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

        public override void UpdateWorldTransform()
        {
#if !WINDOWS
            Vector3 newPosition = new Vector3();
#else
            Vector3 newPosition;
#endif
            Vector3 worldAttachmentPoint;
            Vector3 localAttach;
            Vector3.Add(ref wheel.suspension.localAttachmentPoint, ref wheel.vehicle.Body.CollisionInformation.localPosition, out localAttach);
            worldTransform = Matrix3x3.ToMatrix4X4(wheel.vehicle.Body.BufferedStates.InterpolatedStates.OrientationMatrix);

            Vector3.TransformNormal(ref localAttach, ref worldTransform, out worldAttachmentPoint);
            worldAttachmentPoint += wheel.vehicle.Body.BufferedStates.InterpolatedStates.Position;

            Vector3 worldDirection;
            Vector3.Transform(ref wheel.suspension.localDirection, ref worldTransform, out worldDirection);

            float length = wheel.suspension.currentLength;
            newPosition.X = worldAttachmentPoint.X + worldDirection.X * length;
            newPosition.Y = worldAttachmentPoint.Y + worldDirection.Y * length;
            newPosition.Z = worldAttachmentPoint.Z + worldDirection.Z * length;

            Matrix spinTransform;

            Vector3 localSpinAxis;
            Vector3.Cross(ref wheel.localForwardDirection, ref wheel.suspension.localDirection, out localSpinAxis);
            Matrix.CreateFromAxisAngle(ref localSpinAxis, spinAngle, out spinTransform);


            Matrix localTurnTransform;
            Matrix.Multiply(ref localGraphicTransform, ref spinTransform, out localTurnTransform);
            Matrix.Multiply(ref localTurnTransform, ref steeringTransform, out localTurnTransform);
            //Matrix.Multiply(ref localTurnTransform, ref spinTransform, out localTurnTransform);
            Matrix.Multiply(ref localTurnTransform, ref worldTransform, out worldTransform);
            worldTransform.Translation = newPosition;
        }