Method removeBody

physx/source/simulationcontroller/src/ScScene.cpp:1693–1719

}

void Sc::Scene::removeBody(BodySim& body)	//this also notifies any connected joints!
{
	ConstraintGroupNode* node = body.getConstraintGroup();
	if (node)
	{
		//invalidate the constraint group:
		//this adds all constraints of the group to the dirty list such that groups get re-generated next frame
		getProjectionManager().invalidateGroup(*node, NULL);
	}

	BodyCore& core = body.getBodyCore();

	// Remove from sleepBodies array
	mSleepBodies.erase(&core);
	PX_ASSERT(!mSleepBodies.contains(&core));

	// Remove from wokeBodies array
	mWokeBodies.erase(&core);
	PX_ASSERT(!mWokeBodies.contains(&core));

	if (body.isActive() && (core.getFlags() & PxRigidBodyFlag::eENABLE_POSE_INTEGRATION_PREVIEW))
		removeFromPosePreviewList(body);
	else
		PX_ASSERT(!isInPosePreviewList(body));

	markReleasedBodyIDForLostTouch(body.getRigidID());
}

void Sc::Scene::addConstraint(ConstraintCore& constraint, RigidCore* body0, RigidCore* body1)
{