Box2DX.Dynamics.Body.GetLinearVelocityFromLocalPoint C# (CSharp) Method

		public Vector2 GetLinearVelocityFromLocalPoint(Vector2 localPoint)
		{
			return GetLinearVelocityFromWorldPoint(GetWorldPoint(localPoint));
		}

        public void Destroy(Contact c)
        {
            Shape shape1 = c.GetShape1();
            Shape shape2 = c.GetShape2();
            Body  body1  = shape1.GetBody();
            Body  body2  = shape2.GetBody();

            ContactPoint cp = new ContactPoint();

            cp.Shape1      = shape1;
            cp.Shape2      = shape2;
            cp.Friction    = Settings.MixFriction(shape1.Friction, shape2.Friction);
            cp.Restitution = Settings.MixRestitution(shape1.Restitution, shape2.Restitution);

            // Inform the user that this contact is ending.
            int manifoldCount = c.GetManifoldCount();

            if (manifoldCount > 0 && _world._contactListener != null)
            {
                Manifold[] manifolds = c.GetManifolds();

                for (int i = 0; i < manifoldCount; ++i)
                {
                    Manifold manifold = manifolds[i];
                    cp.Normal = manifold.Normal;

                    for (int j = 0; j < manifold.PointCount; ++j)
                    {
                        ManifoldPoint mp = manifold.Points[j];
                        cp.Position = body1.GetWorldPoint(mp.LocalPoint1);
                        Vec2 v1 = body1.GetLinearVelocityFromLocalPoint(mp.LocalPoint1);
                        Vec2 v2 = body2.GetLinearVelocityFromLocalPoint(mp.LocalPoint2);
                        cp.Velocity   = v2 - v1;
                        cp.Separation = mp.Separation;
                        cp.ID         = mp.ID;
                        _world._contactListener.Remove(cp);
                    }
                }
            }

            // Remove from the world.
            if (c._prev != null)
            {
                c._prev._next = c._next;
            }

            if (c._next != null)
            {
                c._next._prev = c._prev;
            }

            if (c == _world._contactList)
            {
                _world._contactList = c._next;
            }

            // Remove from body 1
            if (c._node1.Prev != null)
            {
                c._node1.Prev.Next = c._node1.Next;
            }

            if (c._node1.Next != null)
            {
                c._node1.Next.Prev = c._node1.Prev;
            }

            if (c._node1 == body1._contactList)
            {
                body1._contactList = c._node1.Next;
            }

            // Remove from body 2
            if (c._node2.Prev != null)
            {
                c._node2.Prev.Next = c._node2.Next;
            }

            if (c._node2.Next != null)
            {
                c._node2.Next.Prev = c._node2.Prev;
            }

            if (c._node2 == body2._contactList)
            {
                body2._contactList = c._node2.Next;
            }

            // Call the factory.
            Contact.Destroy(c);
            --_world._contactCount;
        }