BEPUphysics.NarrowPhaseSystems.Pairs.TerrainPairHandler.GetContactInformation C# (CSharp) Метод

        protected internal override void GetContactInformation(int index, out ContactInformation info)
        {
            info.Contact = TerrainManifold.contacts.Elements[index];
            //Find the contact's normal and friction forces.
            info.FrictionImpulse = 0;
            info.NormalImpulse = 0;
            for (int i = 0; i < contactConstraint.frictionConstraints.Count; i++)
            {
                if (contactConstraint.frictionConstraints.Elements[i].PenetrationConstraint.contact == info.Contact)
                {
                    info.FrictionImpulse = contactConstraint.frictionConstraints.Elements[i].accumulatedImpulse;
                    info.NormalImpulse = contactConstraint.frictionConstraints.Elements[i].PenetrationConstraint.accumulatedImpulse;
                    break;
                }
            }

            //Compute relative velocity
            if (convex.entity != null)
            {
                Vector3 velocity;
                Vector3.Subtract(ref info.Contact.Position, ref convex.entity.position, out velocity);
                Vector3.Cross(ref convex.entity.angularVelocity, ref velocity, out velocity);
                Vector3.Add(ref velocity, ref convex.entity.linearVelocity, out info.RelativeVelocity);
            }
            else
                info.RelativeVelocity = new Vector3();


            info.Pair = this;
        }