Method simulate

physx/snippets/snippetnestedscene/NestedScene.h:116–185

	}

	void simulate(PxScene * , PxF32 timeStep)
	{
		//1) mirror reference actor accelerations into scene

		if (!mContainingActor->isSleeping())
		{
			PxVec3 lvel = mContainingActor->getLinearVelocity();
			PxVec3 avel = mContainingActor->getAngularVelocity();

			//note that this is actually -acc.
			PxVec3 lacc = lastLVel - lvel;
			//PxVec3 aacc = lastAVel - avel;

			lastLVel = lvel;
			lastAVel = avel;
	

			//special sauce:
			//filter out vertical movement due to suspension travel, otherwise the ride is too bumpy
			lacc.y = 0.0f;
			//decrease the rest of the acceleration by a bit
			lacc *= 0.7f;


			if (lacc.magnitudeSquared() > 0.01f)	//let things sleep if the accel is too small
			{
				PxU32 nbActors = mScene->getNbActors(PxActorTypeFlag::eRIGID_DYNAMIC);
				if(nbActors)
				{
					std::vector<PxActor*> actors(nbActors);
					mScene->getActors(PxActorTypeFlag::eRIGID_DYNAMIC, &actors[0], nbActors);

					for(PxU32 i=0;i<nbActors;i++)
					{
						actors[i]->is<PxRigidBody>()->addForce(lacc, PxForceMode::eVELOCITY_CHANGE);
					}
				}
			}



		}
		else
		{
			lastLVel = PxVec3(PxZero);
			lastAVel = PxVec3(PxZero);
		}

		//2) simulate scene
		mScene->simulate(timeStep);
		mScene->fetchResults(true);

		//move actors that have dropped off the truck out into the main scene

		for(PxU32 i=0;i<removalQueue.size();i++)
		{
			mScene->removeActor(*removalQueue[i]);