double limitCorrection = 0;
if (var1 != null) {
LPVariablePair c1 = variableMap.get(var1);
linear.add(factor1, c1.posVar());
linear.add(-factor1, c1.negVar());
limitCorrection += factor1 * var1.getPosXYZ().y;
}
if (var2 != null) {
LPVariablePair c2 = variableMap.get(var2);