BEPUphysics.Constraints.TwoEntity.Motors.TwistMotor.SolveIteration C# (CSharp) Метод

        public override float SolveIteration()
        {
            float velocityA, velocityB;
            //Find the velocity contribution from each connection
            Vector3.Dot(ref connectionA.angularVelocity, ref jacobianA, out velocityA);
            Vector3.Dot(ref connectionB.angularVelocity, ref jacobianB, out velocityB);
            //Add in the constraint space bias velocity
            float lambda = -(velocityA + velocityB) + biasVelocity - usedSoftness * accumulatedImpulse;

            //Transform to an impulse
            lambda *= velocityToImpulse;

            //Accumulate the impulse
            float previousAccumulatedImpulse = accumulatedImpulse;
            accumulatedImpulse = MathHelper.Clamp(accumulatedImpulse + lambda, -maxForceDt, maxForceDt);
            lambda = accumulatedImpulse - previousAccumulatedImpulse;

            //Apply the impulse
            Vector3 impulse;
            if (connectionA.isDynamic)
            {
                Vector3.Multiply(ref jacobianA, lambda, out impulse);
                connectionA.ApplyAngularImpulse(ref impulse);
            }
            if (connectionB.isDynamic)
            {
                Vector3.Multiply(ref jacobianB, lambda, out impulse);
                connectionB.ApplyAngularImpulse(ref impulse);
            }

            return Math.Abs(lambda);
        }