BEPUphysics.Constraints.TwoEntity.JointLimits.RevoluteLimit.ExclusiveUpdate C# (CSharp) Method

        public override void ExclusiveUpdate()
        {
            //****** WARM STARTING ******//
            //Apply accumulated impulse
            if (connectionA.isDynamic)
            {
                var impulse = new Vector3();
                if (minIsActive)
                {
                    Vector3.Multiply(ref jacobianMinA, accumulatedImpulse.X, out impulse);
                }
                if (maxIsActive)
                {
                    Vector3 temp;
                    Vector3.Multiply(ref jacobianMaxA, accumulatedImpulse.Y, out temp);
                    Vector3.Add(ref impulse, ref temp, out impulse);
                }
                connectionA.ApplyAngularImpulse(ref impulse);
            }
            if (connectionB.isDynamic)
            {
                var impulse = new Vector3();
                if (minIsActive)
                {
                    Vector3.Multiply(ref jacobianMinB, accumulatedImpulse.X, out impulse);
                }
                if (maxIsActive)
                {
                    Vector3 temp;
                    Vector3.Multiply(ref jacobianMaxB, accumulatedImpulse.Y, out temp);
                    Vector3.Add(ref impulse, ref temp, out impulse);
                }
                connectionB.ApplyAngularImpulse(ref impulse);
            }
        }