BEPUphysics.Entities.Entity.IPositionUpdateable C# (CSharp) Method

        void IPositionUpdateable.PreUpdatePosition(float dt)
        {
            Vector3 increment;
            if (MotionSettings.UseRk4AngularIntegration && isDynamic)
            {
                Toolbox.UpdateOrientationRK4(ref orientation, ref localInertiaTensorInverse, ref angularMomentum, dt, out orientation);
            }
            else
            {
                Vector3.Multiply(ref angularVelocity, dt * .5f, out increment);
                var multiplier = new Quaternion(increment.X, increment.Y, increment.Z, 0);
                Quaternion.Multiply(ref multiplier, ref orientation, out multiplier);
                Quaternion.Add(ref orientation, ref multiplier, out orientation);
                orientation.Normalize();
            }
            Matrix3x3.CreateFromQuaternion(ref orientation, out orientationMatrix);

            //Only do the linear motion if this object doesn't obey CCD.
            if (PositionUpdateMode == PositionUpdateMode.Discrete)
            {
                Vector3.Multiply(ref linearVelocity, dt, out increment);
                Vector3.Add(ref position, ref increment, out position);

                collisionInformation.UpdateWorldTransform(ref position, ref orientation);
                //The position update is complete if this is a discretely updated object.
                if (PositionUpdated != null)
                    PositionUpdated(this);
            }
            collisionInformation.UpdateWorldTransform(ref position, ref orientation);

            MathChecker.Validate(linearMomentum);
            MathChecker.Validate(linearVelocity);
            MathChecker.Validate(angularMomentum);
            MathChecker.Validate(angularVelocity);
            MathChecker.Validate(position);
            MathChecker.Validate(orientation);

        }