FarseerPhysics.Dynamics.Joints.DistanceJoint.solveVelocityConstraints C# (CSharp) Method

		internal override void solveVelocityConstraints( ref SolverData data )
		{
			Vector2 vA = data.velocities[_indexA].v;
			float wA = data.velocities[_indexA].w;
			Vector2 vB = data.velocities[_indexB].v;
			float wB = data.velocities[_indexB].w;

			// Cdot = dot(u, v + cross(w, r))
			Vector2 vpA = vA + MathUtils.cross( wA, _rA );
			Vector2 vpB = vB + MathUtils.cross( wB, _rB );
			float Cdot = Vector2.Dot( _u, vpB - vpA );

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

			Vector2 P = impulse * _u;
			vA -= _invMassA * P;
			wA -= _invIA * MathUtils.cross( _rA, P );
			vB += _invMassB * P;
			wB += _invIB * MathUtils.cross( _rB, P );

			data.velocities[_indexA].v = vA;
			data.velocities[_indexA].w = wA;
			data.velocities[_indexB].v = vB;
			data.velocities[_indexB].w = wB;

		}