BEPUphysics.Constraints.Collision.TwistFrictionConstraint.SolveIteration C# (CSharp) Method

        public override float SolveIteration()
        {
            //Compute relative velocity.  Collisions can occur between an entity and a non-entity.  If it's not an entity, assume it's not moving.
            float lambda = RelativeVelocity;
            
            lambda *= velocityToImpulse; //convert to impulse

            //Clamp accumulated impulse
            float previousAccumulatedImpulse = accumulatedImpulse;
            float maximumFrictionForce = 0;
            for (int i = 0; i < contactCount; i++)
            {
                maximumFrictionForce += leverArms[i] * contactManifoldConstraint.penetrationConstraints.Elements[i].accumulatedImpulse;
            }
            maximumFrictionForce *= friction;
            accumulatedImpulse = MathHelper.Clamp(accumulatedImpulse + lambda, -maximumFrictionForce, maximumFrictionForce); //instead of maximumFrictionForce, could recompute each iteration...
            lambda = accumulatedImpulse - previousAccumulatedImpulse;


            //Apply the impulse
#if !WINDOWS
            Vector3 angular = new Vector3();
#else
            Vector3 angular;
#endif
            angular.X = lambda * angularX;
            angular.Y = lambda * angularY;
            angular.Z = lambda * angularZ;
            if (entityADynamic)
            {
                entityA.ApplyAngularImpulse(ref angular);
            }
            if (entityBDynamic)
            {
                angular.X = -angular.X;
                angular.Y = -angular.Y;
                angular.Z = -angular.Z;
                entityB.ApplyAngularImpulse(ref angular);
            }


            return Math.Abs(lambda);
        }