public override void ExclusiveUpdate()
{
//****** WARM STARTING ******//
//Apply accumulated impulse
Vector3 impulse;
if (connectionA.isDynamic)
{
Vector3.Multiply(ref jacobianA, accumulatedImpulse, out impulse);
connectionA.ApplyAngularImpulse(ref impulse);
}
if (connectionB.isDynamic)
{
Vector3.Multiply(ref jacobianB, accumulatedImpulse, out impulse);
connectionB.ApplyAngularImpulse(ref impulse);
}
}