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## [1.2.0-pre.12] - 2024-02-13 ### Added * ScheduleUpdateBroadphase and UpdateBroadphaseImmediate to update the Broadphase instead of doing a full rebuild. * ScheduleUpdateMotionData and UpdateMotionDataImmediate to update the pre-existing MotionData without recreating them. * BuildPhysicsWorldData.CompleteInputDependency method to complete the InputDependency if necessary. * Simulaton.ResetSimulationContext to make it possible reset the current simulation context. ### Changed * Updated Burst dependency to version 1.8.12 ### Fixed * Fixed errors caused by memory corruption when selecting mesh-based custom Physics Shape Authoring components in the editor. ### Updated * Upgraded Test Framework version to 1.4.3
needle-mirror · Feb 13, 2024 · 40d124d · 40d124d
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diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -4,6 +4,28 @@ uid: unity-physics-changelog
 
 # Changelog
 
+## [1.2.0-pre.12] - 2024-02-13
+
+### Added
+
+* ScheduleUpdateBroadphase and UpdateBroadphaseImmediate to update the Broadphase instead of doing a full rebuild.
+* ScheduleUpdateMotionData and UpdateMotionDataImmediate to update the pre-existing MotionData without recreating them.
+* BuildPhysicsWorldData.CompleteInputDependency method to complete the InputDependency if necessary.
+* Simulaton.ResetSimulationContext to make it possible reset the current simulation context.
+
+### Changed
+
+* Updated Burst dependency to version 1.8.12
+
+### Fixed
+
+* Fixed errors caused by memory corruption when selecting mesh-based custom Physics Shape Authoring components in the editor.
+
+### Updated
+
+* Upgraded Test Framework version to 1.4.3
+
+
 ## [1.2.0-pre.6] - 2023-12-13
 
 ### Changed

diff --git a/Documentation~/custom-samples-physics-components.md b/Documentation~/custom-samples-physics-components.md
@@ -15,6 +15,8 @@ To import the **Custom Physics Authoring** sample, open the Package Manager wind
 
 ## Custom authoring components
 
+By manually importing the **Custom Physics Authoring** sample into your project, the following components will be added under **Assets &gt; Samples** (folder).
+
 * [Custom Shape Component](custom-shapes.md)
   * [Custom Material](custom-materials.md)
 * [Custom Body Component](custom-bodies.md)
diff --git a/LICENSE.md b/LICENSE.md
@@ -1,4 +1,4 @@
-Unity Physics copyright © 2020 Unity Technologies ApS
+Unity Physics copyright © 2024 Unity Technologies ApS
 
 Licensed under the Unity Companion License for Unity-dependent projects--see [Unity Companion License](http://www.unity3d.com/legal/licenses/Unity_Companion_License).
 

diff --git a/Tests/PlayModeTests/Collision/Queries/QueryTests.cs b/Tests/PlayModeTests/Collision/Queries/QueryTests.cs
@@ -198,6 +198,7 @@ public unsafe void ConvexConvexDistanceTest()
         // are validated in the same way as those in ConvexConvexDistanceTest().
         // If the test fails, it will report a pair of seeds.  Set dbgShape to the first and dbgTest to the second to run the failing case alone.
         [Test]
+        [Timeout(300000)]
         public unsafe void ConvexConvexDistanceEdgeCaseTest()
         {
             Random rnd = new Random(0x90456148);
@@ -486,6 +487,7 @@ static unsafe void WorldRaycastTest(ref Physics.PhysicsWorld world, RaycastInput
 #if UNITY_ANDROID_ARM7V || UNITY_IOS
         [Ignore("This test causes out of memory crashes on armv7 builds, due to the memory restrictions on such devices.")]
 #endif
+        [Timeout(300000)]
         public unsafe void WorldQueryTest()
         {
             // todo.papopov: switch the seed back to 0x12345678 when [UNI-281] is resolved

diff --git a/Unity.Physics/Collision/World/CollisionWorld.cs b/Unity.Physics/Collision/World/CollisionWorld.cs
@@ -219,6 +219,42 @@ public void UpdateDynamicTree(ref PhysicsWorld world, float timeStep, float3 gra
             Broadphase.BuildDynamicTree(world.DynamicBodies, world.MotionVelocities, gravity, timeStep, aabbMargin);
         }
 
+        /// <summary> Rebuild the static collision world. </summary>
+        ///
+        /// <param name="world">    [in,out] The world. </param>
+        public void UpdateStaticTree(ref PhysicsWorld world)
+        {
+            float aabbMargin = world.CollisionWorld.CollisionTolerance * 0.5f;
+            Broadphase.BuildStaticTree(world.StaticBodies, aabbMargin);
+        }
+
+        /// <summary>
+        /// Schedule a set of jobs to update the static collision world.
+        /// </summary>
+        ///
+        /// <param name="world">            [in,out] The world. </param>
+        /// <param name="buildStaticTree">  The build static tree. </param>
+        /// <param name="inputDeps">        The input deps. </param>
+        /// <param name="multiThreaded">    (Optional) True if multi threaded. </param>
+        ///
+        /// <returns>   A JobHandle. </returns>
+        public JobHandle ScheduleUpdateStaticTree(ref PhysicsWorld world,
+            NativeReference<int>.ReadOnly buildStaticTree, JobHandle inputDeps, bool multiThreaded = true)
+        {
+            if (!multiThreaded)
+            {
+                return new UpdateStaticTreeJob
+                {
+                    World = world
+                }.Schedule(inputDeps);
+            }
+            else
+            {
+                // Thread count is +1 for main thread
+                return Broadphase.ScheduleStaticTreeBuildJobs(ref world, JobsUtility.JobWorkerCount + 1, buildStaticTree, inputDeps);
+            }
+        }
+
         /// <summary>
         /// Schedule a set of jobs to synchronize the collision world with the dynamics world.
         /// </summary>
@@ -234,7 +270,7 @@ public JobHandle ScheduleUpdateDynamicTree(ref PhysicsWorld world, float timeSte
         {
             if (!multiThreaded)
             {
-                return new UpdateDynamicLayerJob
+                return new UpdateDynamicTreeJob
                 {
                     World = world,
                     TimeStep = timeStep,
@@ -278,7 +314,7 @@ internal static void ExecuteImpl(int i, NativeArray<MotionData> motionDatas, Nat
         }
 
         [BurstCompile]
-        private struct UpdateDynamicLayerJob : IJob
+        struct UpdateDynamicTreeJob : IJob
         {
             public PhysicsWorld World;
             public float TimeStep;
@@ -289,6 +325,17 @@ public void Execute()
                 World.CollisionWorld.UpdateDynamicTree(ref World, TimeStep, Gravity);
             }
         }
+        [BurstCompile]
+        struct UpdateStaticTreeJob : IJob
+        {
+            public PhysicsWorld World;
+            public NativeReference<int>.ReadOnly buildStaticTree;
+            public void Execute()
+            {
+                if(buildStaticTree.Value != 0)
+                    World.CollisionWorld.UpdateStaticTree(ref World);
+            }
+        }
 
         #endregion
 

diff --git a/Unity.Physics/Dynamics/Simulation/Simulation.cs b/Unity.Physics/Dynamics/Simulation/Simulation.cs
@@ -568,6 +568,17 @@ public SimulationJobHandles ScheduleSolveAndIntegrateJobs(SimulationStepInput in
             return m_StepHandles;
         }
 
+        /// <summary>
+        /// Resets the simulation storage
+        /// - Reallocates input velocities storage if necessary
+        /// - Disposes event streams and allocates new ones with a single work item
+        /// </summary>
+        /// <param name="input">    The input. </param>
+        public void ResetSimulationContext(SimulationStepInput input)
+        {
+            SimulationContext.Reset(input);
+        }
+
         /// <summary>   Steps the world immediately. </summary>
         ///
         /// <param name="input">    The input. </param>