solve method

@override void solve()

Solve the constraint. This is usually called iteratively.

Implementation

@override
void solve(){
  Vector3 r = a2.clone()..sub(a1)..sub(vel);

  rn0..setFrom(r)..applyMatrix3Transpose(dd!);
  rn1..setFrom(rn0)..applyMatrix3Transpose(ii1!);
  rn2..setFrom(rn0)..applyMatrix3Transpose(ii2!);

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