BEPUphysics.Constraints.TwoEntity.JointLimits.DistanceLimit.SolveIteration C# (CSharp) Method

        public override float SolveIteration()
        {
            //Compute the current relative velocity.
            float lambda, dot;
            Vector3.Dot(ref jLinearA, ref connectionA.linearVelocity, out lambda);
            Vector3.Dot(ref jAngularA, ref connectionA.angularVelocity, out dot);
            lambda += dot;
            Vector3.Dot(ref jLinearB, ref connectionB.linearVelocity, out dot);
            lambda += dot;
            Vector3.Dot(ref jAngularB, ref connectionB.angularVelocity, out dot);
            lambda += dot;

            //Add in the constraint space bias velocity
            lambda = -lambda + biasVelocity - softness * accumulatedImpulse;

            //Transform to an impulse
            lambda *= velocityToImpulse;

            //Clamp accumulated impulse (can't go negative)
            float previousAccumulatedImpulse = accumulatedImpulse;
            accumulatedImpulse = MathHelper.Max(accumulatedImpulse + lambda, 0);
            lambda = accumulatedImpulse - previousAccumulatedImpulse;

            //Apply the impulse
            Vector3 impulse;
            if (connectionA.isDynamic)
            {
                Vector3.Multiply(ref jLinearA, lambda, out impulse);
                connectionA.ApplyLinearImpulse(ref impulse);
                Vector3.Multiply(ref jAngularA, lambda, out impulse);
                connectionA.ApplyAngularImpulse(ref impulse);
            }
            if (connectionB.isDynamic)
            {
                Vector3.Multiply(ref jLinearB, lambda, out impulse);
                connectionB.ApplyLinearImpulse(ref impulse);
                Vector3.Multiply(ref jAngularB, lambda, out impulse);
                connectionB.ApplyAngularImpulse(ref impulse);
            }

            return (Math.Abs(lambda));
        }