Adopted C# 8's expanded unmanaged constraint. Buffer<T> and related c…

…ollections updated. Simplified some stuff allowed by unmanaged.

BepuPhysics/Bodies.cs

@@ -43,7 +43,7 @@ public class Bodies
         /// Gets a reference to the active set, stored in the index 0 of the Sets buffer.
         /// </summary>
         /// <returns>Reference to the active body set.</returns>
-        public unsafe ref BodySet ActiveSet { [MethodImpl(MethodImplOptions.AggressiveInlining)] get { return ref Unsafe.As<byte, BodySet>(ref *Sets.Memory); } }
+        public unsafe ref BodySet ActiveSet { [MethodImpl(MethodImplOptions.AggressiveInlining)] get { return ref *Sets.Memory; } }
 
         //TODO: Having Inertias publicly exposed seems like a recipe for confusion, given its ephemeral nature. We may want to explicitly delete it after frame execution and
         //never expose it. If the user really wants an up to date world space inertia, it's pretty easy for them to build it from the local inertia and orientation anyway.
@@ -1191,7 +1191,7 @@ unsafe void ResizeHandles(int newCapacity)
                 if (HandleToLocation.Length > oldCapacity)
                 {
                     Unsafe.InitBlockUnaligned(
-                      ((BodyLocation*)HandleToLocation.Memory) + oldCapacity, 0xFF,
+                      HandleToLocation.Memory + oldCapacity, 0xFF,
                       (uint)(sizeof(BodyLocation) * (HandleToLocation.Length - oldCapacity)));
                 }
             }

BepuPhysics/BodyDescription.cs

@@ -137,7 +137,7 @@ public static BodyDescription CreateDynamic(in Vector3 position, in BodyInertia
         /// <returns>Constructed description for the body.</returns>
         public static BodyDescription CreateConvexDynamic<TConvexShape>(
             in RigidPose pose, in BodyVelocity velocity, float mass, Shapes shapes, in TConvexShape shape)
-            where TConvexShape : struct, IConvexShape
+            where TConvexShape : unmanaged, IConvexShape
         {
             var description = new BodyDescription
             {
@@ -162,7 +162,7 @@ public static BodyDescription CreateConvexDynamic<TConvexShape>(
         /// <returns>Constructed description for the body.</returns>
         public static BodyDescription CreateConvexDynamic<TConvexShape>(
             in Vector3 position, in BodyVelocity velocity, float mass, Shapes shapes, in TConvexShape shape)
-            where TConvexShape : struct, IConvexShape
+            where TConvexShape : unmanaged, IConvexShape
         {
             return CreateConvexDynamic(new RigidPose(position), velocity, mass, shapes, shape);
         }
@@ -178,7 +178,7 @@ public static BodyDescription CreateConvexDynamic<TConvexShape>(
         /// <returns>Constructed description for the body.</returns>
         public static BodyDescription CreateConvexDynamic<TConvexShape>(
             in RigidPose pose, float mass, Shapes shapes, in TConvexShape shape)
-            where TConvexShape : struct, IConvexShape
+            where TConvexShape : unmanaged, IConvexShape
         {
             return CreateConvexDynamic(pose, default, mass, shapes, shape);
         }
@@ -194,7 +194,7 @@ public static BodyDescription CreateConvexDynamic<TConvexShape>(
         /// <returns>Constructed description for the body.</returns>
         public static BodyDescription CreateConvexDynamic<TConvexShape>(
             in Vector3 position, float mass, Shapes shapes, in TConvexShape shape)
-            where TConvexShape : struct, IConvexShape
+            where TConvexShape : unmanaged, IConvexShape
         {
             return CreateConvexDynamic(new RigidPose(position), default, mass, shapes, shape);
         }
@@ -260,7 +260,7 @@ public static BodyDescription CreateKinematic(in Vector3 position, in Collidable
         /// <returns>Constructed description for the body.</returns>
         public static BodyDescription CreateConvexKinematic<TConvexShape>(
             in RigidPose pose, in BodyVelocity velocity, Shapes shapes, in TConvexShape shape)
-            where TConvexShape : struct, IConvexShape
+            where TConvexShape : unmanaged, IConvexShape
         {
             var description = new BodyDescription
             {
@@ -283,7 +283,7 @@ public static BodyDescription CreateConvexKinematic<TConvexShape>(
         /// <returns>Constructed description for the body.</returns>
         public static BodyDescription CreateConvexKinematic<TConvexShape>(
             in Vector3 position, in BodyVelocity velocity, Shapes shapes, in TConvexShape shape)
-            where TConvexShape : struct, IConvexShape
+            where TConvexShape : unmanaged, IConvexShape
         {
             return CreateConvexKinematic(new RigidPose(position), velocity, shapes, shape);
         }
@@ -298,7 +298,7 @@ public static BodyDescription CreateConvexKinematic<TConvexShape>(
         /// <returns>Constructed description for the body.</returns>
         public static BodyDescription CreateConvexKinematic<TConvexShape>(
             in RigidPose pose, Shapes shapes, in TConvexShape shape)
-            where TConvexShape : struct, IConvexShape
+            where TConvexShape : unmanaged, IConvexShape
         {
             return CreateConvexKinematic(pose, default, shapes, shape);
         }
@@ -313,7 +313,7 @@ public static BodyDescription CreateConvexKinematic<TConvexShape>(
         /// <returns>Constructed description for the body.</returns>
         public static BodyDescription CreateConvexKinematic<TConvexShape>(
             in Vector3 position, Shapes shapes, in TConvexShape shape)
-            where TConvexShape : struct, IConvexShape
+            where TConvexShape : unmanaged, IConvexShape
         {
             return CreateConvexKinematic(new RigidPose(position), default, shapes, shape);
         }

BepuPhysics/BodyProperty.cs

@@ -13,7 +13,7 @@ namespace BepuPhysics
     /// </summary>
     /// <typeparam name="T">Type of the data to store.</typeparam>
     /// <remarks>This is built for use cases relying on random access like the narrow phase. For maximum performance with sequential access, an index-aligned structure would be better.</remarks>
-    public class BodyProperty<T> : IDisposable where T : struct
+    public class BodyProperty<T> : IDisposable where T : unmanaged
     {
         Bodies bodies;
         BufferPool pool;

BepuPhysics/Collidables/BigCompound.cs

@@ -100,7 +100,7 @@ unsafe struct LeafTester<TRayHitHandler> : IRayLeafTester where TRayHitHandler :
             [MethodImpl(MethodImplOptions.AggressiveInlining)]
             public LeafTester(in Buffer<CompoundChild> children, Shapes shapes, in TRayHitHandler handler, in Matrix3x3 orientation, in RayData originalRay)
             {
-                Children = (CompoundChild*)children.Memory;
+                Children = children.Memory;
                 Shapes = shapes;
                 HitRotator.HitHandler = handler;
                 HitRotator.Orientation = orientation;

BepuPhysics/Collidables/BoundingBoxBatcher.cs

@@ -114,7 +114,7 @@ public unsafe BoundingBoxBatcher(Bodies bodies, Shapes shapes, BroadPhase broadP
             maximumBatchIndex = -1;
         }
 
-        public unsafe void ExecuteConvexBatch<TShape, TShapeWide>(ConvexShapeBatch<TShape, TShapeWide> shapeBatch) where TShape : struct, IConvexShape where TShapeWide : struct, IShapeWide<TShape>
+        public unsafe void ExecuteConvexBatch<TShape, TShapeWide>(ConvexShapeBatch<TShape, TShapeWide> shapeBatch) where TShape : unmanaged, IConvexShape where TShapeWide : unmanaged, IShapeWide<TShape>
         {
             var instanceBundle = default(BoundingBoxInstanceWide<TShape, TShapeWide>);
             if (instanceBundle.Shape.InternalAllocationSize > 0) //TODO: Check to make sure the JIT omits the branch.
@@ -184,7 +184,7 @@ public unsafe void ExecuteConvexBatch<TShape, TShapeWide>(ConvexShapeBatch<TShap
         }
 
         public unsafe void ExecuteHomogeneousCompoundBatch<TShape, TChildShape, TChildShapeWide>(HomogeneousCompoundShapeBatch<TShape, TChildShape, TChildShapeWide> shapeBatch)
-            where TShape : struct, IHomogeneousCompoundShape<TChildShape, TChildShapeWide>
+            where TShape : unmanaged, IHomogeneousCompoundShape<TChildShape, TChildShapeWide>
             where TChildShape : IConvexShape
             where TChildShapeWide : IShapeWide<TChildShape>
         {
@@ -212,7 +212,7 @@ public unsafe void ExecuteHomogeneousCompoundBatch<TShape, TChildShape, TChildSh
             }
         }
 
-        public unsafe void ExecuteCompoundBatch<TShape>(CompoundShapeBatch<TShape> shapeBatch) where TShape : struct, ICompoundShape
+        public unsafe void ExecuteCompoundBatch<TShape>(CompoundShapeBatch<TShape> shapeBatch) where TShape : unmanaged, ICompoundShape
         {
             ref var batch = ref batches[shapeBatch.TypeId];
             ref var activeSet = ref bodies.ActiveSet;

BepuPhysics/Collidables/CompoundHelpers.cs

@@ -50,7 +50,7 @@ public CompoundBuilder(BufferPool pool, Shapes shapes, int builderCapacity)
         /// <param name="localPose">Pose of the shape in the compound's local space.</param>
         /// <param name="weight">Weight of the shape. If the compound is interpreted as a dynamic, this will be used as the mass and scales the inertia tensor. 
         /// Otherwise, it is used for recentering.</param>
-        public void Add<TShape>(in TShape shape, in RigidPose localPose, float weight) where TShape : struct, IConvexShape
+        public void Add<TShape>(in TShape shape, in RigidPose localPose, float weight) where TShape : unmanaged, IConvexShape
         {
             ref var child = ref Children.Allocate(Pool);
             child.LocalPose = localPose;
@@ -67,7 +67,7 @@ public void Add<TShape>(in TShape shape, in RigidPose localPose, float weight) w
         /// <param name="shape">Shape to add.</param>
         /// <param name="localPose">Pose of the shape in the compound's local space.</param>
         /// <param name="weight">Weight of the shape. If the compound is interpreted as a dynamic, this will be used as the mass. Otherwise, it is used for recentering.</param>
-        public void AddForKinematic<TShape>(in TShape shape, in RigidPose localPose, float weight) where TShape : struct, IConvexShape
+        public void AddForKinematic<TShape>(in TShape shape, in RigidPose localPose, float weight) where TShape : unmanaged, IConvexShape
         {
             ref var child = ref Children.Allocate(Pool);
             child.LocalPose = localPose;

BepuPhysics/Collidables/Mesh.cs

@@ -184,7 +184,7 @@ public unsafe void TestLeaf(int leafIndex, RayData* rayData, float* maximumT)
         public unsafe void RayTest<TRayHitHandler>(in RigidPose pose, in RayData ray, ref float maximumT, ref TRayHitHandler hitHandler) where TRayHitHandler : struct, IShapeRayHitHandler
         {
             HitLeafTester<TRayHitHandler> leafTester;
-            leafTester.Triangles = (Triangle*)Triangles.Memory;
+            leafTester.Triangles = Triangles.Memory;
             leafTester.HitHandler = hitHandler;
             Matrix3x3.CreateFromQuaternion(pose.Orientation, out leafTester.Orientation);
             leafTester.InverseScale = inverseScale;
@@ -208,7 +208,7 @@ public unsafe void RayTest<TRayHitHandler>(in RigidPose pose, in RayData ray, re
         public unsafe void RayTest<TRayHitHandler>(in RigidPose pose, ref RaySource rays, ref TRayHitHandler hitHandler) where TRayHitHandler : struct, IShapeRayHitHandler
         {
             HitLeafTester<TRayHitHandler> leafTester;
-            leafTester.Triangles = (Triangle*)Triangles.Memory;
+            leafTester.Triangles = Triangles.Memory;
             leafTester.HitHandler = hitHandler;
             Matrix3x3.CreateFromQuaternion(pose.Orientation, out leafTester.Orientation);
             Matrix3x3.Transpose(leafTester.Orientation, out var inverseOrientation);

BepuPhysics/Collidables/Shapes.cs

@@ -108,7 +108,7 @@ public void ResizeIdPool(int targetIdCapacity)
 
     }
 
-    public abstract class ShapeBatch<TShape> : ShapeBatch where TShape : struct, IShape//TODO: When blittable is supported, shapes should be made blittable. We store them in buffers.
+    public abstract class ShapeBatch<TShape> : ShapeBatch where TShape : unmanaged, IShape
     {
         internal Buffer<TShape> shapes;
 
@@ -199,8 +199,8 @@ public override void Dispose()
 
 
     public class ConvexShapeBatch<TShape, TShapeWide> : ShapeBatch<TShape>
-        where TShape : struct, IConvexShape
-        where TShapeWide : struct, IShapeWide<TShape>
+        where TShape : unmanaged, IConvexShape
+        where TShapeWide : unmanaged, IShapeWide<TShape>
     {
         public ConvexShapeBatch(BufferPool pool, int initialShapeCount) : base(pool, initialShapeCount)
         {
@@ -262,7 +262,7 @@ protected override void Dispose(int index, BufferPool pool)
     }
 
 
-    public class HomogeneousCompoundShapeBatch<TShape, TChildShape, TChildShapeWide> : ShapeBatch<TShape> where TShape : struct, IHomogeneousCompoundShape<TChildShape, TChildShapeWide>
+    public class HomogeneousCompoundShapeBatch<TShape, TChildShape, TChildShapeWide> : ShapeBatch<TShape> where TShape : unmanaged, IHomogeneousCompoundShape<TChildShape, TChildShapeWide>
         where TChildShape : IConvexShape
         where TChildShapeWide : IShapeWide<TChildShape>
     {
@@ -303,7 +303,7 @@ public override void RayTest<TRayHitHandler>(int shapeIndex, in RigidPose pose,
         }
     }
 
-    public class CompoundShapeBatch<TShape> : ShapeBatch<TShape> where TShape : struct, ICompoundShape
+    public class CompoundShapeBatch<TShape> : ShapeBatch<TShape> where TShape : unmanaged, ICompoundShape
     {
         Shapes shapeBatches;
 
@@ -390,14 +390,14 @@ public void UpdateBounds(in RigidPose pose, ref TypedIndex shapeIndex, out Bound
         }
 
         [MethodImpl(MethodImplOptions.AggressiveInlining)]
-        public ref TShape GetShape<TShape>(int shapeIndex) where TShape : struct, IShape
+        public ref TShape GetShape<TShape>(int shapeIndex) where TShape : unmanaged, IShape
         {
             var typeId = default(TShape).TypeId;
             return ref Unsafe.As<ShapeBatch, ShapeBatch<TShape>>(ref batches[typeId])[shapeIndex];
         }
 
 
-        public TypedIndex Add<TShape>(in TShape shape) where TShape : struct, IShape
+        public TypedIndex Add<TShape>(in TShape shape) where TShape : unmanaged, IShape
         {
             var typeId = default(TShape).TypeId;
             if (RegisteredTypeSpan <= typeId)

BepuPhysics/CollisionDetection/CollisionBatcherContinuations.cs

@@ -84,7 +84,7 @@ public PairContinuation(int pairId)
         public int ChildIndex { [MethodImpl(MethodImplOptions.AggressiveInlining)] get { return (int)(Packed & ((1 << 18) - 1)); } }
     }
 
-    public struct BatcherContinuations<T> where T : struct, ICollisionTestContinuation
+    public struct BatcherContinuations<T> where T : unmanaged, ICollisionTestContinuation
     {
         public Buffer<T> Continuations;
         public IdPool IdPool;