Method update

deps/physx/physx/source/lowleveldynamics/src/DyTGSDynamics.cpp:554–742

void DynamicsTGSContext::update(IG::SimpleIslandManager& simpleIslandManager, PxBaseTask* continuation, PxBaseTask* lostTouchTask,
	PxsContactManager** /*foundPatchManagers*/, PxU32 /*nbFoundPatchManagers*/,
	PxsContactManager** /*lostPatchManagers*/, PxU32 /*nbLostPatchManagers*/,
	PxU32 /*maxPatchesPerCM*/,
	PxsContactManagerOutputIterator& iterator,
	PxsContactManagerOutput*,
	const PxReal dt, const PxVec3& gravity, const PxU32 /*bitMapWordCounts*/)
{
	PX_PROFILE_ZONE("Dynamics.solverQueueTasks", mContextID);

	PX_UNUSED(simpleIslandManager);

	mOutputIterator = iterator;

	//const PxU32 nbSubsteps = 16;

	mDt = dt;
	mInvDt = 1.f / dt;

	mGravity = gravity;

	const IG::IslandSim& islandSim = simpleIslandManager.getAccurateIslandSim();

	const PxU32 islandCount = islandSim.getNbActiveIslands();

	const PxU32 activatedContactCount = islandSim.getNbActivatedEdges(IG::Edge::eCONTACT_MANAGER);
	const IG::EdgeIndex* const activatingEdges = islandSim.getActivatedEdges(IG::Edge::eCONTACT_MANAGER);

	for (PxU32 a = 0; a < activatedContactCount; ++a)
	{
		PxsContactManager* cm = simpleIslandManager.getContactManager(activatingEdges[a]);
		if (cm)
		{
			cm->getWorkUnit().frictionPatchCount = 0; //KS - zero the friction patch count on any activating edges
		}
	}

#if PX_ENABLE_SIM_STATS
	if (islandCount > 0)
	{
		mSimStats.mNbActiveKinematicBodies = islandSim.getNbActiveKinematics();
		mSimStats.mNbActiveDynamicBodies = islandSim.getNbActiveNodes(IG::Node::eRIGID_BODY_TYPE);
		mSimStats.mNbActiveConstraints = islandSim.getNbActiveEdges(IG::Edge::eCONSTRAINT);
	}
	else
	{
		mSimStats.mNbActiveKinematicBodies = islandSim.getNbActiveKinematics();
		mSimStats.mNbActiveDynamicBodies = 0;
		mSimStats.mNbActiveConstraints = 0;
	}
#endif

	mThresholdStreamOut = 0;

	resetThreadContexts();

	//If there is no work to do then we can do nothing at all.
	if (0 == islandCount)