BEPUphysics.CollisionTests.Manifolds.SphereContactManifold.Update C# (CSharp) Метод

        public override void Update(float dt)
        {
            ContactData contactData;
            bool colliding = false;
            if (SphereTester.AreSpheresColliding(sphereA.Shape, sphereB.Shape, ref sphereA.worldTransform.Position, ref sphereB.worldTransform.Position, out contactData))
            {
                if (!previouslyColliding && contactData.PenetrationDepth >= 0) //Don't use the contact if it's an initial contact and the depth is negative.  Why not? Bounciness and InitialCollisionDetected.
                {
                    Add(ref contactData);
                    colliding = true;
                }
                else if (previouslyColliding)
                {
                    contact.Normal = contactData.Normal;
                    contact.PenetrationDepth = contactData.PenetrationDepth;
                    contact.Position = contactData.Position;
                    colliding = true;
                }
            }
            else
            {
                if (previouslyColliding)
                    Remove(0);
            }
            previouslyColliding = colliding;
        }