///<summary> /// Removes a contact from the constraint. ///</summary> ///<param name="contact">Contact to remove.</param> public override void RemoveContact(Contact contact) { ContactPenetrationConstraint penetrationConstraint = null; for (int i = 0; i < penetrationConstraints.count; ++i) { if ((penetrationConstraint = penetrationConstraints.Elements[i]).contact == contact) { penetrationConstraint.CleanUp(); penetrationConstraints.RemoveAt(i); penetrationConstraintPool.Push(penetrationConstraint); break; } } for (int i = frictionConstraints.count - 1; i >= 0; i--) { ContactFrictionConstraint frictionConstraint = frictionConstraints[i]; if (frictionConstraint.PenetrationConstraint == penetrationConstraint) { frictionConstraint.CleanUp(); frictionConstraints.RemoveAt(i); frictionConstraintPool.Push(frictionConstraint); break; } } }