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

        public override void RemoveContact(Contact contact)
        {
            for (int i = 0; i < penetrationConstraints.Count; i++)
            {
                ContactPenetrationConstraint penetrationConstraint;
                if ((penetrationConstraint = penetrationConstraints.Elements[i]).contact == contact)
                {
                    penetrationConstraint.CleanUp();
                    penetrationConstraints.RemoveAt(i);
                    penetrationConstraintPool.Push(penetrationConstraint);
                    break;
                }
            }
            if (penetrationConstraints.Count == 0)
            {
                //No more contacts.  Disable everything.
                //Don't have to worry about speculative contacts here; if there existed a regular manifold contact, there couldn't now exist a speculative contact.
                twistFriction.CleanUp();
                slidingFriction.CleanUp();
            }
        }