BEPUphysics.Constraints.SingleEntity.MaximumAngularSpeedConstraint.Update C# (CSharp) Метод

        public override void Update(float dt)
        {
            usedSoftness = softness / dt;

            effectiveMassMatrix = entity.inertiaTensorInverse;

            effectiveMassMatrix.M11 += usedSoftness;
            effectiveMassMatrix.M22 += usedSoftness;
            effectiveMassMatrix.M33 += usedSoftness;

            Matrix3x3.Invert(ref effectiveMassMatrix, out effectiveMassMatrix);

            //Determine maximum force
            if (maximumForce < float.MaxValue)
            {
                maxForceDt = maximumForce * dt;
                maxForceDtSquared = maxForceDt * maxForceDt;
            }
            else
            {
                maxForceDt = float.MaxValue;
                maxForceDtSquared = float.MaxValue;
            }

        }