BEPUphysics.Vehicle.Wheel.ApplyImpulse C# (CSharp) Метод

        internal bool ApplyImpulse()
        {
            int numActiveConstraints = 0;
            if (suspension.isActive)
            {
                if (++suspension.solverSettings.currentIterations <= suspension.solverSettings.maximumIterations)
                    if (Math.Abs(suspension.ApplyImpulse()) < suspension.solverSettings.minimumImpulse)
                    {
                        suspension.numIterationsAtZeroImpulse++;
                        if (suspension.numIterationsAtZeroImpulse > suspension.solverSettings.minimumIterations)
                            suspension.isActive = false;
                        else
                        {
                            numActiveConstraints++;
                            suspension.numIterationsAtZeroImpulse = 0;
                        }
                    }
                    else
                    {
                        numActiveConstraints++;
                        suspension.numIterationsAtZeroImpulse = 0;
                    }
                else
                    suspension.isActive = false;
            }
            if (slidingFriction.isActive)
            {
                if (++slidingFriction.solverSettings.currentIterations <= suspension.solverSettings.maximumIterations)
                    if (Math.Abs(slidingFriction.ApplyImpulse()) < slidingFriction.solverSettings.minimumImpulse)
                    {
                        slidingFriction.numIterationsAtZeroImpulse++;
                        if (slidingFriction.numIterationsAtZeroImpulse > slidingFriction.solverSettings.minimumIterations)
                            slidingFriction.isActive = false;
                        else
                        {
                            numActiveConstraints++;
                            slidingFriction.numIterationsAtZeroImpulse = 0;
                        }
                    }
                    else
                    {
                        numActiveConstraints++;
                        slidingFriction.numIterationsAtZeroImpulse = 0;
                    }
                else
                    slidingFriction.isActive = false;
            }
            if (drivingMotor.isActive)
            {
                if (++drivingMotor.solverSettings.currentIterations <= suspension.solverSettings.maximumIterations)
                    if (Math.Abs(drivingMotor.ApplyImpulse()) < drivingMotor.solverSettings.minimumImpulse)
                    {
                        drivingMotor.numIterationsAtZeroImpulse++;
                        if (drivingMotor.numIterationsAtZeroImpulse > drivingMotor.solverSettings.minimumIterations)
                            drivingMotor.isActive = false;
                        else
                        {
                            numActiveConstraints++;
                            drivingMotor.numIterationsAtZeroImpulse = 0;
                        }
                    }
                    else
                    {
                        numActiveConstraints++;
                        drivingMotor.numIterationsAtZeroImpulse = 0;
                    }
                else
                    drivingMotor.isActive = false;
            }
            if (brake.isActive)
            {
                if (++brake.solverSettings.currentIterations <= suspension.solverSettings.maximumIterations)
                    if (Math.Abs(brake.ApplyImpulse()) < brake.solverSettings.minimumImpulse)
                    {
                        brake.numIterationsAtZeroImpulse++;
                        if (brake.numIterationsAtZeroImpulse > brake.solverSettings.minimumIterations)
                            brake.isActive = false;
                        else
                        {
                            numActiveConstraints++;
                            brake.numIterationsAtZeroImpulse = 0;
                        }
                    }
                    else
                    {
                        numActiveConstraints++;
                        brake.numIterationsAtZeroImpulse = 0;
                    }
                else
                    brake.isActive = false;
            }

            return numActiveConstraints > 0;
        }