public void SetConstants(IDebuggableConstraint.Constants constants)
 {
     if (constants.beta is float beta)
     {
         m.beta = beta;
     }
     if (constants.softness is float softness)
     {
         m.softness = softness;
     }
     constraint = new TwoWayTwoDOFConstraint(m, M_inv, dt);
 }
 public void SetConstants(IDebuggableConstraint.Constants constants)
 {
     constraint = new TwoWayPenFricConstraint((TwoWayPenFricConstraint)constraint, p, dt: dt, beta: constants.beta, delta_slop: constants.delta_slop);
 }