Method removeArticulationInternal

physx/source/physx/src/NpScene.cpp:998–1052

}

void NpScene::removeArticulationInternal(PxArticulationBase& npa, bool wakeOnLostTouch,  bool removeFromAggregate)
{
	PxU32 nbLinks = npa.getNbLinks();
	PX_ASSERT(nbLinks > 0);

	if(removeFromAggregate && npa.getAggregate())
	{
		static_cast<NpAggregate*>(npa.getAggregate())->removeArticulationAndReinsert(npa, false);
		PX_ASSERT(!npa.getAggregate());
	}

	//!!!AL
	// Inefficient. We might want to introduce a LL method to kill the whole LL articulation together with all joints in one go, then
	// the order of removing the links/joints does not matter anymore.

	// Remove links & joints
	PX_ALLOCA(linkStack, NpArticulationLink*, nbLinks);
	linkStack[0] = reinterpret_cast<PxArticulationImpl*>(npa.getImpl())->getLinks()[0];
	PxU32 curLink = 0, stackSize = 1;

	while(curLink < (nbLinks-1))
	{
		PX_ASSERT(curLink < stackSize);
		NpArticulationLink* l = linkStack[curLink];
		NpArticulationLink*const* children = l->getChildren();

		for(PxU32 i=0; i < l->getNbChildren(); i++)
		{
			linkStack[stackSize] = children[i];
			stackSize++;
		}

		curLink++;
	}

	PxRigidBodyFlags flag;
	for(PxI32 j=PxI32(nbLinks); j-- > 0; )
	{
		flag |=linkStack[j]->getScbBodyFast().getScBody().getCore().mFlags;
		removeArticulationLink(*linkStack[j], wakeOnLostTouch);
	}

	if (flag & PxRigidBodyFlag::eENABLE_SPECULATIVE_CCD)
	{
		PxArticulationImpl* impl = reinterpret_cast<PxArticulationImpl*>(npa.getImpl());
		IG::NodeIndex index = impl->getScbArticulation().getScArticulation().getIslandNodeIndex();
		if (index.isValid())
			mScene.getScScene().resetSpeculativeCCDArticulationLink(index.index());
	}
	// Remove articulation
	mScene.removeArticulation(reinterpret_cast<PxArticulationImpl*>(npa.getImpl())->getArticulation());


	removeFromArticulationList(npa);
}

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