BEPUphysics.Constraints.TwoEntity.Joints.RevoluteAngularJoint.ExclusiveUpdate C# (CSharp) Method

        public override void ExclusiveUpdate()
        {
            //Warm Starting
#if !WINDOWS
            Vector3 impulse = new Vector3();
#else
            Vector3 impulse;
#endif
            impulse.X = worldConstrainedAxis1.X * accumulatedImpulse.X + worldConstrainedAxis2.X * accumulatedImpulse.Y;
            impulse.Y = worldConstrainedAxis1.Y * accumulatedImpulse.X + worldConstrainedAxis2.Y * accumulatedImpulse.Y;
            impulse.Z = worldConstrainedAxis1.Z * accumulatedImpulse.X + worldConstrainedAxis2.Z * accumulatedImpulse.Y;
            if (connectionA.isDynamic)
            {
                connectionA.ApplyAngularImpulse(ref impulse);
            }
            if (connectionB.isDynamic)
            {
                Vector3.Negate(ref impulse, out impulse);
                connectionB.ApplyAngularImpulse(ref impulse);
            }
        }