public void Init(Fix32 invDelta)
{
totalInvMass = bodyA.InvMass + bodyB.InvMass;
bias = -DWorld.PENETRATION_CORRECTION * invDelta * Fix32.Min((Fix32)0, -penetration + DWorld.PENETRATION_SLOP);
restitution = Fix32.Min(bodyA.Restitution, bodyB.Restitution);
}