BEPUphysics.Constraints.TwoEntity.Joints.BallSocketJoint.ExclusiveUpdate C# (CSharp) Method

        public override void ExclusiveUpdate()
        {
            //Warm starting
            //Constraint.applyImpulse(myConnectionA, myConnectionB, ref rA, ref rB, ref accumulatedImpulse);
#if !WINDOWS
            Vector3 linear = new Vector3();
#else
            Vector3 linear;
#endif
            if (connectionA.isDynamic)
            {
                linear.X = -accumulatedImpulse.X;
                linear.Y = -accumulatedImpulse.Y;
                linear.Z = -accumulatedImpulse.Z;
                connectionA.ApplyLinearImpulse(ref linear);
                Vector3 taImpulse;
                Vector3.Cross(ref worldOffsetA, ref linear, out taImpulse);
                connectionA.ApplyAngularImpulse(ref taImpulse);
            }
            if (connectionB.isDynamic)
            {
                connectionB.ApplyLinearImpulse(ref accumulatedImpulse);
                Vector3 tbImpulse;
                Vector3.Cross(ref worldOffsetB, ref accumulatedImpulse, out tbImpulse);
                connectionB.ApplyAngularImpulse(ref tbImpulse);
            }
        }