Box2DX.Dynamics.ContactConstraintPoint.ContactSolver.ContactSolver C# (CSharp) Метод

		public ContactSolver(TimeStep step, Contact[] contacts, int contactCount)
		{
			_step = step;
			_constraintCount = contactCount;

			_constraints = new ContactConstraint[_constraintCount];
			for (int i = 0; i < _constraintCount; i++)
			{
				_constraints[i] = new ContactConstraint();
			}

			for (int i = 0; i < _constraintCount; ++i)
			{
				Contact contact = contacts[i];

				Fixture fixtureA = contact._fixtureA;
				Fixture fixtureB = contact._fixtureB;
				Shape shapeA = fixtureA.Shape;
				Shape shapeB = fixtureB.Shape;
				float radiusA = shapeA._radius;
				float radiusB = shapeB._radius;
				Body bodyA = fixtureA.Body;
				Body bodyB = fixtureB.Body;
				Manifold manifold = contact.Manifold;

				float friction = Settings.MixFriction(fixtureA.Friction, fixtureB.Friction);
				float restitution = Settings.MixRestitution(fixtureA.Restitution, fixtureB.Restitution);

				Box2DXDebug.Assert(manifold.PointCount > 0);

				WorldManifold worldManifold = new WorldManifold();
				worldManifold.Initialize(manifold, bodyA._xf, radiusA, bodyB._xf, radiusB);

				ContactConstraint cc = _constraints[i];
				cc.BodyA = bodyA;
				cc.BodyB = bodyB;
				cc.Manifold = manifold;
				cc.Normal = worldManifold.Normal;
				cc.PointCount = manifold.PointCount;
				cc.Friction = friction;
				cc.Restitution = restitution;

				cc.LocalPlaneNormal = manifold.LocalPlaneNormal;
				cc.LocalPoint = manifold.LocalPoint;
				cc.Radius = radiusA + radiusB;
				cc.Type = manifold.Type;

				ContactSolverSetup(manifold, worldManifold, cc);
			}
		}