changed over more code

Author: dooly123

Basis/Packages/com.basis.framework/Device Management/BasisDeviceManagement.cs

@@ -160,7 +160,7 @@ public static string StaticCurrentMode
         /// <summary>
         /// Registered device SDK managers capable of booting into given modes (Desktop/XR/etc.).
         /// </summary>
-        [SerializeField] public List<BasisBaseTypeManagement> BaseTypes = new();
+        [SerializeField] public BasisBaseTypeManagement[] BaseTypes;
 
         /// <summary>
         /// Helpers that constrain transforms to input devices.
@@ -264,7 +264,7 @@ private async void OnDestroy()
         public void Simulate()
         {
             OnDeviceManagementLoop?.Invoke();
-            int Count = BaseTypes.Count;
+            int Count = BaseTypes.Length;
             for (int Index = 0; Index < Count; Index++)
             {
                 BasisBaseTypeManagement Sim = BaseTypes[Index];
@@ -450,7 +450,8 @@ public async Task StartDevices(string mode)
         /// </summary>
         public void StopAllDevices()
         {
-            for (int i = 0; i < BaseTypes.Count; i++)
+           var length = BaseTypes.Length;
+            for (int i = 0; i < length; i++)
             {
                 BaseTypes[i]?.AttemptStopSDK();
             }
@@ -477,7 +478,8 @@ public void ShutDownXR()
         /// </summary>
         public void StartAllStartIfPermanentlyExists()
         {
-            for (int i = 0; i < BaseTypes.Count; i++)
+            var length = BaseTypes.Length;
+            for (int i = 0; i < length; i++)
             {
                 BaseTypes[i]?.StartIfPermanentlyExists();
             }
@@ -507,9 +509,13 @@ public static void UnassignFBTrackers()
         public bool TryFindBasisBaseTypeManagement(string name, out List<BasisBaseTypeManagement> match, bool OnlyFinding = false)
         {
             match = new List<BasisBaseTypeManagement>();
-            if (string.IsNullOrEmpty(name) || BaseTypes == null) return false;
+            if (string.IsNullOrEmpty(name) || BaseTypes == null)
+            {
+                return false;
+            }
 
-            for (int i = 0; i < BaseTypes.Count; i++)
+            var length = BaseTypes.Length;
+            for (int i = 0; i < length; i++)
             {
                 var type = BaseTypes[i];
                 if (type != null && type.AttemptIsDeviceBootable(name, OnlyFinding))
@@ -888,8 +894,9 @@ public async Task SoftSwitchToDesktop()
 
             BasisDebug.Log($"Soft-switching from {AutoSwapPreviousVRMode} to Desktop (keeping runtime alive)", BasisDebug.LogTag.Device);
 
+            var length = BaseTypes.Length;
             // Soft-stop VR input devices — runtime stays alive
-            for (int i = 0; i < BaseTypes.Count; i++)
+            for (int i = 0; i < length; i++)
             {
                 var bt = BaseTypes[i];
                 if (bt != null && bt.IsDeviceBooted && bt.IsDeviceBootable(AutoSwapPreviousVRMode))
@@ -925,8 +932,9 @@ public async Task SoftSwitchToVR()
 
             BasisDebug.Log($"Soft-switching from Desktop back to {vrMode}", BasisDebug.LogTag.Device);
 
+            var length = BaseTypes.Length;
             // Stop desktop devices normally
-            for (int i = 0; i < BaseTypes.Count; i++)
+            for (int i = 0; i < length; i++)
             {
                 var bt = BaseTypes[i];
                 if (bt != null && bt.IsDeviceBooted && bt.IsDeviceBootable(BasisConstants.Desktop))
@@ -941,7 +949,7 @@ public async Task SoftSwitchToVR()
             BasisCursorManagement.OnReset();
 
             // Soft-start VR input devices — runtime is already alive
-            for (int i = 0; i < BaseTypes.Count; i++)
+            for (int i = 0; i < length; i++)
             {
                 var bt = BaseTypes[i];
                 if (bt != null && bt.IsDeviceBooted && bt.IsDeviceBootable(vrMode))

Basis/Packages/com.basis.framework/IK/BasisIKPlaybackDriver.cs

@@ -5,6 +5,7 @@
 using Basis.Scripts.Device_Management.Devices.Simulation;
 using Basis.Scripts.Drivers;
 using Basis.Scripts.TransformBinders.BoneControl;
+using System;
 using System.Collections.Generic;
 using UnityEngine;
 using UnityEngine.Animations;
@@ -260,8 +261,10 @@ private void CreateSimulatedDevices()
 
         // Find or create the simulation manager
         BasisSimulateXR simulator = null;
-        foreach (var bt in BasisDeviceManagement.Instance.BaseTypes)
+        var Instance = BasisDeviceManagement.Instance;
+        for (int Index = 0; Index < Instance.BaseTypes.Length; Index++)
         {
+            BasisBaseTypeManagement bt = Instance.BaseTypes[Index];
             if (bt is BasisSimulateXR sim)
             {
                 simulator = sim;
@@ -275,7 +278,10 @@ private void CreateSimulatedDevices()
             GameObject simGO = new GameObject("IKPlayback_SimulateXR");
             simGO.hideFlags = HideFlags.HideAndDontSave;
             simulator = simGO.AddComponent<BasisSimulateXR>();
-            BasisDeviceManagement.Instance.BaseTypes.Add(simulator);
+            var oldArray = Instance.BaseTypes;
+            Array.Resize(ref oldArray, oldArray.Length + 1);
+            oldArray[^1] = simulator;
+            Instance.BaseTypes = oldArray;
         }
 
         foreach (var (bone, role, group) in BoneRoleMap)

Basis/Packages/com.basis.framework/IK/FootPlacement/BasisLocalFootDriver.cs

@@ -728,7 +728,7 @@ public void Simulate(float dt)
     /// <summary>
     /// Main-thread input gather + schedule only. Caller must pair with CompleteSimulate().
     /// </summary>
-    public void ScheduleSimulate(float dt)
+    public unsafe void ScheduleSimulate(float dt)
     {
         _jobScheduled = false;
         if (!IsInitialized || dt <= 0f) return;
@@ -744,8 +744,9 @@ public void ScheduleSimulate(float dt)
         var chestCtrl = BasisLocalBoneDriver.ChestControl;
         bool groundHit = Physics.Raycast(hips.position, -cachedPlayerUp, out RaycastHit ch, rayCastRange, groundLayers, QueryTriggerInteraction.Ignore);
 
-        // ── 2. Pack input ──
-        _nativeInput[0] = new BasisFootSimInput
+        // ── 2. Pack input (write in place; no job is in flight here) ──
+        ref BasisFootSimInput inputSlot = ref UnsafeUtility.ArrayElementAsRef<BasisFootSimInput>(_nativeInput.GetUnsafePtr(), 0);
+        inputSlot = new BasisFootSimInput
         {
             dt = dt,
             headPos = headData.position,