CMotorController::Simulate

/* CMotorController::Simulate(IPhysicsMotionController*, IPhysicsObject*, float, Vector&, Vector&)
    */

undefined4 __thiscall
CMotorController::Simulate
          (CMotorController *this,IPhysicsMotionController *param_1,IPhysicsObject *param_2,
          float param_3,Vector *param_4,Vector *param_5)

{
  undefined4 uVar1;
  undefined4 uVar2;
  undefined4 uVar3;
  float fVar4;
  float fVar5;
  float fVar6;
  float fVar7;
  float fVar8;
  float fVar9;
  float local_70;
  float local_6c;
  float local_68;
  float local_64;
  float local_60;
  float local_5c;
  float local_58;
  float local_54;
  float local_50;
  matrix3x4_t local_4c [60];
  
  uVar3 = DAT_01053d50;
  uVar2 = DAT_01053d4c;
  uVar1 = vec3_origin;
  *(undefined4 *)param_4 = vec3_origin;
  *(undefined4 *)(param_4 + 4) = uVar2;
  *(undefined4 *)(param_4 + 8) = uVar3;
  *(undefined4 *)param_5 = uVar1;
  *(undefined4 *)(param_5 + 4) = uVar2;
  *(undefined4 *)(param_5 + 8) = uVar3;
  if (*(float *)(this + 4) != 0.0) {
    (**(code **)(*(int *)param_2 + 200))(param_2,local_4c);
    (**(code **)(*(int *)param_2 + 0xd4))(param_2,0,&local_70);
    VectorIRotate((float *)(this + 0xc),local_4c,&local_64);
    fVar6 = local_60 * local_6c + local_64 * local_70 + local_5c * local_68;
    (**(code **)(*(int *)param_2 + 0x80))(&local_58,param_2);
    fVar8 = 0.0;
    fVar7 = ABS(local_54 * local_60) + ABS(local_64 * local_58) + ABS(local_5c * local_50);
    fVar5 = *(float *)(this + 0x20);
    fVar4 = *(float *)(this + 0x18) * (*(float *)(this + 4) - fVar6) * fVar7;
    if (0.0 < ABS(fVar5)) {
      fVar9 = fVar6 - *(float *)(this + 0x1c);
      if ((*(float *)(this + 4) - fVar6) * fVar9 <= 0.0) {
        if ((fVar6 != 0.0) && (ABS(fVar9 / fVar5) < 0.05)) {
          fVar4 = fVar4 + *(float *)(this + 0x28) * *(float *)(this + 0x24);
        }
      }
      else {
        fVar9 = fVar9 / fVar5;
        if (fVar9 <= 1.0) {
          if (fVar9 <= 0.0) {
            fVar9 = fVar8;
          }
          fVar8 = 1.0 - fVar9;
        }
        fVar4 = fVar4 + *(float *)(this + 0x28) * *(float *)(this + 0x24) * fVar8;
      }
    }
    fVar8 = *(float *)(this + 8);
    fVar5 = fVar4;
    if (((fVar8 != 0.0) && (fVar5 = fVar8, fVar4 <= fVar8)) && (fVar5 = fVar4, fVar4 <= -fVar8)) {
      fVar5 = -fVar8;
    }
    *(float *)(this + 0x1c) = fVar6;
    *(float *)(this + 0x24) = fVar5;
    *(float *)(this + 0x20) = fVar5 / fVar7;
    *(float *)param_5 = local_64 * fVar5;
    *(float *)(param_5 + 4) = local_60 * fVar5;
    *(float *)(param_5 + 8) = fVar5 * local_5c;
    return 2;
  }
  return 0;
}