Method finalizationPhase

physx/source/simulationcontroller/src/ScScene.cpp:3543–3587

}

void Sc::Scene::finalizationPhase(PxBaseTask* /*continuation*/)
{
	PX_PROFILE_ZONE("Sim.sceneFinalization", getContextId());

	if (mCCDContext)
	{
		//KS - force simulation controller to update any bodies updated by the CCD. When running GPU simulation, this would be required
		//to ensure that cached body states are updated
		const PxU32 nbUpdatedBodies = mCCDContext->getNumUpdatedBodies();
		PxsRigidBody*const* updatedBodies = mCCDContext->getUpdatedBodies();

		const PxU32 rigidBodyOffset = Sc::BodySim::getRigidBodyOffset();			

		for (PxU32 a = 0; a < nbUpdatedBodies; ++a)
		{
			Sc::BodySim* bodySim = reinterpret_cast<Sc::BodySim*>(reinterpret_cast<PxU8*>(updatedBodies[a]) - rigidBodyOffset);
			mSimulationController->updateDynamic(bodySim->isArticulationLink(), bodySim->getNodeIndex());
		}

		mCCDContext->clearUpdatedBodies();
	}

	if (mTmpConstraintGroupRootBuffer)
	{
		mLLContext->getScratchAllocator().free(mTmpConstraintGroupRootBuffer);
		mTmpConstraintGroupRootBuffer = NULL;
	}

	fireOnAdvanceCallback();  // placed here because it needs to be done after sleep check and afrer potential CCD passes

	checkConstraintBreakage(); // Performs breakage tests on breakable constraints

	PX_PROFILE_STOP_CROSSTHREAD("Basic.rigidBodySolver", getContextId());

	//KS - process deleted elementIDs now - before GPU particles releases elements, causing issues - sschirm: particles are gone...
	mElementIDPool->processPendingReleases();
	mElementIDPool->clearDeletedIDMap();

	visualizeEndStep();

	mTaskPool.clear();

	mReportShapePairTimeStamp++;	// important to do this before fetchResults() is called to make sure that delayed deleted actors/shapes get
									// separate pair entries in contact reports
}

void Sc::Scene::postReportsCleanup()
{