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

        public override void RemoveContact(Contact contact)
        {

            ContactPenetrationConstraint penetrationConstraint = null;
            for (int i = 0; i < penetrationConstraints.Count; i++)
            {
                if ((penetrationConstraint = penetrationConstraints.Elements[i]).contact == contact)
                {
                    penetrationConstraint.CleanUp();
                    penetrationConstraints.RemoveAt(i);
                    penetrationConstraintPool.Push(penetrationConstraint);
                    break;
                }
            }
            for (int i = frictionConstraints.Count - 1; i >= 0; i--)
            {
                ContactFrictionConstraint frictionConstraint = frictionConstraints[i];
                if (frictionConstraint.PenetrationConstraint == penetrationConstraint)
                {
                    frictionConstraint.CleanUp();
                    frictionConstraints.RemoveAt(i);
                    frictionConstraintPool.Push(frictionConstraint);
                    break;
                }
            }

        }