BEPUphysics.Constraints.Collision.ConvexContactManifoldConstraint.SolveIteration C# (CSharp) Метод

        public sealed override float SolveIteration()
        {

            int activeConstraints = 0;
            for (int i = 0; i < penetrationConstraints.Count; i++)
                SolveUpdateable(penetrationConstraints.Elements[i], ref activeConstraints);
            SolveUpdateable(slidingFriction, ref activeConstraints);
            SolveUpdateable(twistFriction, ref activeConstraints);


            isActiveInSolver = activeConstraints > 0;

            return solverSettings.minimumImpulse + 1; //Never let the system deactivate due to low impulses; solver group takes care of itself.
        }