FarseerPhysics.Dynamics.Contacts.ContactSolver.WorldManifold.initialize C# (CSharp) Method

			public static void initialize( ref Manifold manifold, ref Transform xfA, float radiusA, ref Transform xfB, float radiusB, out Vector2 normal, out FixedArray2<Vector2> points )
			{
				normal = Vector2.Zero;
				points = new FixedArray2<Vector2>();

				if( manifold.pointCount == 0 )
					return;

				switch( manifold.type )
				{
					case ManifoldType.Circles:
						{
							normal = new Vector2( 1.0f, 0.0f );
							var pointA = MathUtils.mul( ref xfA, manifold.localPoint );
							var pointB = MathUtils.mul( ref xfB, manifold.points[0].localPoint );
							if( Vector2.DistanceSquared( pointA, pointB ) > Settings.epsilon * Settings.epsilon )
							{
								normal = pointB - pointA;
								normal.Normalize();
							}

							var cA = pointA + radiusA * normal;
							var cB = pointB - radiusB * normal;
							points[0] = 0.5f * ( cA + cB );
							break;
						}


					case ManifoldType.FaceA:
						{
							normal = MathUtils.mul( xfA.q, manifold.localNormal );
							var planePoint = MathUtils.mul( ref xfA, manifold.localPoint );

							for( int i = 0; i < manifold.pointCount; ++i )
							{
								var clipPoint = MathUtils.mul( ref xfB, manifold.points[i].localPoint );
								var cA = clipPoint + ( radiusA - Vector2.Dot( clipPoint - planePoint, normal ) ) * normal;
								var cB = clipPoint - radiusB * normal;
								points[i] = 0.5f * ( cA + cB );
							}
							break;
						}

					case ManifoldType.FaceB:
						{
							normal = MathUtils.mul( xfB.q, manifold.localNormal );
							var planePoint = MathUtils.mul( ref xfB, manifold.localPoint );

							for( int i = 0; i < manifold.pointCount; ++i )
							{
								var clipPoint = MathUtils.mul( ref xfA, manifold.points[i].localPoint );
								var cB = clipPoint + ( radiusB - Vector2.Dot( clipPoint - planePoint, normal ) ) * normal;
								var cA = clipPoint - radiusA * normal;
								points[i] = 0.5f * ( cA + cB );
							}

							// Ensure normal points from A to B.
							normal = -normal;
							break;
						}
				}
			}
		}