// Copyright 2025 International Digital Economy Academy
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

///|
pub struct CollisionPipeline {
  priv marker : Unit
}

///|
pub fn CollisionPipeline::CollisionPipeline() -> CollisionPipeline {
  let value = { marker: () }
  value.marker |> ignore
  value
}

///|
pub fn CollisionPipeline::step(
  self : CollisionPipeline,
  prediction_distance : @core.Real,
  islands : @dynamics.IslandManager,
  broad_phase : @collision.BroadPhaseBvh,
  narrow_phase : @collision.NarrowPhase,
  bodies : @dynamics.RigidBodySet,
  colliders : @collision.ColliderSet,
  impulse_joints : @dynamics.ImpulseJointSet,
  multibody_joints : @dynamics.MultibodyJointSet,
  physics_hooks : PhysicsHooks,
  event_handler : EventHandler,
) -> Unit {
  self |> ignore
  islands |> ignore
  event_handler |> ignore
  let modified_colliders = colliders.take_modified()
  let removed_colliders = colliders.take_removed()
  let invalidated_colliders : Array[@collision.ColliderHandle] = []
  for i in 0.. 0 {
    narrow_phase.handle_user_changes(bodies, colliders, invalidated_colliders)
  }
  broad_phase.update(prediction_distance, bodies, colliders)
  let pairs = broad_phase.pairs()
  let filtered_pairs = []
  fn is_dynamic_collider(
    bodies : @dynamics.RigidBodySet,
    collider : @collision.Collider,
  ) -> Bool {
    if collider.parent() is Some(parent) {
      if bodies.get(parent) is Some(body) {
        body.body_type() is Dynamic
      } else {
        false
      }
    } else {
      false
    }
  }

  for i in 0..