BEPUphysics.Vehicle.CylinderCastWheelShape.UpdateDetectorPosition C# (CSharp) Метод

        protected internal override void UpdateDetectorPosition()
        {
#if !WINDOWS
            Vector3 newPosition = new Vector3();
#else
            Vector3 newPosition;
#endif

            newPosition.X = wheel.suspension.worldAttachmentPoint.X + wheel.suspension.worldDirection.X * wheel.suspension.restLength * .5f;
            newPosition.Y = wheel.suspension.worldAttachmentPoint.Y + wheel.suspension.worldDirection.Y * wheel.suspension.restLength * .5f;
            newPosition.Z = wheel.suspension.worldAttachmentPoint.Z + wheel.suspension.worldDirection.Z * wheel.suspension.restLength * .5f;

            detector.Position = newPosition;
            if (IncludeSteeringTransformInCast)
            {
                Quaternion localSteeringTransform;
                Quaternion.CreateFromAxisAngle(ref wheel.suspension.localDirection, steeringAngle, out localSteeringTransform);

                detector.Orientation = Quaternion.Concatenate(localSteeringTransform, wheel.Vehicle.Body.orientation);
            }
            else
            {
                detector.Orientation = wheel.Vehicle.Body.orientation;
            }
            Vector3 linearVelocity;
            Vector3.Subtract(ref newPosition, ref wheel.vehicle.Body.position, out linearVelocity);
            Vector3.Cross(ref linearVelocity, ref wheel.vehicle.Body.angularVelocity, out linearVelocity);
            Vector3.Add(ref linearVelocity, ref wheel.vehicle.Body.linearVelocity, out linearVelocity);
            detector.LinearVelocity = linearVelocity;
            detector.AngularVelocity = wheel.vehicle.Body.angularVelocity;
        }
    }