Create  (3 * ship_radius - immersed_part_hight) 			ship_immersed_center_world_position = \ 				ship_center_world_position - Vector([0, 0, ship_immersed_center_offset]) 				 				 		buoyancy_force_magnitude = \ 			Ship.__environment["gravity_factor"] * Ship.__environment["water_density"] * immersed_volume 			 		buoyancy_force  = buoyancy_force_magnitude * Vector([0, 0, 1]) 		buoyancy_torque = \ 			(ship_immersed_center_world_position - self.__ship.worldPosition).cross( 				buoyancy_force 			) 			 			 			 		# Вычисление силы притяжения Земли 		# 		gravitation_force = Vector([0, 0, - Ship.__environment["gravity_factor"] * self.__ship.mass]) 		 		 		 		# Применение вычисленных сил 		# 		self.__ship.applyTorque( 			angular_friction_torque 				+ right_engine_torque 				+ left_engine_torque 				+ top_engine_torque, 			True 		) 		 		self.__ship.applyForce( 			linear_friction_force 				+ right_engine_force 				+ left_engine_force 				+ top_engine_force, 			True 		) 		 		self.__ship.applyTorque(buoyancy_torque) 		self.__ship.applyForce(gravitation_force + buoyancy_force) 		 		 		 		# Вращение винтов 		# 		self.__ship_left_engine.actuators["rotation_actuator"].dRot = \ 			[ 				0, 				0, 				self.__ship_left_engine["rotation_force_dependence"] \ 					* self.__ship_left_engine["force"] 			] 			 		self.__ship_right_engine.actuators["rotation_actuator"].dRot = \ 			[ 				0, 				0, 				self.__ship_right_engine["rotation_force_dependence"] \ 					* self.__ship_right_engine["force"] 			] 			 		self.__ship_top_engine.actuators["rotation_actuator"].dRot = \ 			[ 				0, 				0, 				self.__ship_top_engine["rotation_force_dependence"] \ 					* self.__ship_top_engine["force"] 			]