Method beforeSolver

physx/source/simulationcontroller/src/ScScene.cpp:3862–3934

void Sc::Scene::beforeSolver(PxBaseTask* continuation)
{
	PX_PROFILE_ZONE("Sim.updateForces", getContextId());

	// Note: For contact notifications it is important that force threshold checks are done after new/lost touches have been processed
	//       because pairs might get added to the list processed below

	// Atoms that passed contact force threshold
	ThresholdStream& thresholdStream = mDynamicsContext->getThresholdStream();
	thresholdStream.clear();

	const IG::IslandSim& islandSim = mSimpleIslandManager->getAccurateIslandSim();

	const PxU32 nbActiveBodies = islandSim.getNbActiveNodes(IG::Node::eRIGID_BODY_TYPE);

	mNumDeactivatingNodes[IG::Node::eRIGID_BODY_TYPE] = 0;//islandSim.getNbNodesToDeactivate(IG::Node::eRIGID_BODY_TYPE);
	mNumDeactivatingNodes[IG::Node::eARTICULATION_TYPE] = 0;//islandSim.getNbNodesToDeactivate(IG::Node::eARTICULATION_TYPE);

	const PxU32 MaxBodiesPerTask = ScBeforeSolverTask::MaxBodiesPerTask;

	Cm::FlushPool& flushPool = mLLContext->getTaskPool();

	mSimulationController->reserve(nbActiveBodies);

	bool simUsesAdaptiveForce = mPublicFlags & PxSceneFlag::eADAPTIVE_FORCE;

	{
		Cm::BitMap::Iterator iter(mVelocityModifyMap);

		for (PxU32 i = iter.getNext(); i != Cm::BitMap::Iterator::DONE; /*i = iter.getNext()*/)
		{
			ScBeforeSolverTask* task = PX_PLACEMENT_NEW(flushPool.allocate(sizeof(ScBeforeSolverTask)), ScBeforeSolverTask(mDt, mSimpleIslandManager, mSimulationController, getContextId(), simUsesAdaptiveForce));
			PxU32 count = 0;
			for (; count < MaxBodiesPerTask && i != Cm::BitMap::Iterator::DONE; i = iter.getNext())
			{
				PxsRigidBody* body = islandSim.getRigidBody(IG::NodeIndex(i));
				bool retainsAccelerations = false;
				if (body)
				{
					task->mBodies[count++] = IG::NodeIndex(i);

					retainsAccelerations = (body->mCore->mFlags & PxRigidBodyFlag::eRETAIN_ACCELERATIONS);
					
				}

				if(!retainsAccelerations)
				{
					mVelocityModifyMap.reset(i);
				}
			}
			task->mNumBodies = count;
			task->setContinuation(continuation);
			task->removeReference();
		}
	}

	const PxU32 nbActiveArticulations = islandSim.getNbActiveNodes(IG::Node::eARTICULATION_TYPE);
	const IG::NodeIndex* const articIndices = islandSim.getActiveNodes(IG::Node::eARTICULATION_TYPE);