Method addBody

physx/source/simulationcontroller/src/ScScene.cpp:4876–4901

}

void Sc::Scene::addBody(BodyCore& body, void*const *shapes, PxU32 nbShapes, size_t shapePtrOffset, PxBounds3* outBounds, bool compound)
{
	// sim objects do all the necessary work of adding themselves to broad phase,
	// activation, registering with the interaction system, etc

	BodySim* sim = mBodySimPool->construct(*this, body, compound);

	const bool isArticulationLink = sim->isArticulationLink();

	if (sim->getLowLevelBody().mCore->mFlags & PxRigidBodyFlag::eENABLE_SPECULATIVE_CCD)
	{
		if (isArticulationLink)
		{
			if (sim->getNodeIndex().isValid())
				mSpeculativeCDDArticulationBitMap.growAndSet(sim->getNodeIndex().index());
		}
		else
			mSpeculativeCCDRigidBodyBitMap.growAndSet(sim->getNodeIndex().index());
	}
	//if rigid body is articulation link, the node index will be invalid. We should add the link to the scene after we add the
	//articulation for gpu
	if(sim->getNodeIndex().isValid())
		mSimulationController->addDynamic(&sim->getLowLevelBody(), sim->getNodeIndex());
	mNbRigidDynamics++;
	addShapes(shapes, nbShapes, shapePtrOffset, *sim, outBounds);
}

void Sc::Scene::removeBody(BodyCore& body, Ps::InlineArray<const Sc::ShapeCore*,64>& removedShapes, bool wakeOnLostTouch)
{