Box2DX.Dynamics.GearJoint.SolveVelocityConstraints C# (CSharp) Method

        internal override void SolveVelocityConstraints(TimeStep step)
        {
            Body b1 = _body1;
            Body b2 = _body2;

            float Cdot = _J.Compute(b1._linearVelocity, b1._angularVelocity, b2._linearVelocity, b2._angularVelocity);

            float impulse = _mass * (-Cdot);
            _impulse += impulse;

            b1._linearVelocity += b1._invMass * impulse * _J.Linear1;
            b1._angularVelocity += b1._invI * impulse * _J.Angular1;
            b2._linearVelocity += b2._invMass * impulse * _J.Linear2;
            b2._angularVelocity += b2._invI * impulse * _J.Angular2;
        }