Jitter.Dynamics.Contact.UpdatePosition C# (CSharp) Method

        public void UpdatePosition()
        {
            if (!body1IsMassPoint)
            {
                JVector.Transform(ref realRelPos1, ref body1.orientation, out p1);
            }

            JVector.Add(ref p1, ref body1.position, out p1);


            if (!body2IsMassPoint)
            {
                JVector.Transform(ref realRelPos2, ref body2.orientation, out p2);
            }

            JVector.Add(ref p2, ref body2.position, out p2);


            JVector dist; JVector.Subtract(ref p1, ref p2, out dist);
            penetration = JVector.Dot(ref dist, ref normal);
        }