Box2DX.Dynamics.GearJoint.GetReactionTorque C# (CSharp) 메소드

        public override float GetReactionTorque(float inv_dt)
        {
            // TODO_ERIN not tested
            Vec2 r = Common.Math.Mul(_body2.GetXForm().R, _localAnchor2 - _body2.GetLocalCenter());
            Vec2 P = _impulse * _J.Linear2;
            float L = _impulse * _J.Angular2 - Vec2.Cross(r, P);
            return inv_dt * L;
        }