Fix BodySetIslandIndex SolvePositionConstraints race condition (#884)

Sometimes bodies would be marked as part of an island even though they were put to sleep. This happens because SolvePositionConstraints puts the body to sleep at the same time as BodySetIslandIndex runs.

Co-authored-by: Jorrit Rouwe <[email protected]>

Docs/PhysicsSystemUpdate.drawio

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Jolt/Physics/PhysicsSystem.cpp

@@ -378,9 +378,8 @@ EPhysicsUpdateError PhysicsSystem::Update(float inDeltaTime, int inCollisionStep
 				{
 					context.mPhysicsSystem->JobBodySetIslandIndex();
 
-					if (step.mStartNextStep.IsValid())
-						step.mStartNextStep.RemoveDependency();
-				}, 1); // depends on: finalize islands
+					JobHandle::sRemoveDependencies(step.mSolvePositionConstraints);
+				}, 2); // depends on: finalize islands, finish building jobs
 
 			// Job to start the next collision step
 			if (!is_last_step)
@@ -422,7 +421,7 @@ EPhysicsUpdateError PhysicsSystem::Update(float inDeltaTime, int inCollisionStep
 							// Kick the step listeners job first
 							JobHandle::sRemoveDependencies(next_step->mStepListeners);
 						}
-					}, 4); // depends on: update soft bodies, body set island index, contact removed callbacks, finish building the previous step
+					}, 3); // depends on: update soft bodies, contact removed callbacks, finish building the previous step
 			}
 
 			// This job will solve the velocity constraints
@@ -499,10 +498,11 @@ EPhysicsUpdateError PhysicsSystem::Update(float inDeltaTime, int inCollisionStep
 						// Kick the next step
 						if (step.mSoftBodyPrepare.IsValid())
 							step.mSoftBodyPrepare.RemoveDependency();
-					}, 2); // depends on: resolve ccd contacts, finish building jobs.
+					}, 3); // depends on: resolve ccd contacts, body set island index, finish building jobs.
 
-			// Unblock previous job.
+			// Unblock previous jobs.
 			step.mResolveCCDContacts.RemoveDependency();
+			step.mBodySetIslandIndex.RemoveDependency();
 
 			// The soft body prepare job will create other jobs if needed
 			step.mSoftBodyPrepare = inJobSystem->CreateJob("SoftBodyPrepare", cColorSoftBodyPrepare, [&context, &step]()