Box2DX.Dynamics.MouseJoint.SolveVelocityConstraints C# (CSharp) Метод

        internal override void SolveVelocityConstraints(TimeStep step)
        {
            Body b = _body2;

            Vec2 r = Common.Math.Mul(b.GetXForm().R, _localAnchor - b.GetLocalCenter());

            // Cdot = v + cross(w, r)
            Vec2 Cdot = b._linearVelocity + Vec2.Cross(b._angularVelocity, r);
            Vec2 impulse = Box2DX.Common.Math.Mul(_mass, -(Cdot + _beta * _C + _gamma * _impulse));

            Vec2 oldImpulse = _impulse;
            _impulse += impulse;
            float maxImpulse = step.Dt * _maxForce;
            if (_impulse.LengthSquared() > maxImpulse * maxImpulse)
            {
                _impulse *= maxImpulse / _impulse.Length();
            }
            impulse = _impulse - oldImpulse;

            b._linearVelocity += b._invMass * impulse;
            b._angularVelocity += b._invI * Vec2.Cross(r, impulse);
        }