BEPUphysics.Constraints.SingleEntity.SingleEntityLinearMotor.ExclusiveUpdate C# (CSharp) Method

        public override void ExclusiveUpdate()
        {
            //"Warm start" the constraint by applying a first guess of the solution should be.
            entity.ApplyLinearImpulse(ref accumulatedImpulse);
            Vector3 taImpulse;
            Vector3.Cross(ref r, ref accumulatedImpulse, out taImpulse);
            entity.ApplyAngularImpulse(ref taImpulse);
        }