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

        public override void ExclusiveUpdate()
        {
            //Warm Starting
            Vector3 impulse;
            Vector3 torque;
            Vector3.Multiply(ref worldPlaneNormal, accumulatedImpulse, out impulse);
            if (connectionA.isDynamic)
            {
                Vector3.Multiply(ref rAcrossN, accumulatedImpulse, out torque);
                connectionA.ApplyLinearImpulse(ref impulse);
                connectionA.ApplyAngularImpulse(ref torque);
            }
            if (connectionB.isDynamic)
            {
                Vector3.Negate(ref impulse, out impulse);
                Vector3.Multiply(ref rBcrossN, accumulatedImpulse, out torque);
                connectionB.ApplyLinearImpulse(ref impulse);
                connectionB.ApplyAngularImpulse(ref torque);
            }
        }
    }