void ApplyImpulse(float lambda)
{
ConnectionA.LinearVelocity -= lambda * LinearJacobianITA;
ConnectionB.LinearVelocity -= lambda * LinearJacobianITB;
ConnectionA.AngularVelocity -= lambda * AngularJacobianITA;
ConnectionB.AngularVelocity -= lambda * AngularJacobianITB;
}