+
+ // detect collisions
+ contacts.clear();
+ if (objects.size() < 2) {
+ // we don't handle self-collision, so nothing to do
+ return;
+ }
+ for (std::size_t i = 0; i < objects.size() - 1; ++i) {
+ for (std::size_t j = i + 1; j < objects.size(); ++j) {
+ objects[i]->TestCollision(*objects[j], contacts);
+ }
+ }
+