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

        internal void PreStep(float dt)
        {
            Matrix.CreateFromAxisAngle(ref suspension.localDirection, shape.steeringAngle, out shape.steeringTransform);
            Vector3.TransformNormal(ref localForwardDirection, ref shape.steeringTransform, out worldForwardDirection);
            Matrix3x3.Transform(ref worldForwardDirection, ref Vehicle.Body.orientationMatrix, out worldForwardDirection);
            if (HasSupport)
            {
                Vector3.Subtract(ref supportLocation, ref Vehicle.Body.position, out ra);
                if (supportingEntity != null)
                    Vector3.Subtract(ref supportLocation, ref SupportingEntity.position, out rb);


                //Mind the order of updating!  sliding friction must come before driving force or rolling friction
                //because it computes the sliding direction.

                suspension.isActive = true;
                suspension.numIterationsAtZeroImpulse = 0;
                suspension.solverSettings.currentIterations = 0;
                slidingFriction.isActive = true;
                slidingFriction.numIterationsAtZeroImpulse = 0;
                slidingFriction.solverSettings.currentIterations = 0;
                drivingMotor.isActive = true;
                drivingMotor.numIterationsAtZeroImpulse = 0;
                drivingMotor.solverSettings.currentIterations = 0;
                brake.isActive = true;
                brake.numIterationsAtZeroImpulse = 0;
                brake.solverSettings.currentIterations = 0;

                suspension.PreStep(dt);
                slidingFriction.PreStep(dt);
                drivingMotor.PreStep(dt);
                brake.PreStep(dt);
            }
            else
            {
                //No support, don't need any solving.
                suspension.isActive = false;
                slidingFriction.isActive = false;
                drivingMotor.isActive = false;
                brake.isActive = false;

                suspension.accumulatedImpulse = 0;
                slidingFriction.accumulatedImpulse = 0;
                drivingMotor.accumulatedImpulse = 0;
                brake.accumulatedImpulse = 0;
            }
        }