BasicCollisionDetector.h

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// Copyright Epic Games, Inc. All Rights Reserved.
#pragma once
 
#include "Chaos/Collision/CollisionDetector.h"
#include "Chaos/Collision/BasicBroadPhase.h"
#include "Chaos/PBDCollisionConstraints.h"
 
#include "Chaos/ChaosPerfTest.h"
#include "ChaosStats.h"
#include "ProfilingDebugging/CsvProfiler.h"
 
namespace Chaos
{
    class FBasicCollisionDetector : public FCollisionDetector
    {
    public:
        FBasicCollisionDetector(FBasicBroadPhase& InBroadPhase, FPBDCollisionConstraints& InCollisionContainer)
            : FCollisionDetector(InCollisionContainer)
            , BroadPhase(InBroadPhase)
        {
        }
 
        FBasicBroadPhase& GetBroadPhase() { return BroadPhase; }
 
        virtual void DetectCollisions(const FReal Dt, FEvolutionResimCache* Unused) override
        {
            SCOPE_CYCLE_COUNTER(STAT_Collisions_Detect);
            CHAOS_SCOPED_TIMER(DetectCollisions);
            CSV_SCOPED_TIMING_STAT(Chaos, DetectCollisions);
 
            if (!GetCollisionContainer().GetCollisionsEnabled())
            {
                return;
            }
 
            CollisionContainer.BeginDetectCollisions();
 
            // Collision detection pipeline: BroadPhase -> MidPhase ->NarrowPhase -> Container
            BroadPhase.ProduceOverlaps(Dt, &GetCollisionContainer().GetConstraintAllocator(), GetCollisionContainer().GetDetectorSettings());
 
            CollisionContainer.EndDetectCollisions();
        }
 
    private:
        FBasicBroadPhase& BroadPhase;
    };
 
}