Jitter.Dynamics.Contact.CalculateRelativeVelocity C# (CSharp) Method

        public JVector CalculateRelativeVelocity()
        {
            float x, y, z;

            x = (body2.angularVelocity.Y * relativePos2.Z) - (body2.angularVelocity.Z * relativePos2.Y) + body2.linearVelocity.X;
            y = (body2.angularVelocity.Z * relativePos2.X) - (body2.angularVelocity.X * relativePos2.Z) + body2.linearVelocity.Y;
            z = (body2.angularVelocity.X * relativePos2.Y) - (body2.angularVelocity.Y * relativePos2.X) + body2.linearVelocity.Z;

            JVector relVel;
            relVel.X = x - (body1.angularVelocity.Y * relativePos1.Z) + (body1.angularVelocity.Z * relativePos1.Y) - body1.linearVelocity.X;
            relVel.Y = y - (body1.angularVelocity.Z * relativePos1.X) + (body1.angularVelocity.X * relativePos1.Z) - body1.linearVelocity.Y;
            relVel.Z = z - (body1.angularVelocity.X * relativePos1.Y) + (body1.angularVelocity.Y * relativePos1.X) - body1.linearVelocity.Z;

            return relVel;
        }