public override void ExclusiveUpdate()
{
//Warm starting
Vector3 impulse;
if (connectionA.isDynamic)
{
Vector3.Multiply(ref jLinearA, accumulatedImpulse, out impulse);
connectionA.ApplyLinearImpulse(ref impulse);
Vector3.Multiply(ref jAngularA, accumulatedImpulse, out impulse);
connectionA.ApplyAngularImpulse(ref impulse);
}
if (connectionB.isDynamic)
{
Vector3.Multiply(ref jLinearB, accumulatedImpulse, out impulse);
connectionB.ApplyLinearImpulse(ref impulse);
Vector3.Multiply(ref jAngularB, accumulatedImpulse, out impulse);
connectionB.ApplyAngularImpulse(ref impulse);
}
}
}