BEPUphysics.Constraints.Collision.NonConvexContactManifoldConstraint.AddContact C# (CSharp) Method

        public override void AddContact(Contact contact)
        {
            var penetrationConstraint = penetrationConstraintPool.Pop();
            penetrationConstraint.Setup(this, contact);
            penetrationConstraints.Add(penetrationConstraint);

            var frictionConstraint = frictionConstraintPool.Pop();
            frictionConstraint.Setup(this, penetrationConstraint);
            frictionConstraints.Add(frictionConstraint);

        }