BEPUphysics.Constraints.Collision.ConvexContactManifoldConstraint.AddContact C# (CSharp) Метод

        public override void AddContact(Contact contact)
        {
            var penetrationConstraint = penetrationConstraintPool.Pop();
            penetrationConstraint.Setup(this, contact);
            penetrationConstraints.Add(penetrationConstraint);
            if (!twistFriction.isActive)
            {
                //This is the first real contact.  All constraints need to become active.
                twistFriction.Setup(this);
                slidingFriction.Setup(this);
            }
        }