Jitter.Collision.CollisionSystemPersistentSAP.Detect C# (CSharp) Method

        public override void Detect(bool multiThreaded)
        {
            if (addCounter > AddedObjectsBruteForceIsUsed)
            {
                t2bM.ZeroAll();
                fullOverlaps.Clear();

                DirtySortAxis(axis1);
                DirtySortAxis(axis2);
                DirtySortAxis(axis3);
            }
            else
            {
                if (multiThreaded)
                {
                    ThreadManager.internalInstance.AddTask(sortCallback, axis1);
                    ThreadManager.internalInstance.AddTask(sortCallback, axis2);
                    ThreadManager.internalInstance.AddTask(sortCallback, axis3);

                    ThreadManager.internalInstance.Execute();
                }
                else
                {
                    SortAxis(axis1);
                    SortAxis(axis2);
                    SortAxis(axis3);
                }
            }

            addCounter = 0;

            if (multiThreaded)
            {
                foreach (BodyPair key in fullOverlaps)
                {
                    if (this.CheckBothStaticOrInactive(key.body1, key.body2)) continue;

                    if (base.RaisePassedBroadphase(key.body1, key.body2))
                    {
                        Pair pair = Pair.Pool.GetNew();

                        if (swapOrder) { pair.entity1 = key.body1; pair.entity2 = key.body2; }
                        else { pair.entity2 = key.body2; pair.entity1 = key.body1; }
                        swapOrder = !swapOrder;

                        ThreadManager.internalInstance.AddTask(detectCallback, pair);
                    }
                }

                ThreadManager.internalInstance.Execute();
            }
            else
            {
                foreach (BodyPair key in fullOverlaps)
                {
                    if (this.CheckBothStaticOrInactive(key.body1, key.body2)) continue;

                    if (base.RaisePassedBroadphase(key.body1, key.body2))
                    {

                        if (swapOrder) { Detect(key.body1, key.body2); }
                        else Detect(key.body2, key.body1);
                        swapOrder = !swapOrder;

                    }
                }
            }
        }