BEPUphysics.SolverSystems.Solver.UnsafeSolveIteration C# (CSharp) Метод

        protected internal void UnsafeSolveIteration(SolverUpdateable updateable)
        {
            if (updateable.isActiveInSolver)
            {
                SolverSettings solverSettings = updateable.solverSettings;


                solverSettings.currentIterations++;
                if (solverSettings.currentIterations <= iterationLimit &&
                    solverSettings.currentIterations <= solverSettings.maximumIterations)
                {
                    if (updateable.SolveIteration() < solverSettings.minimumImpulse)
                    {
                        solverSettings.iterationsAtZeroImpulse++;
                        if (solverSettings.iterationsAtZeroImpulse > solverSettings.minimumIterations)
                            updateable.isActiveInSolver = false;

                    }
                    else
                    {
                        solverSettings.iterationsAtZeroImpulse = 0;
                    }
                }
                else
                {
                    updateable.isActiveInSolver = false;
                }

                //if (++solverSettings.currentIterations > iterationLimit ||
                //    solverSettings.currentIterations > solverSettings.maximumIterations ||
                //    (updateable.SolveIteration() < solverSettings.minimumImpulse &&
                //    ++solverSettings.iterationsAtZeroImpulse > solverSettings.minimumIterations))
                //{
                //    updateable.isActiveInSolver = false;
                //}
                //else //If it's greater than the minimum impulse, reset the count.
                //    solverSettings.iterationsAtZeroImpulse = 0;
            }
        }