BEPUphysics.CollisionTests.Manifolds.TriangleConvexContactManifold.Add C# (CSharp) Method

        protected override void Add(ref ContactData contactCandidate)
        {
            ContactSupplementData supplement;
            supplement.BasePenetrationDepth = contactCandidate.PenetrationDepth;
            //The closest point method computes the local space versions before transforming to world... consider cutting out the middle man
            RigidTransform.TransformByInverse(ref contactCandidate.Position, ref convex.worldTransform, out supplement.LocalOffsetA);
            RigidTransform.TransformByInverse(ref contactCandidate.Position, ref triangle.worldTransform, out supplement.LocalOffsetB);
            supplementData.Add(ref supplement);
            base.Add(ref contactCandidate);
        }