodyQuery = new(world);
@@ -329,6 +338,7 @@ private void CreateAndDestroyPhysicsObjects()
                 usedShapes.Add(shapeHash);
 
                 //make sure a physics body exists for this combination of (shape, type)
+                ref PhysicsObjectState state = ref physicsObjectStates[(int)entity];
                 bool isStatic = type == BodyType.Static;
                 Vector3 worldOffset = Vector3.Transform(localOffset, ltwRotation);
                 Vector3 desiredWorldPosition = worldPosition + worldOffset;
@@ -338,6 +348,10 @@ private void CreateAndDestroyPhysicsObjects()
                     compiledBody = CreateBody(body, compiledShape, desiredWorldPosition, desiredWorldRotation);
                     bodies.Add(entity, compiledBody);
                     handleToBody.Add((compiledBody.handle, isStatic), entity);
+                    state.position = desiredWorldPosition;
+                    state.rotation = desiredWorldRotation;
+                    state.linearVelocity = Vector3.Zero;
+                    state.angularVelocity = Vector3.Zero;
                 }
                 else if (compiledBody.version != body.version || compiledBody.type != type || newShape)
                 {
@@ -356,10 +370,13 @@ private void CreateAndDestroyPhysicsObjects()
                     isStatic = compiledBody.type == BodyType.Static;
                     bodies[entity] = compiledBody;
                     handleToBody.Add((compiledBody.handle, isStatic), entity);
+                    state.position = desiredWorldPosition;
+                    state.rotation = desiredWorldRotation;
+                    state.linearVelocity = Vector3.Zero;
+                    state.angularVelocity = Vector3.Zero;
                 }
 
                 //copy values from entity onto physics object (if different from last known state)
-                ref BodyState state = ref physicsObjectState[(int)entity];
                 if (isStatic)
                 {
                     StaticReference staticReference = bepuSimulation.Statics.GetStaticReference(compiledBody.StaticBody);
@@ -414,7 +431,7 @@ private void CreateAndDestroyPhysicsObjects()
             }
         }
 
-        private void CopyPhysicsObjectStateToEntities(int bodyType, int ltwType)
+        private void CopyPhysicsObjectStateToEntities(Span<PhysicsObjectState> physicsObjectStates)
         {
             foreach (uint bodyEntity in bodies.Keys)
             {
@@ -430,7 +447,7 @@ private void CopyPhysicsObjectStateToEntities(int bodyType, int ltwType)
                     StaticDescription description = staticReference.GetDescription();
                     Vector3 finalWorldPosition = description.Pose.Position - worldOffset;
                     Quaternion finalWorldRotation = description.Pose.Orientation;
-                    physicsObjectState[(int)bodyEntity] = new(finalWorldPosition, finalWorldRotation, Vector3.Zero, Vector3.Zero);
+                    physicsObjectStates[(int)bodyEntity] = new(finalWorldPosition, finalWorldRotation, Vector3.Zero, Vector3.Zero);
 
                     //copy bounds
                     if (!world.ContainsComponent<WorldBounds>(bodyEntity))
@@ -477,7 +494,7 @@ private void CopyPhysicsObjectStateToEntities(int bodyType, int ltwType)
 
                     ref AngularVelocity angularVelocity = ref world.GetComponent<AngularVelocity>(bodyEntity);
                     angularVelocity.value = velocity.Angular;
-                    physicsObjectState[(int)bodyEntity] = new(finalWorldPosition, finalWorldRotation, velocity.Linear, velocity.Angular);
+                    physicsObjectStates[(int)bodyEntity] = new(finalWorldPosition, finalWorldRotation, velocity.Linear, velocity.Angular);
 
                     //copy bounds
                     if (!world.ContainsComponent<WorldBounds>(bodyEntity))