BEPUphysics.Constraints.Collision.SlidingFrictionTwoAxis.ExclusiveUpdate C# (CSharp) Method

        public override void ExclusiveUpdate()
        {

            //Warm starting
#if !WINDOWS
            Vector3 linear = new Vector3();
            Vector3 angular = new Vector3();
#else
            Vector3 linear, angular;
#endif
            //Matrix2x3.Transform(ref lambda, ref linearA, out linear);
            linear.X = accumulatedImpulse.X * linearA.M11 + accumulatedImpulse.Y * linearA.M21;
            linear.Y = accumulatedImpulse.X * linearA.M12 + accumulatedImpulse.Y * linearA.M22;
            linear.Z = accumulatedImpulse.X * linearA.M13 + accumulatedImpulse.Y * linearA.M23;
            if (entityADynamic)
            {
                //Matrix2x3.Transform(ref lambda, ref angularA, out angular);
                angular.X = accumulatedImpulse.X * angularA.M11 + accumulatedImpulse.Y * angularA.M21;
                angular.Y = accumulatedImpulse.X * angularA.M12 + accumulatedImpulse.Y * angularA.M22;
                angular.Z = accumulatedImpulse.X * angularA.M13 + accumulatedImpulse.Y * angularA.M23;
                entityA.ApplyLinearImpulse(ref linear);
                entityA.ApplyAngularImpulse(ref angular);
            }
            if (entityBDynamic)
            {
                linear.X = -linear.X;
                linear.Y = -linear.Y;
                linear.Z = -linear.Z;
                //Matrix2x3.Transform(ref lambda, ref angularB, out angular);
                angular.X = accumulatedImpulse.X * angularB.M11 + accumulatedImpulse.Y * angularB.M21;
                angular.Y = accumulatedImpulse.X * angularB.M12 + accumulatedImpulse.Y * angularB.M22;
                angular.Z = accumulatedImpulse.X * angularB.M13 + accumulatedImpulse.Y * angularB.M23;
                entityB.ApplyLinearImpulse(ref linear);
                entityB.ApplyAngularImpulse(ref angular);
            }
        }