void PhysWorld3D::ProcessContact(const NewtonJoint* const contactJoint, float timestep, int threadIndex)
{
RigidBody3D* bodyA = static_cast<RigidBody3D*>(NewtonBodyGetUserData(NewtonJointGetBody0(contactJoint)));
RigidBody3D* bodyB = static_cast<RigidBody3D*>(NewtonBodyGetUserData(NewtonJointGetBody1(contactJoint)));
assert(bodyA && bodyB);
using ContactJoint = void*;
// Query all joints first, to prevent removing a joint from the list while iterating on it
StackVector<ContactJoint> contacts = NazaraStackVector(ContactJoint, NewtonContactJointGetContactCount(contactJoint));
for (ContactJoint contact = NewtonContactJointGetFirstContact(contactJoint); contact; contact = NewtonContactJointGetNextContact(contactJoint, contact))
contacts.push_back(contact);
for (ContactJoint contact : contacts)
{
NewtonMaterial* material = NewtonContactGetMaterial(contact);
Callback* callbackData = static_cast<Callback*>(NewtonMaterialGetMaterialPairUserData(material));
assert(callbackData);
assert(callbackData->collisionCallback);
if (!callbackData->collisionCallback(*bodyA, *bodyB))
NewtonContactJointRemoveContact(contactJoint, contact);
}
}