-Added new system of syncing transforms. Currently debugging a crash due to incorrect data access

Assets/Unity Physics Items/BoatBodyComponent.cs

 	public void Convert(Entity entity, EntityManager dstManager, GameObjectConversionSystem conversionSystem)
 	{
 		dstManager.AddComponent(entity, typeof(CopyTransformToGameObject));
+		//dstManager.AddComponent(entity, typeof(SyncTransformTag));
+		//DOTSTransformManager.Register(entity, transform);
 	}
 }

Assets/Unity Physics Items/BuoyantObject_DOTS.cs

 		private DebugDrawing[] debugInfo; // For drawing force gizmos
 		public float percentSubmerged = 0f;
 
+		public GameObject childObject;
+
 		[ContextMenu("Initialize")]
 		void Init()
 		{
             if (body)
                 body.Convert(conversionSystem.GetPrimaryEntity(body), dstManager, conversionSystem);
 
-        }
+
+			if (childObject != null)
+			{
+				dstManager.AddComponent(entity, typeof(SyncTransformTag));
+
+				GameObject go = Instantiate(childObject, transform.position, transform.rotation) as GameObject;
+
+				if(go.GetComponent<BuoyantObject>()) Destroy(go.GetComponent<BuoyantObject>());
+				if(go.GetComponent<Engine>()) Destroy(go.GetComponent<Engine>());
+				if(go.GetComponent<BoatController>()) Destroy(go.GetComponent<BoatController>());
+
+				go.transform.parent = transform.parent;
+
+				DOTSTransformManager.Register(entity, go.transform);
+			}
+		}
 
         struct DebugDrawing
 		{

Assets/Unity Physics Items/Components/BoatDataComponents.cs

 	public float3 Value;
 }
 
-public struct SimpleBuoyantTag : IComponentData { }
+public struct SimpleBuoyantTag : IComponentData { }
+
+public struct SyncTransformTag : IComponentData { }

Assets/Unity Physics Items/Prefabs/BoatEntity.prefab

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Assets/Unity Physics Items/Systems/ApplyBuoyancyForceSystem.cs

 using Unity.Physics.Extensions;
 using Unity.Physics.Systems;
 using Unity.Physics;
+using Unity.Collections.LowLevel.Unsafe;
 
 [UpdateAfter(typeof(GertsnerSystem)), UpdateAfter(typeof(ExportPhysicsWorld))]
 public class ApplyBuoyancyForceSystem : JobComponentSystem
 		var offsets = GetBufferFromEntity<VoxelOffset>(false);
 		var heights = GetBufferFromEntity<VoxelHeight>(false);
 
+		var physicsQuery = GetEntityQuery(typeof(Translation), typeof(Rotation), typeof(PhysicsVelocity), typeof(PhysicsMass), typeof(PhysicsDamping), typeof(BuoyantData));
+		var physicalEntities = physicsQuery.ToEntityArray(Allocator.TempJob);
+			entities = physicalEntities,
+			translations = GetComponentDataFromEntity<Translation>(true),
+			rotations = GetComponentDataFromEntity<Rotation>(true),
+			velocities = GetComponentDataFromEntity<PhysicsVelocity>(false),
+			masses = GetComponentDataFromEntity<PhysicsMass>(true),
+			dampings = GetComponentDataFromEntity<PhysicsDamping>(true),
+			datas = GetComponentDataFromEntity<BuoyantData>(true),
+		var forceJobHandle = forceJob.Schedule(physicalEntities.Length, 1, inputDeps);
+
-		var forceJobHandle = forceJob.Schedule(this, inputDeps);
+		var simpleQuery = GetEntityQuery(typeof(Translation), typeof(Rotation), typeof(BuoyancyNormal), typeof(SimpleBuoyantTag));
+		var simpleEntities = simpleQuery.ToEntityArray(Allocator.TempJob);
+			entities = physicalEntities,
+			translations = GetComponentDataFromEntity<Translation>(false),
+			rotations = GetComponentDataFromEntity<Rotation>(false),
+			normals = GetComponentDataFromEntity<BuoyancyNormal>(true),
-		return simpleJob.Schedule(this, forceJobHandle);
+		var simpleHandle = simpleJob.Schedule(simpleEntities.Length, 32, forceJobHandle);
+
+		return simpleHandle;
+		//return JobHandle.CombineDependencies(forceJobHandle, simpleHandle);
-	//[BurstCompile]
-	public struct ForceJob : IJobForEachWithEntity<Translation, Rotation, PhysicsVelocity, PhysicsMass, PhysicsDamping, BuoyantData>
+	[BurstCompile]
+	public struct ForceJob : IJobParallelFor//<Translation, Rotation, PhysicsVelocity, PhysicsMass, PhysicsDamping, BuoyantData>
-		public float dt;
+		[ReadOnly] public float dt;
-		[ReadOnly]
-		public BufferFromEntity<VoxelOffset> offsetBuffer;
+		[ReadOnly] public NativeArray<Entity> entities;
+		[ReadOnly] public ComponentDataFromEntity<Translation> translations;
+		[ReadOnly] public ComponentDataFromEntity<Rotation> rotations;
+		[ReadOnly] public ComponentDataFromEntity<PhysicsMass> masses;
+		[ReadOnly] public ComponentDataFromEntity<PhysicsDamping> dampings;
+		[ReadOnly] public ComponentDataFromEntity<BuoyantData> datas;
-		[ReadOnly]
-		public BufferFromEntity<VoxelHeight> heightBuffer;
-		
-		public void Execute(Entity entity, int index, [ReadOnly] ref Translation pos, [ReadOnly] ref Rotation rot, ref PhysicsVelocity vel, ref PhysicsMass mass, ref PhysicsDamping damping, [ReadOnly] ref BuoyantData data)
+		[ReadOnly] public BufferFromEntity<VoxelOffset> offsetBuffer;
+		[ReadOnly] public BufferFromEntity<VoxelHeight> heightBuffer;
+
+		[NativeDisableParallelForRestriction]
+		public ComponentDataFromEntity<PhysicsVelocity> velocities;
+
+		public void Execute(int index)
+			var entity = entities[index];
+			var pos = translations[entity];
+			var rot = rotations[entity];
+			var vel = velocities[entity];
+			var mass = masses[entity];
+			var damping = dampings[entity];
+			var data = datas[entity];
+
+
 			DynamicBuffer<VoxelOffset> offsets = offsetBuffer[entity];
 			DynamicBuffer<VoxelHeight> heights = heightBuffer[entity];
 
 				}
 			}
 
+			velocities[entity] = vel;
+
 			//Apply drag
 			//data.percentSubmerged = Mathf.Lerp(data.percentSubmerged, submergedAmount, 0.25f);
 			//damping.Linear = data.baseDrag + (data.baseDrag * (data.percentSubmerged * 10f));
 
 	[BurstCompile]
-	[RequireComponentTag(typeof(SimpleBuoyantTag))]
-	public struct SimpleForceJob : IJobForEachWithEntity<Translation, Rotation, BuoyancyNormal>
+	public struct SimpleForceJob : IJobParallelFor
-		[ReadOnly]
-		public BufferFromEntity<VoxelHeight> heightBuffer;
+		[ReadOnly] public NativeArray<Entity> entities;
+		[ReadOnly] public ComponentDataFromEntity<BuoyancyNormal> normals;
+		[ReadOnly] public BufferFromEntity<VoxelHeight> heightBuffer;
-		public void Execute(Entity entity, int index, [ReadOnly] ref Translation pos, [ReadOnly] ref Rotation rot, [ReadOnly] ref BuoyancyNormal normal)
+		[NativeDisableParallelForRestriction]
+		public ComponentDataFromEntity<Translation> translations;
+
+		[NativeDisableParallelForRestriction]
+		public ComponentDataFromEntity<Rotation> rotations;
+
+		public void Execute(int index)
+			var entity = entities[index];
+			var pos = translations[entity];
+			var rot = rotations[entity];
+			var normal = normals[entity];
+
-			//var position = pos.Value;
-			//position.y = heights[0].Value.y;
-			//pos.Value = position;
-
-			
-			//transform.up = Vector3.Slerp(transform.up, normals[0], Time.deltaTime);
+			translations[entity] = pos;
+			rotations[entity] = rot;
 		}
 	}
 }

Assets/Unity Physics Items/Systems/GertsnerSystem.cs

 
 	protected override JobHandle OnUpdate(JobHandle inputDeps)
 	{
-		var job = new HeightJob {
+		var query = GetEntityQuery(typeof(Translation), typeof(Rotation), typeof(BuoyancyNormal));
+		var entities = query.ToEntityArray(Allocator.TempJob);
+
+		var job = new HeightQueryJob
+		{
+			entities = entities,
+			translations = GetComponentDataFromEntity<Translation>(true),
+			rotations = GetComponentDataFromEntity<Rotation>(true),
+			normals = GetComponentDataFromEntity<BuoyancyNormal>(false),
-		return job.Schedule(this, inputDeps);
+		return job.Schedule(entities.Length, 1);
-	public struct HeightJob : IJobForEachWithEntity<Translation, Rotation, BuoyancyNormal>
+	public struct HeightQueryJob : IJobParallelFor
-		[ReadOnly]
-		public NativeArray<Wave> waveData; // wave data stroed in vec4's like the shader version but packed into one
+		[ReadOnly] public NativeArray<Wave> waveData; // wave data stroed in vec4's like the shader version but packed into one
+
+		[ReadOnly] public float time;
-		[ReadOnly]
-		public float time;
+		[ReadOnly] public NativeArray<Entity> entities;
+		[ReadOnly] public ComponentDataFromEntity<Translation> translations;
+		[ReadOnly] public ComponentDataFromEntity<Rotation> rotations;
+		[ReadOnly] public BufferFromEntity<VoxelOffset> offsetBuffer;
-		[ReadOnly]
-		public BufferFromEntity<VoxelOffset> offsetBuffer;
+		[NativeDisableParallelForRestriction]
+		public ComponentDataFromEntity<BuoyancyNormal> normals;
-		// The code actually running on the job
-		public void Execute(Entity entity, int i, [ReadOnly] ref Translation translation, ref Rotation rot, ref BuoyancyNormal normal)
+		
+		public void Execute(int index)
+			var entity = entities[index];
+
-			var entityTransform = new RigidTransform(rot.Value, translation.Value);
+			var entityTransform = new RigidTransform(rotations[entity].Value, translations[entity].Value);
 
 			for (int vi = 0; vi < offsets.Length; vi++)
 			{
 
 				for (var wave = 0; wave < waveData.Length; wave++) // for each wave
 				{
+					var thisWave = waveData[wave];
+
-					var amplitude = waveData[wave].amplitude;
-					var direction = waveData[wave].direction;
-					var wavelength = waveData[wave].wavelength;
-					var omniPos = waveData[wave].origin;
+					var amplitude = thisWave.amplitude;
+					var direction = thisWave.direction;
+					var wavelength = thisWave.wavelength;
+					var omniPos = thisWave.origin;
 					////////////////////////////////wave value calculations//////////////////////////
 					var w = 6.28318f / wavelength; // 2pi over wavelength(hardcoded)
 					var wSpeed = math.sqrt(9.8f * w); // frequency of the wave based off wavelength
 					var dir = 0f;
 
 					direction = math.radians(direction); // convert the incoming degrees to radians
-					var windDirInput = new float2(math.sin(direction), math.cos(direction)) * (1 - waveData[wave].onmiDir); // calculate wind direction - TODO - currently radians
-					var windOmniInput = (pos - omniPos) * waveData[wave].onmiDir;
+					var windDirInput = new float2(math.sin(direction), math.cos(direction)) * (1 - thisWave.onmiDir); // calculate wind direction - TODO - currently radians
+					var windOmniInput = (pos - omniPos) * thisWave.onmiDir;
-					dir = math.dot(windDir, pos - (omniPos * waveData[wave].onmiDir)); // calculate a gradient along the wind direction
+					dir = math.dot(windDir, pos - (omniPos * thisWave.onmiDir)); // calculate a gradient along the wind direction
 
 					////////////////////////////position output calculations/////////////////////////
 					var calc = dir * w + -time * wSpeed; // the wave calculation
 					}
 				}
 
-				heights[vi] = new VoxelHeight{Value = wavePos};
-				
+				heights[vi] = new VoxelHeight { Value = wavePos };
+
-					normal.Value = math.normalize(waveNorm.xzy);
+					normals[entity] = new BuoyancyNormal { Value = math.normalize(waveNorm.xzy) };
 			}
 		}
 	}

Assets/Unity Physics Items/Systems/InputSystem.cs

 using Unity.Transforms;
 using UnityEngine;
 
-[UpdateBefore(typeof(DriveSystem))]
+//[UpdateBefore(typeof(DriveSystem))]
+[UpdateInGroup(typeof(InitializationSystemGroup))]
 public class InputSystem : ComponentSystem
 {
 	InputControls controls;
 
 	protected override void OnUpdate()
 	{
-		//not time to start
+		////not time to start
-		Entities.ForEach((Entity entity, ref Translation pos, ref Rotation rot, ref InputData data ) =>
+		Entities.ForEach((Entity entity, ref Translation pos, ref Rotation rot, ref InputData data) =>
 		{
 			if (data.isHuman)
 			{

Assets/Unity Physics Items/DOTSTransformManager.cs

+using System.Collections;
+using System.Collections.Generic;
+using Unity.Entities;
+using Unity.Transforms;
+using UnityEngine;
+
+public class DOTSTransformManager : MonoBehaviour
+{
+	static DOTSTransformManager main;
+
+	Dictionary<Entity, Transform> objects = new Dictionary<Entity, Transform>();
+	
+
+	private void Awake()
+	{
+		if (main != null && main != this)
+		{
+			Destroy(this);
+			return;
+		}
+
+		main = this;
+	}
+
+	public static void Register(Entity entity, Transform objTransform)
+	{
+		if (main == null || main.objects.ContainsKey(entity))
+			return;
+
+		main.objects.Add(entity, objTransform);
+	}
+
+	public static Transform GetTransform(Entity entity)
+	{
+		Transform t = null;
+		main.objects.TryGetValue(entity, out t);
+
+		return t;
+	}
+
+	//private void Update()
+	//{
+	//	var manager = World.Active.EntityManager;
+	//	foreach (var item in objects)
+	//	{
+	//		var pos = manager.GetComponentData<Translation>(item.Key);
+	//		var rot = manager.GetComponentData<Rotation>(item.Key);
+
+	//		item.Value.SetPositionAndRotation(pos.Value, rot.Value);
+	//	}
+	//}
+}

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Assets/Unity Physics Items/GridSpawner.cs

+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+public class GridSpawner : MonoBehaviour
+{
+	public GameObject spawnedObject;
+	public float xStep = 3f;
+	public float yStep = 8f;
+	public int columns = 3;
+	public int rows = 3;
+
+	private void Start()
+	{
+		if (spawnedObject == null)
+			return;
+
+		for (int x = 0; x < columns; x++)
+		{
+			for (int y = 0; y < rows; y++)
+			{
+				Vector3 pos = transform.position + new Vector3(xStep * x, 0f, yStep * -y);
+				Instantiate(spawnedObject, pos, transform.rotation, transform);
+			}
+		}
+	}
+}

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Assets/Unity Physics Items/Prefabs/BoatEntityNew.prefab

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Assets/Unity Physics Items/Prefabs/BoatEntityNew.prefab.meta

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Assets/Unity Physics Items/Prefabs/DOTS Buoys.prefab.meta

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Assets/Unity Physics Items/Systems/UpdateObjectTransformSystem.cs

+using System.Collections;
+using System.Collections.Generic;
+using Unity.Burst;
+using Unity.Collections;
+using Unity.Entities;
+using Unity.Jobs;
+using Unity.Mathematics;
+using Unity.Transforms;
+using UnityEngine;
+using static WaterSystem.BuoyantObject_DOTS;
+using Unity.Physics.Extensions;
+using Unity.Physics.Systems;
+using Unity.Physics;
+
+//[UpdateBefore(typeof(BuildPhysicsWorld))]
+public class UpdateObjectTransformSystem : JobComponentSystem
+{
+	NativeArray<Entity> entities;
+	NativeArray<float3> positions;
+	NativeArray<quaternion> rotations;
+
+	int totalCount;
+
+	protected override void OnCreate()
+	{
+		totalCount = 0;
+
+		entities = new NativeArray<Entity>(256, Allocator.Persistent);
+		positions = new NativeArray<float3>(256, Allocator.Persistent);
+		rotations = new NativeArray<quaternion>(256, Allocator.Persistent);
+
+		base.OnCreate();
+	}
+
+	protected override void OnDestroy()
+	{
+		entities.Dispose();
+		positions.Dispose();
+		rotations.Dispose();
+
+		base.OnDestroy();
+	}
+
+	protected override JobHandle OnUpdate(JobHandle inputDeps)
+	{
+		for (int i = 0; i < SyncJob.count; i++)
+		{
+			var t = DOTSTransformManager.GetTransform(entities[i]);
+			if(t != null)
+				t.SetPositionAndRotation(positions[i], rotations[i]);
+		}
+
+		SyncJob.count = 0;
+
+		var job = new SyncJob
+		{
+			entities = entities,
+			positions = positions,
+			rotations = rotations
+		};
+
+		return job.Schedule(this, inputDeps);
+	}
+
+	//[BurstCompile]
+	[RequireComponentTag(typeof(SyncTransformTag))]
+	public struct SyncJob : IJobForEachWithEntity<Translation, Rotation>
+	{
+		public NativeArray<Entity> entities;
+		public NativeArray<float3> positions;
+		public NativeArray<quaternion> rotations;
+
+		public static int count;
+
+		public void Execute(Entity entity, int index, ref Translation pos, ref Rotation rot)
+		{
+			count++;
+
+			entities[index] = entity;
+			positions[index] = pos.Value;
+			rotations[index] = rot.Value;
+		}
+	}
+}

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