BEPUphysics.Constraints.TwoEntity.JointLimits.EllipseSwingLimit.SolveIteration C# (CSharp) Method

        public override float SolveIteration()
        {
            float velocityA, velocityB;
            //Find the velocity contribution from each connection
            Vector3.Dot(ref connectionA.angularVelocity, ref jacobianA, out velocityA);
            Vector3.Dot(ref connectionB.angularVelocity, ref jacobianB, out velocityB);
            //Add in the constraint space bias velocity
            float lambda = (-velocityA - velocityB) - biasVelocity - softness * accumulatedImpulse;

            //Transform to an impulse
            lambda *= velocityToImpulse;

            //Clamp accumulated impulse (can't go negative)
            float previousAccumulatedImpulse = accumulatedImpulse;
            accumulatedImpulse = MathHelper.Min(accumulatedImpulse + lambda, 0);
            lambda = accumulatedImpulse - previousAccumulatedImpulse;

            //Apply the impulse
            Vector3 impulse;
            if (connectionA.isDynamic)
            {
                Vector3.Multiply(ref jacobianA, lambda, out impulse);
                connectionA.ApplyAngularImpulse(ref impulse);
            }
            if (connectionB.isDynamic)
            {
                Vector3.Multiply(ref jacobianB, lambda, out impulse);
                connectionB.ApplyAngularImpulse(ref impulse);
            }

            return (Math.Abs(lambda));
        }