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

        public override float SolveIteration()
        {
            //Compute relative velocity and convert to impulse
            float lambda = RelativeVelocity * velocityToImpulse;


            //Clamp accumulated impulse
            float previousAccumulatedImpulse = accumulatedImpulse;
            float maxForce = friction * penetrationConstraint.accumulatedImpulse;
            accumulatedImpulse = MathHelper.Clamp(accumulatedImpulse + lambda, -maxForce, maxForce);
            lambda = accumulatedImpulse - previousAccumulatedImpulse;

            //Apply the impulse
#if !WINDOWS
            Vector3 linear = new Vector3();
            Vector3 angular = new Vector3();
#else
            Vector3 linear, angular;
#endif
            linear.X = lambda * linearAX;
            linear.Y = lambda * linearAY;
            linear.Z = lambda * linearAZ;
            if (entityAIsDynamic)
            {
                angular.X = lambda * angularAX;
                angular.Y = lambda * angularAY;
                angular.Z = lambda * angularAZ;
                entityA.ApplyLinearImpulse(ref linear);
                entityA.ApplyAngularImpulse(ref angular);
            }
            if (entityBIsDynamic)
            {
                linear.X = -linear.X;
                linear.Y = -linear.Y;
                linear.Z = -linear.Z;
                angular.X = lambda * angularBX;
                angular.Y = lambda * angularBY;
                angular.Z = lambda * angularBZ;
                entityB.ApplyLinearImpulse(ref linear);
                entityB.ApplyAngularImpulse(ref angular);
            }

            return Math.Abs(lambda);
        }