FarseerPhysics.Dynamics.DefaultContactFilter.ShouldCollide C# (CSharp) Method

        private static bool ShouldCollide(Fixture fixtureA, Fixture fixtureB)
        {
            if ((fixtureA.CollisionGroup == fixtureB.CollisionGroup) && fixtureA.CollisionGroup != 0 &&
                fixtureB.CollisionGroup != 0)
                return false;

            if (((fixtureA.CollisionCategories & fixtureB.CollidesWith) == CollisionCategory.None) &
                ((fixtureB.CollisionCategories & fixtureA.CollidesWith) == CollisionCategory.None))
                return false;

            if (fixtureA.IsFixtureIgnored(fixtureB) || fixtureB.IsFixtureIgnored(fixtureA))
                return false;

            return true;
        }