BEPUphysics.Constraints.TwoEntity.Joints.PointOnLineJoint.ExclusiveUpdate C# (CSharp) Метод

        public override void ExclusiveUpdate()
        {

            //Warm starting
#if !WINDOWS
            Vector3 impulse = new Vector3();
            Vector3 torque= new Vector3();
#else
            Vector3 impulse;
            Vector3 torque;
#endif
            float x = accumulatedImpulse.X;
            float y = accumulatedImpulse.Y;
            impulse.X = worldRestrictedAxis1.X * x + worldRestrictedAxis2.X * y;
            impulse.Y = worldRestrictedAxis1.Y * x + worldRestrictedAxis2.Y * y;
            impulse.Z = worldRestrictedAxis1.Z * x + worldRestrictedAxis2.Z * y;
            if (connectionA.isDynamic)
            {
                torque.X = x * angularA1.X + y * angularA2.X;
                torque.Y = x * angularA1.Y + y * angularA2.Y;
                torque.Z = x * angularA1.Z + y * angularA2.Z;

                connectionA.ApplyLinearImpulse(ref impulse);
                connectionA.ApplyAngularImpulse(ref torque);
            }
            if (connectionB.isDynamic)
            {
                impulse.X = -impulse.X;
                impulse.Y = -impulse.Y;
                impulse.Z = -impulse.Z;

                torque.X = x * angularB1.X + y * angularB2.X;
                torque.Y = x * angularB1.Y + y * angularB2.Y;
                torque.Z = x * angularB1.Z + y * angularB2.Z;


                connectionB.ApplyLinearImpulse(ref impulse);
                connectionB.ApplyAngularImpulse(ref torque);
            }
        }