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Assets/Obi/Scripts/Common/Backends/Burst/Solver/UpdatePositionsJob.cs

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+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using UnityEngine;
+using Unity.Jobs;
+using Unity.Collections;
+using Unity.Mathematics;
+using Unity.Burst;
+using System;
+using System.Collections;
+
+namespace Obi
+{
+    [BurstCompile]
+    struct UpdatePositionsJob : IJobParallelFor
+    {
+        [ReadOnly] public NativeArray<int> activeParticles;
+
+        // linear/position properties:
+        [NativeDisableParallelForRestriction] public NativeArray<float4> positions;
+        [ReadOnly] public NativeArray<float4> previousPositions;
+        [NativeDisableParallelForRestriction] public NativeArray<float4> velocities;
+
+        // angular/orientation properties:
+        [NativeDisableParallelForRestriction] public NativeArray<quaternion> orientations;
+        [ReadOnly] public NativeArray<quaternion> previousOrientations;
+        [NativeDisableParallelForRestriction] public NativeArray<float4> angularVelocities;
+
+        [ReadOnly] public float velocityScale;
+        [ReadOnly] public float sleepThreshold;
+        [ReadOnly] public float maxVelocity;
+        [ReadOnly] public float maxAngularVelocity;
+
+        // The code actually running on the job
+        public void Execute(int index)
+        {
+            int i = activeParticles[index];
+
+            float4 velocity = velocities[i];
+            float4 angVelocity = angularVelocities[i];
+
+            // damp velocities:
+            velocity *= velocityScale;
+            angVelocity.xyz *= velocityScale;
+
+            // clamp velocities:
+            float velMagnitude = math.length(velocity);
+            float angularVelMagnitude = math.length(angVelocity.xyz);
+
+            if (velMagnitude > BurstMath.epsilon)
+                velocity *= math.min(maxVelocity, velMagnitude) / velMagnitude;
+
+            if (angularVelMagnitude > BurstMath.epsilon)
+                angVelocity.xyz *= math.min(maxAngularVelocity, angularVelMagnitude) / angularVelMagnitude;
+
+            // if the kinetic energy is below the sleep threshold, keep the particle at its previous position.
+            if (velMagnitude * velMagnitude * 0.5f + angularVelMagnitude * angularVelMagnitude * 0.5f <= sleepThreshold)
+            {
+                positions[i] = previousPositions[i];
+                orientations[i] = previousOrientations[i];
+                velocity = float4.zero;
+                angVelocity.xyz = float3.zero;
+            }
+
+            velocities[i] = velocity;
+            angularVelocities[i] = angVelocity;
+        }
+    }
+}
+#endif