BEPUphysics.EntityStateManagement.InterpolatedStatesManager.UpdateIndex C# (CSharp) Method

        void UpdateIndex(int i)
        {
            Entity entity = manager.entities[i];
            //Blend between previous and current states.
            //Interpolated updates occur after proper updates complete.
            //That means that the internal positions and the front buffer positions are equivalent.
            //However, the backbuffer is uncontested and contains the previous frame's data.
            Vector3.Lerp(ref manager.ReadBuffers.backBuffer[i].Position, ref entity.position, blendAmount, out backBuffer[i].Position);
            Quaternion.Slerp(ref manager.ReadBuffers.backBuffer[i].Orientation, ref entity.orientation, blendAmount, out backBuffer[i].Orientation);
        }