Question Physic issue with burst and Jobs

Hello I'm having a hard time trying to make some SphereCast to work.
I translated a code which was working in c# into job system but it doesn't work anymore (the physic part only).

I have a job which prepare all the SpherecastCommand.

Code (CSharp):

1.  
2.         /// <summary>
3.         /// initial raycast to know if the boid is going straight to an obstacle
4.         /// </summary>
5.         [BurstCompile]
6.         private struct PrepareRaycastJob : IJobParallelFor
7.         {
8.             [UCReadOnly]
9.             public NativeArray<BoidData> _BoidDataArray;
10.  
11.             [WriteOnly]
12.             public NativeArray<SpherecastCommand> _FindObstacleRaycastCommands;
13.  
14.             [UCReadOnly] public int _LayerMask;
15.             [UCReadOnly] public float _SphereRadius;
16.             [UCReadOnly] public float _MaxRayDistance;
17.  
18.             public void Execute(int index)
19.             {
20.                 BoidData lBoidData = _BoidDataArray[index];
21.                 _FindObstacleRaycastCommands[index] = new SpherecastCommand()
22.                 {
23.                     direction = math.normalize(lBoidData.Velocity),
24.                     origin = lBoidData.Position,
25.                     radius = _SphereRadius,
26.                     layerMask = _LayerMask,
27.                     distance = _MaxRayDistance                  
28.                 };
29.             }
30.         }

I assume this can't be an issue with the parameter as the same where used in the classic c# version and it worked.

I then have a job which if the result of the raycast is positive will prepare a batch of sphereraycast :

Code (CSharp):

1.  
2.  
3.         /// <summary>
4.         /// Prepare the raycast launch when a boid comes too close from a surface.
5.         /// </summary>
6.         [BurstCompile]
7.         private struct PrepareRaycastDodgeObstacleJob : IJobParallelFor
8.         {
9.             [UCReadOnly] public NativeArray<BoidData> boidDataArray;
10.             [UCReadOnly] public NativeArray<RaycastHit> raycastHits;
11.             [UCReadOnly] public NativeArray<float3> RayDirection;
12.  
13.             [WriteOnly]
14.             [NativeDisableParallelForRestriction]
15.             public NativeArray<SpherecastCommand> raycastCommands;
16.  
17.             [UCReadOnly] public int _LayerMask;
18.             [UCReadOnly] public float _SphereRadius;
19.             [UCReadOnly] public float _MaxRayDistance;
20.  
21.             public void Execute(int index)
22.             {
23.                 RaycastHit lHit = raycastHits[index];
24.                 if (lHit.colliderInstanceID > 0)
25.                 {
26.                     for (int i = 0; i < RayDirection.Length; i++)
27.                     {
28.                         raycastCommands[index + i] = new SpherecastCommand()
29.                         {
30.                             direction = RayDirection[i],
31.                             origin = boidDataArray[index].Position,
32.                             radius = _SphereRadius,
33.                             layerMask = _LayerMask,
34.                             distance = _MaxRayDistance
35.                         };
36.                     }
37.                 }
38.             }
39.  
40.         }

And then a job that use all this data :

Code (CSharp):

1.  
2.  
3.         /// <summary>
4.         /// Update acceleration if need to dodge obstacle
5.         /// </summary>
6.         [BurstCompile]
7.         private struct FinalizePositionJob : IJobParallelFor
8.         {
9.             [UCReadOnly] public NativeArray<SpherecastCommand> raycastCommand;
10.             [UCReadOnly] public NativeArray<RaycastHit> mustDodgeRaycastHit;
11.             [UCReadOnly] public NativeArray<RaycastHit> raycastHits;
12.             [UCReadOnly] public NativeArray<float3> _Acceleration;
13.             [UCReadOnly] public int raycastPerBoid;
14.             [UCReadOnly] public float maxSpeed;
15.             [UCReadOnly] public float maxSteerForce;
16.             [UCReadOnly] public float deltaTime;
17.             [UCReadOnly] public float minSpeed;
18.  
19.             //read write
20.             public NativeArray<BoidData> _BoidData;
21.  
22.             public void Execute(int index)
23.             {
24.                 BoidData lBoid = _BoidData[index];
25.                 float3 acceleration = _Acceleration[index];
26.  
27.                 //add acceleration to avoid obstacle if needed.
28.                 if (mustDodgeRaycastHit[index].colliderInstanceID > 0)
29.                 {
30.                     float3 dodgeObstacleDir = new float3(0, 0, 0);
31.                     int lDirectionCount = 0;
32.                     for (int i = 0; i < raycastPerBoid; i++)
33.                     {
34.                         float reverse = 1f;
35.                         if (raycastHits[i + index].colliderInstanceID > 0) reverse = -1; ;
36.                         dodgeObstacleDir += (float3)(raycastCommand[i + index].direction) * reverse;
37.                         lDirectionCount++;
38.                     }
39.  
40.                     acceleration += SteerTowards(dodgeObstacleDir, lBoid.Velocity, maxSpeed, maxSteerForce);
41.  
42.                     //test purpose
43.                     lBoid.Velocity = float3.zero;
44.                     _BoidData[index] = lBoid;
45.                     return;
46.                 }
47.  
48.                 lBoid.Velocity += acceleration * deltaTime;
49.                 float lSpeed = math.length(lBoid.Velocity);
50.                 float3 dir = lBoid.Velocity / lSpeed;
51.                 lSpeed = math.clamp(lSpeed, minSpeed, maxSpeed);
52.                 lBoid.Velocity = dir * lSpeed;
53.                 lBoid.Position += lBoid.Velocity * deltaTime;
54.              
55.                 _BoidData[index] = lBoid;
56.             }
57.         }

I put a return in case the initial raycast hit something to stop the transform but the transform keeps moving through colliders.

I use handle dependencies to be sure that datas are complete at the moment we use them..

Code (CSharp):

1.  
2.         private JobHandle ComputeObstacleAvoidanceData()
3.         {
4.             //first find obstacle raycast
5.             _FindObstacleRaycastCommands = new NativeArray<SpherecastCommand>(_Boids.Length, Allocator.TempJob);
6.             PrepareRaycastJob lPrepareRaycastJob = new PrepareRaycastJob()
7.             {
8.                 _BoidDataArray = _BoidDataList,
9.                 _FindObstacleRaycastCommands = _FindObstacleRaycastCommands,
10.                 _LayerMask = _Settings._ObstacleMask,
11.                 _MaxRayDistance = _Settings._CollisionAvoidDst,
12.                 _SphereRadius = _Settings._SphereCastRadius
13.             };
14.             JobHandle setupFindObstacleRaycastJobHandle = lPrepareRaycastJob.Schedule(_Boids.Length, 32);
15.             _FindObstacleHits = new NativeArray<RaycastHit>(_Boids.Length, Allocator.TempJob);
16.            JobHandle findObstacleJobHandle = SpherecastCommand.ScheduleBatch(_FindObstacleRaycastCommands, _FindObstacleHits, 32, setupFindObstacleRaycastJobHandle);
17.             _FindObstacleRaycastCommands.Dispose(findObstacleJobHandle);
18.  
19.             //find direction to avoid collision
20.            _DodgeObstacleRaycastCommands = new NativeArray<SpherecastCommand>(_Boids.Length * _RayDirections.Length, Allocator.TempJob);
21.             PrepareRaycastDodgeObstacleJob lPrepareDodgeObstacleJob = new PrepareRaycastDodgeObstacleJob()
22.             {
23.                 boidDataArray = _BoidDataList,
24.                 _LayerMask = _Settings._ObstacleMask,
25.                 _MaxRayDistance = _Settings._CollisionAvoidDst,
26.                 _SphereRadius = _Settings._SphereCastRadius,
27.                 RayDirection = _RayDirections,
28.                 raycastHits = _FindObstacleHits,
29.                 raycastCommands = _DodgeObstacleRaycastCommands
30.             };
31.            JobHandle setupDodgeObstacleDependency = lPrepareDodgeObstacleJob.Schedule(_Boids.Length, 32, findObstacleJobHandle);
32.             JobHandle dependency = JobHandle.CombineDependencies(setupDodgeObstacleDependency, findObstacleJobHandle);
33.  
34.            _DodgeObstacleRaycastHits = new NativeArray<RaycastHit>(_Boids.Length * _RayDirections.Length, Allocator.TempJob);
35.             JobHandle dodgeObstacleDirection = SpherecastCommand.ScheduleBatch(_DodgeObstacleRaycastCommands, _DodgeObstacleRaycastHits, 32, dependency);
36.  
37.  
38.             return dodgeObstacleDirection;
39.         }

Code (CSharp):

1.  
2.  
3.         private void FinalizePosition(JobHandle pDependency)
4.         {
5.  
6.             FinalizePositionJob updateAccelerationForDodgeObstacle = new FinalizePositionJob()
7.             {
8.                 mustDodgeRaycastHit = _FindObstacleHits,
9.                 raycastHits = _DodgeObstacleRaycastHits,
10.                 _Acceleration = _Acceleration,
11.                 raycastPerBoid = _Settings._RayDirectionsCount,
12.                 raycastCommand = _DodgeObstacleRaycastCommands,
13.                 deltaTime = TimeManager.DeltaTime,
14.                 maxSpeed = _Settings._MaxSpeed,
15.                 maxSteerForce = _Settings._MaxSteerForce,
16.                 minSpeed = _Settings._MinSpeed,
17.                 _BoidData = _BoidDataList
18.             };
19.  
20.             JobHandle lPositionFinalized = updateAccelerationForDodgeObstacle.Schedule(_Boids.Length, 32, pDependency);
21.  
22.             UpdateBoidSpatialData updateSpatialData = new UpdateBoidSpatialData()
23.             {
24.                 _BoidDatas = _BoidDataList,
25.                 _CellSize = _Settings._CellSize,
26.                 _SurroudingBoidData = _SpatialPartitioning
27.             };
28.  
29.             _FindObstacleHits.Dispose(lPositionFinalized);
30.             _DodgeObstacleRaycastCommands.Dispose(lPositionFinalized);
31.             _DodgeObstacleRaycastHits.Dispose(lPositionFinalized);
32.             _Acceleration.Dispose(lPositionFinalized);
33.  
34.             JobHandle lOnFinishedUpdateSpatialData = updateSpatialData.Schedule(lPositionFinalized);
35.  
36.             UpdateTransformJob updateTransform = new UpdateTransformJob()
37.             {
38.                 _BoidDatas = _BoidDataList
39.             };
40.             JobHandle onFinishedUpdateTransform = updateTransform.Schedule(_AccessArray, lPositionFinalized);
41.  
42.             //assign main handle to let him be called complete next frame
43.             _MainHandle = JobHandle.CombineDependencies(onFinishedUpdateTransform, lOnFinishedUpdateSpatialData);
44.         }
45.  

Is there something specific to do in order to use those SphereCastCommand with job and burst ?