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The physics update at time step t_k integrates over the time interval t_k to t_(k+1).

I believe you have a good point about when some plugins should be updated. Currently the sim time associated with the world update begin event does not match the state of simulation. Whereas, the world update end does.

We can resolve this by moving the world update begin event to happen before the simulation time is updated (swap steps 1 and 2 in your list above).