Must include HavokSimulation:SyncJob as a dependency

Question

I am trying to make limit my player's jumping when he is not colliding with the floor

Here's my system for doing this:

     [UpdateBefore(typeof(PhysicsStep))]   
     public class TogglePLinearImpulseOnFloorCollisionSystem : JobComponentSystem
     {
         EntityQuery FloorGroup;
         EntityQuery CharacterGroup;
         BuildPhysicsWorld buildPhysicsWorld;
         StepPhysicsWorld stepPhysicsWorld;
 
         protected override void OnCreate()
         {
             FloorGroup = GetEntityQuery(typeof(FloorTag));
             CharacterGroup = GetEntityQuery(typeof(ToggleInputLinearImpulseOnFloorCollisionTag));
             base.OnCreate();
             buildPhysicsWorld = World.GetOrCreateSystem<BuildPhysicsWorld>();
             stepPhysicsWorld = World.GetOrCreateSystem<StepPhysicsWorld>();
         }
         protected override JobHandle OnUpdate(JobHandle inputDeps)
         {
             var jobHandle = new TogglePLinearImpulseOnFloorCollisionJob()
             {
                 FloorGroup = GetComponentDataFromEntity<FloorTag>(true),
                 CharacterGroup = GetComponentDataFromEntity<ToggleInputLinearImpulseOnFloorCollisionTag>(true),
                 PLinearImpulseGroup = GetComponentDataFromEntity<PLinearImpulse>()
             }.Schedule(stepPhysicsWorld.Simulation, ref buildPhysicsWorld.PhysicsWorld, inputDeps, stepPhysicsWorld.FinalSimulationJobHandle);
             return jobHandle;
         }
     }

I get no result except for this error:

 InvalidOperationException: The previously scheduled job HavokSimulation:SyncJob reads from the Unity.Collections.NativeArray`1[Unity.Physics.MotionVelocity] SyncJob.World.DynamicsWorld.m_MotionVelocities. You are trying to schedule a new job Solver:ParallelApplyGravityAndCopyInputVelocitiesJob, which writes to the same Unity.Collections.NativeArray`1[Unity.Physics.MotionVelocity] (via ParallelApplyGravityAndCopyInputVelocitiesJob.MotionVelocities). To guarantee safety, you must include HavokSimulation:SyncJob as a dependency of the

There is also a compiler error despite having the reference in the assembly definition:

 stepPhysicsWorld.FinalSimulationJobHandle -> Unity.Physics.IBodyPairsJobExtensions.HAVOK_PHYSICS_MISSING_FROM_ASMDEF

Answer 1

Hey guys, I found the solution.

Mistake number 1: [UpdateInGroup(typeof(FixedStepSimulationSystemGroup))] should be used instead of [UpdateBefore(typeof(PhysicsStep))].
Mistake number 2: no need for FinalSimulationJobHandle.
Mistake number 3: A JobHandle should be completed before being returned, as it needs to finish before the next physics step. ( jobHandle.Complete() )
I'm posting the full final code of the script, as I don't want anyone else to frustrate over this:

     [UpdateInGroup(typeof(FixedStepSimulationSystemGroup))]
     public class TogglePLinearImpulseOnFloorCollisionSystem : JobComponentSystem
     {
         EntityQuery FloorGroup;
         EntityQuery CharacterGroup;
         BuildPhysicsWorld buildPhysicsWorld;
         StepPhysicsWorld stepPhysicsWorld;
 
         protected override void OnCreate()
         {
             base.OnCreate();
             FloorGroup = GetEntityQuery(typeof(FloorTag));
             CharacterGroup = GetEntityQuery(typeof(ToggleInputLinearImpulseOnFloorCollisionTag));
             buildPhysicsWorld = World.GetOrCreateSystem<BuildPhysicsWorld>();
             stepPhysicsWorld = World.GetOrCreateSystem<StepPhysicsWorld>();
         }
         protected override JobHandle OnUpdate(JobHandle inputDeps)
         {
             var jobHandle = new TogglePLinearImpulseOnFloorCollisionJob()
             {
                 FloorGroup = GetComponentDataFromEntity<FloorTag>(true),
                 CharacterGroup = GetComponentDataFromEntity<ToggleInputLinearImpulseOnFloorCollisionTag>(true),
                 PLinearImpulseGroup = GetComponentDataFromEntity<PLinearImpulse>()
             }.Schedule(stepPhysicsWorld.Simulation, ref buildPhysicsWorld.PhysicsWorld, inputDeps);
             jobHandle.Complete();
 
             return jobHandle;
         }
     }
 
     [BurstCompile]
     struct TogglePLinearImpulseOnFloorCollisionJob : ICollisionEventsJobBase
     {
         [ReadOnly] public ComponentDataFromEntity<FloorTag> FloorGroup;
         [ReadOnly] public ComponentDataFromEntity<ToggleInputLinearImpulseOnFloorCollisionTag> CharacterGroup;
         public ComponentDataFromEntity<PLinearImpulse> PLinearImpulseGroup;
 
         public void Execute(CollisionEvent collisionEvent)
         {
             var entityA = collisionEvent.EntityA;
             var entityB = collisionEvent.EntityB;
 
             var bodyAIsCharacter = CharacterGroup.HasComponent(entityA);
             var bodyBIsCharacter = CharacterGroup.HasComponent(entityB);
 
             var bodyAIsFloor = FloorGroup.HasComponent(entityA);
             var bodyBIsFloor = FloorGroup.HasComponent(entityB);
 
             var collisionCase = 
                 (Convert.ToByte(bodyAIsFloor) << 0) + 
                 (Convert.ToByte(bodyBIsFloor) << 1) + 
                 (Convert.ToByte(bodyAIsCharacter) << 2) + 
                 (Convert.ToByte(bodyBIsCharacter) << 3);
             var pLinearImpulseComponent = new PLinearImpulse();
 
             switch (collisionCase)
             {
                 case (1 << 0) + (1 << 3):
                     pLinearImpulseComponent = PLinearImpulseGroup[entityB];
                     pLinearImpulseComponent.CanImpulse = true;
                     PLinearImpulseGroup[entityB] = pLinearImpulseComponent;
                     break;
                 case (1 << 1) + (1 << 2):
                     pLinearImpulseComponent = PLinearImpulseGroup[entityA];
                     pLinearImpulseComponent.CanImpulse = true;
                     PLinearImpulseGroup[entityA] = pLinearImpulseComponent;
                     break;
             }
         }
     }

Must include HavokSimulation:SyncJob as a dependency

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