Box2D.Dynamics.Body.SetMassData C# (CSharp) Method

        public void SetMassData(MassData massData)
        {
            // TODO_ERIN adjust linear velocity and torque to account for movement of center.
            Debug.Assert(World.Locked == false);
            if (World.Locked)
            {
                return;
            }

            if (m_type != BodyType.Dynamic)
            {
                return;
            }

            InvMass = 0.0f;
            I = 0.0f;
            InvI = 0.0f;

            Mass = massData.Mass;
            if (Mass <= 0.0f)
            {
                Mass = 1f;
            }

            InvMass = 1.0f / Mass;

            if (massData.I > 0.0f && (Flags & TypeFlags.FixedRotation) == 0)
            {
                I = massData.I - Mass * Vec2.Dot(massData.Center, massData.Center);
                Debug.Assert(I > 0.0f);
                InvI = 1.0f / I;
            }

            Vec2 oldCenter = World.Pool.PopVec2();
            // Move center of mass.
            oldCenter.Set(Sweep.C);
            Sweep.LocalCenter.Set(massData.Center);
            // m_sweep.c0 = m_sweep.c = Mul(m_xf, m_sweep.localCenter);
            Transform.MulToOutUnsafe(Xf, Sweep.LocalCenter, Sweep.C0);
            Sweep.C.Set(Sweep.C0);

            // Update center of mass velocity.
            // m_linearVelocity += Cross(m_angularVelocity, m_sweep.c - oldCenter);
            Vec2 temp = World.Pool.PopVec2();
            temp.Set(Sweep.C).SubLocal(oldCenter);
            Vec2.CrossToOut(m_angularVelocity, temp, temp);
            m_linearVelocity.AddLocal(temp);

            World.Pool.PushVec2(2);
        }