solve method

@override void solve()

Solve the constraint. This is usually called iteratively.

Implementation

@override
void solve(){
  Vec3 r = a2.clone().sub(a1).sub(vel);

  rn0.copy(r).applyMatrix3(dd!, true);
  rn1.copy(rn0).applyMatrix3(ii1!, true);
  rn2.copy(rn0).applyMatrix3(ii2!, true);

  imp.add(rn0);
  a1.add(rn1);
  a2.sub(rn2);
}