void CollisionResponse(float deltaTime)
        {
            for (int i = 0; i < intersections.Length; i++)
            {
                Intersection           intersection    = intersections[i];
                PhysicsBodyComponent   p1              = intersection.Object1;
                PhysicsBodyComponent   p2              = intersection.Object2;
                AxisAlignedBoundingBox p1Collider      = p1.GetCollider();
                AxisAlignedBoundingBox p1DeltaCollider = p1.GetColliderAt(p1.Delta.FinalPosition);
                AxisAlignedBoundingBox p2Collider      = p2.GetCollider();
                AxisAlignedBoundingBox p2DeltaCollider = p2.GetColliderAt(p2.Delta.FinalPosition);

                if (intersection.Type == IntersectionType.Rigid)
                {
                    // Update the intersection data, so that previous updates for
                    // these objects are applied
                    intersection.UpdateFromDelta();

                    // If both entry times are invalid, the objects aren't intersecting anymore,
                    // so ignore the collision.
                    if (intersection.Object1EntryTime == 1 && intersection.Object2EntryTime == 1)
                    {
                        continue;
                    }

                    // Handle the collision based on static states
                    if (intersection.Object2.IsStatic)
                    {
                        // If we are past the first sweep pass for this object,
                        // and this intersection is no longer valid, then ignore it.
                        if (p1.Delta.DeltaPass > 0)
                        {
                            if (!p1DeltaCollider.Intersects(p2Collider))
                            {
                                continue;
                            }
                        }

                        // Gather intersection data
                        Vector3 surfaceNormal = intersection.Object2Normal;
                        float   collisionTime = intersection.Object1EntryTime;
                        float   remainingTime = 1f - collisionTime;
                        float   stepDist      = intersection.Resolver.StepDistance(p1DeltaCollider, p2Collider);

                        //if (surfaceNormal.Y == 0)
                        //    Diagnostics.DashCMD.WriteLine("{0} | {1}", stepDist.ToString(), Math.Min(p1.Delta.MaxStep, p1.MaxStep));
                        //Diagnostics.DashCMD.WriteLine(surfaceNormal);
                        // Try to step on object
                        if (p1.CanStep && p2.CanBeSteppedOn && surfaceNormal.Y == 0 &&
                            stepDist >= 0 && stepDist <= Math.Min(p1.Delta.MaxStep, p1.MaxStep))
                        {
                            // Step onto object
                            p1.Delta.FinalPosition.Y += stepDist + 0.001f;
                            p1.Delta.FinalVelocity.Y  = 0;
                            p1.Delta.IsGrounded       = p1.Delta.IsGrounded || true;
                            p1.Delta.Stepped          = true;
                        }
                        else // Normal collision resolve
                        {
                            // Calculate the compensation in position from the collision
                            Vector3 compensation = surfaceNormal * (Maths.Abs(p1.Delta.FinalVelocity * deltaTime)) * remainingTime;
                            p1.Delta.FinalPosition += compensation;

                            // If this normal moved the object anywhere upward,
                            // that object is now considered grounded
                            if (surfaceNormal.Y > 0)
                            {
                                p1.Delta.IsGrounded = p1.Delta.IsGrounded || true;
                            }

                            // Fix the velocity
                            if (p1.BounceOnWallCollision || p1.BounceOnVerticalCollision)
                            {
                                if ((surfaceNormal.X != 0 || surfaceNormal.Z != 0) && p1.BounceOnWallCollision)
                                {
                                    if (surfaceNormal.X != 0)
                                    {
                                        p1.Delta.FinalVelocity.X *= -(1f - p1.HorizontalBounceFalloff);
                                    }
                                    if (surfaceNormal.Z != 0)
                                    {
                                        p1.Delta.FinalVelocity.Z *= -(1f - p1.HorizontalBounceFalloff);
                                    }
                                }
                                else if (surfaceNormal.Y != 0 && p1.BounceOnVerticalCollision)
                                {
                                    p1.Delta.FinalVelocity.Y *= -(1f - p1.VerticalBounceFalloff);
                                    p1.Delta.FinalVelocity.X *= p1.InverseFriction;
                                    p1.Delta.FinalVelocity.Z *= p1.InverseFriction;
                                }
                                else
                                {
                                    intersection.Resolver.FixVelocity(ref p1.Delta.FinalVelocity, surfaceNormal);
                                }
                            }
                            else
                            {
                                intersection.Resolver.FixVelocity(ref p1.Delta.FinalVelocity, surfaceNormal);
                            }
                        }

                        // Another delta pass has occured
                        p1.Delta.DeltaPass++;

                        p1.OnCollide(p2);
                        p2.OnCollide(p1);
                    }
                    else if (intersection.Object1.IsStatic)
                    {
                        // If we are past the first sweep pass for this object,
                        // and this intersection is no longer valid, then ignore it.
                        if (p2.Delta.DeltaPass > 0)
                        {
                            if (!p2DeltaCollider.Intersects(p1Collider))
                            {
                                continue;
                            }
                        }

                        // Gather intersection data
                        Vector3 surfaceNormal = intersection.Object1Normal;
                        float   collisionTime = intersection.Object2EntryTime;
                        float   remainingTime = 1f - collisionTime;
                        float   stepDist      = intersection.Resolver.StepDistance(p2DeltaCollider, p1Collider);

                        // Try to step on object
                        if (p2.CanStep && p1.CanBeSteppedOn && surfaceNormal.Y == 0 &&
                            stepDist >= 0 && stepDist <= Math.Min(p2.Delta.MaxStep, p2.MaxStep))
                        {
                            // Step onto object
                            p2.Delta.FinalPosition.Y += stepDist + 0.001f;
                            p2.Delta.FinalVelocity.Y  = 0;
                            p2.Delta.IsGrounded       = p2.Delta.IsGrounded || true;
                            p2.Delta.Stepped          = true;
                        }
                        else // Normal collision resolve
                        {
                            // Calculate the compensation in position from the collision
                            Vector3 compensation = surfaceNormal * (Maths.Abs(p2.Delta.FinalVelocity * deltaTime)) * remainingTime;
                            p2.Delta.FinalPosition += compensation;

                            // If this normal moved the object anywhere upward,
                            // that object is now considered grounded
                            if (surfaceNormal.Y > 0)
                            {
                                p2.Delta.IsGrounded = p2.Delta.IsGrounded || true;
                            }

                            // Fix the velocity
                            if (p2.BounceOnWallCollision || p2.BounceOnVerticalCollision)
                            {
                                if ((surfaceNormal.X != 0 || surfaceNormal.Z != 0) && p2.BounceOnWallCollision)
                                {
                                    if (surfaceNormal.X != 0)
                                    {
                                        p2.Delta.FinalVelocity.X *= -(1f - p2.HorizontalBounceFalloff);
                                    }
                                    if (surfaceNormal.Z != 0)
                                    {
                                        p2.Delta.FinalVelocity.Z *= -(1f - p2.HorizontalBounceFalloff);
                                    }
                                }
                                else if (surfaceNormal.Y != 0 && p2.BounceOnVerticalCollision)
                                {
                                    p2.Delta.FinalVelocity.Y *= -(1f - p2.VerticalBounceFalloff);
                                    p1.Delta.FinalVelocity.X *= p1.InverseFriction;
                                    p1.Delta.FinalVelocity.Z *= p1.InverseFriction;
                                }
                                else
                                {
                                    intersection.Resolver.FixVelocity(ref p2.Delta.FinalVelocity, surfaceNormal);
                                }
                            }
                            else
                            {
                                intersection.Resolver.FixVelocity(ref p2.Delta.FinalVelocity, surfaceNormal);
                            }
                        }

                        // Another delta pass has occured
                        p2.Delta.DeltaPass++;

                        p1.OnCollide(p2);
                        p2.OnCollide(p1);
                    }
                }
                else
                {
                    // If we are past the first sweep pass for this object,
                    // and this intersection is no longer valid, then ignore it.
                    if ((!p1DeltaCollider.Intersects(p2Collider)) &&
                        (!p2DeltaCollider.Intersects(p1Collider)))
                    {
                        continue;
                    }


                    float   p1DeltaMiddleX = p1.Delta.FinalPosition.X + p1.Size.X / 2f;
                    float   p2DeltaMiddleX = p2.Delta.FinalPosition.X + p2.Size.X / 2f;
                    float   p1DeltaMiddleZ = p1.Delta.FinalPosition.Z + p1.Size.Z / 2f;
                    float   p2DeltaMiddleZ = p2.Delta.FinalPosition.Z + p2.Size.Z / 2f;
                    Vector3 p1Move         = new Vector3((p2DeltaMiddleX - p1DeltaMiddleX), 0, (p2DeltaMiddleZ - p1DeltaMiddleZ));
                    Vector3 p2Move         = new Vector3((p1DeltaMiddleX - p2DeltaMiddleX), 0, (p1DeltaMiddleZ - p2DeltaMiddleZ));

                    if (p1Move.X == p2Move.X)
                    {
                        p1Move.X += Maths.Random.Next((int)-p2.Size.X, (int)p2.Size.X) / deltaTime;
                    }

                    Vector2 masses = new Vector2((p2.Mass / p1.Mass), (p1.Mass / p2.Mass)) * 0.5f;

                    if (p1.CanBePushedBySoft)
                    {
                        p1.Delta.FinalVelocity -= p1Move * masses.X;
                        p1.Delta.FinalPosition  = p1.Transform.Position + p1.Delta.FinalVelocity * deltaTime;
                    }

                    if (p2.CanBePushedBySoft)
                    {
                        p2.Delta.FinalVelocity -= p2Move * masses.Y;
                        p2.Delta.FinalPosition  = p2.Transform.Position + p2.Delta.FinalVelocity * deltaTime;
                    }

                    p1.OnCollide(p2);
                    p2.OnCollide(p1);
                }
            }
        }
        void Broadphase(IntersectionType forType, PhysicsBodyComponent p1, float deltaTime, int start)
        {
            if (!p1.IsEnabled || !p1.GameObject.IsEnabled)
            {
                return;
            }
            if (!p1.CanCollide)
            {
                return;
            }

            // For every object, check if it CAN intersect with any other object
            AxisAlignedBoundingBox p1Collider     = p1.GetCollider();
            AxisAlignedBoundingBox p1Broad        = p1.GetBroadphase();
            AxisAlignedBoundingBox?p1StepCollider = null;

            if (p1.CanStep)
            {
                p1StepCollider = p1.GetColliderAt(p1.Delta.StepPosition);
            }

            if (RecordProcessedBoundingBoxes)
            {
                LastProcessedBoundingBoxes.Add(p1Collider);
                LastProcessedBoundingBoxes.Add(p1Broad);
            }

            for (int k = start; k < physicsBodies.Count; k++)
            {
                PhysicsBodyComponent p2 = physicsBodies[k];
                if (!p2.IsEnabled || !p2.GameObject.IsEnabled)
                {
                    continue;
                }
                if (p2 == p1)
                {
                    continue;
                }
                if (!p2.CanCollide)
                {
                    continue;
                }

                // Get the type of intersection to determine how it should be handled
                IntersectionType type = GetIntersectionType(p1.IsStatic, p2.IsStatic);
                if (type != forType)
                {
                    continue;
                }
                if (forType == IntersectionType.Soft && (!p2.CanCollideWithSoft || !p1.CanCollideWithSoft))
                {
                    continue;
                }

                AxisAlignedBoundingBox p2Collider     = p2.GetCollider();
                AxisAlignedBoundingBox p2Broad        = p2.GetBroadphase();
                AxisAlignedBoundingBox?p2StepCollider = null;
                if (p2.CanStep)
                {
                    p2StepCollider = p2.GetColliderAt(p2.Delta.StepPosition);
                }

                if (RecordProcessedBoundingBoxes)
                {
                    LastProcessedBoundingBoxes.Add(p2Collider);
                    LastProcessedBoundingBoxes.Add(p2Broad);
                }

                // Check if the objects CAN intersect
                if (CanIntersect(p1.IsStatic, p1Collider, p1Broad, p2.IsStatic, p2Collider, p2Broad))
                {
                    // Calculate max step
                    if (type == IntersectionType.Rigid)
                    {
                        CalculateMaxStep(p1, p2, p1Collider, p1StepCollider, p2Collider, p2StepCollider);
                    }

                    // Add the possible intersection
                    Intersection intersect = new Intersection(p1, p2, sweepResolver, deltaTime, type);
                    broadIntersections.Add(intersect);
                }
            }

            // Let extensions run
            foreach (IPhysicsEngineExtension ext in extensions)
            {
                if (!ext.IsActive || !ext.CanCheck(forType, p1.IsStatic))
                {
                    continue;
                }

                // Get intersections from extensions
                IEnumerable <PhysicsBodyComponent> intersections = ext.GetBroadphaseIntersections(p1Broad);

                foreach (PhysicsBodyComponent physOb in intersections)
                {
                    AxisAlignedBoundingBox?physObStepCollider = null;
                    if (physOb.CanStep)
                    {
                        physObStepCollider = physOb.GetColliderAt(physOb.Delta.StepPosition);
                    }

                    IntersectionType type = GetIntersectionType(p1.IsStatic, physOb.IsStatic);

                    // Calculate max step
                    if (type == IntersectionType.Rigid)
                    {
                        CalculateMaxStep(p1, physOb, p1Collider, p1StepCollider, physOb.GetCollider(), physObStepCollider);
                    }

                    // Add the possible intersection
                    Intersection intersection = new Intersection(p1, physOb, sweepResolver, deltaTime, IntersectionType.Rigid);
                    broadIntersections.Add(intersection);
                }
            }
        }