BEPUphysics.Entities.Entity.IForceUpdateable C# (CSharp) Method

        void IForceUpdateable.UpdateForForces(float dt)
        {


            //Linear velocity
            if (IsAffectedByGravity)
            {
                Vector3.Add(ref forceUpdater.gravityDt, ref linearVelocity, out linearVelocity);
            }

            //Boost damping at very low velocities.  This is a strong stabilizer; removes a ton of energy from the system.
            if (activityInformation.DeactivationManager.useStabilization && activityInformation.allowStabilization &&
                (activityInformation.isSlowing || activityInformation.velocityTimeBelowLimit > activityInformation.DeactivationManager.lowVelocityTimeMinimum))
            {
                float energy = linearVelocity.LengthSquared() + angularVelocity.LengthSquared();
                if (energy < activityInformation.DeactivationManager.velocityLowerLimitSquared)
                {
                    float boost = 1 - (float)(Math.Sqrt(energy) / (2f * activityInformation.DeactivationManager.velocityLowerLimit));
                    ModifyAngularDamping(boost);
                    ModifyLinearDamping(boost);
                }
            }

            //Damping
            float linear = LinearDamping + linearDampingBoost;
            if (linear > 0)
            {
                Vector3.Multiply(ref linearVelocity, (float)Math.Pow(MathHelper.Clamp(1 - linear, 0, 1), dt), out linearVelocity);
            }
            //When applying angular damping, the momentum or velocity is damped depending on the conservation setting.
            float angular = AngularDamping + angularDampingBoost;
            if (angular > 0 && MotionSettings.ConserveAngularMomentum)
            {
                Vector3.Multiply(ref angularMomentum, (float)Math.Pow(MathHelper.Clamp(1 - angular, 0, 1), dt), out angularMomentum);
            }
            else if (angular > 0)
            {
                Vector3.Multiply(ref angularVelocity, (float)Math.Pow(MathHelper.Clamp(1 - angular, 0, 1), dt), out angularVelocity);
            }

            linearDampingBoost = 0;
            angularDampingBoost = 0;

            //Linear momentum
            Vector3.Multiply(ref linearVelocity, mass, out linearMomentum);


            //Update world inertia tensors.
            Matrix3x3 multiplied;
            Matrix3x3.MultiplyTransposed(ref orientationMatrix, ref localInertiaTensorInverse, out multiplied);
            Matrix3x3.Multiply(ref multiplied, ref orientationMatrix, out inertiaTensorInverse);
            Matrix3x3.MultiplyTransposed(ref orientationMatrix, ref localInertiaTensor, out multiplied);
            Matrix3x3.Multiply(ref multiplied, ref orientationMatrix, out inertiaTensor);

            //Update angular velocity or angular momentum.
            if (MotionSettings.ConserveAngularMomentum)
            {
                Matrix3x3.Transform(ref angularMomentum, ref inertiaTensorInverse, out angularVelocity);
            }
            else
            {
                Matrix3x3.Transform(ref angularVelocity, ref inertiaTensor, out angularMomentum);
            }

            MathChecker.Validate(linearVelocity);
            MathChecker.Validate(linearMomentum);
            MathChecker.Validate(angularVelocity);
            MathChecker.Validate(angularMomentum);


        }