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

        internal override bool SolvePositionConstraints(float baumgarte)
        {
            float linearError = 0.0f;

            Body b1 = _body1;
            Body b2 = _body2;

            float coordinate1, coordinate2;
            if (_revolute1 != null)
            {
                coordinate1 = _revolute1.JointAngle;
            }
            else
            {
                coordinate1 = _prismatic1.JointTranslation;
            }

            if (_revolute2 != null)
            {
                coordinate2 = _revolute2.JointAngle;
            }
            else
            {
                coordinate2 = _prismatic2.JointTranslation;
            }

            float C = _constant - (coordinate1 + _ratio * coordinate2);

            float impulse = _mass * (-C);

            b1._sweep.C += b1._invMass * impulse * _J.Linear1;
            b1._sweep.A += b1._invI * impulse * _J.Angular1;
            b2._sweep.C += b2._invMass * impulse * _J.Linear2;
            b2._sweep.A += b2._invI * impulse * _J.Angular2;

            b1.SynchronizeTransform();
            b2.SynchronizeTransform();

            //TODO_ERIN not implemented
            return linearError < Settings.LinearSlop;
        }