constTPBDActiveView<FSolverRigidParticles>& InParticlesActiveView,TArray< bool >& Collided,TArray<FSolverVec3>& InContacts,TArray<FSolverVec3>& InNormals,TArray<FSolverReal>& InPhis,TArray< uint32 >& DynamicGroupIds,TArray< uint32 >& KinematicGroupIds,constTArray<FSolverReal>& PerGroupThickness,constTArray<FSolverReal>& PerGroupFriction,bool bWriteCCDContacts)