BEPUphysics.Constraints.Collision.SlidingFrictionTwoAxis.Setup C# (CSharp) Method

        internal void Setup(ConvexContactManifoldConstraint contactManifoldConstraint)
        {
            this.contactManifoldConstraint = contactManifoldConstraint;
            isActive = true;

            linearA = new Matrix2x3();

            entityA = contactManifoldConstraint.EntityA;
            entityB = contactManifoldConstraint.EntityB;
        }

        ///<summary>
        /// Adds a contact to be managed by the constraint.
        ///</summary>
        ///<param name="contact">Contact to add.</param>
        public override void AddContact(Contact contact)
        {
            var penetrationConstraint = penetrationConstraintPool.Pop();

            penetrationConstraint.Setup(this, contact);
            penetrationConstraints.Add(penetrationConstraint);
            if (penetrationConstraints.count == 1)
            {
                //This is the first contact.  All constraints need to become active.
                twistFriction.Setup(this);
                slidingFriction.Setup(this);
            }
        }