anki-3d-engine/ThirdParty/Jolt/Samples/Tests/General/SimCollideBodyVsBodyTest.h

// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
// SPDX-FileCopyrightText: 2025 Jorrit Rouwe
// SPDX-License-Identifier: MIT

#pragma once

#include <Tests/Test.h>

// Test that overrides the collide body vs body function on the simulation to reduce the number of contact points generated
// between sensors and other objects in the simulation. This can be useful to improve performance if you don't need to know
// about all contact points and are only interested in an overlap/no-overlap result.
class SimCollideBodyVsBodyTest : public Test, public ContactListener
{
public:
	JPH_DECLARE_RTTI_VIRTUAL(JPH_NO_EXPORT, SimCollideBodyVsBodyTest)

	// See: Test
	virtual void		Initialize() override;
	virtual void		PrePhysicsUpdate(const PreUpdateParams &inParams) override;

	// If this test implements a contact listener, it should be returned here
	virtual ContactListener *GetContactListener() override	{ return this; }

	// See: ContactListener
	virtual void		OnContactAdded(const Body &inBody1, const Body &inBody2, const ContactManifold &inManifold, ContactSettings &ioSettings) override;
	virtual void		OnContactPersisted(const Body &inBody1, const Body &inBody2, const ContactManifold &inManifold, ContactSettings &ioSettings) override;

	// Saving / restoring state for replay
	virtual void		SaveState(StateRecorder &inStream) const override;
	virtual void		RestoreState(StateRecorder &inStream) override;

private:
	int					mPrevMode = -1;						// Previous mode
	float				mTime = 0.0f;						// Total elapsed time

	BodyID				mSensorID;							// Body ID of the sensor
	BodyIDVector		mBodyIDs;							// List of dynamic bodies
};