BulletCSharp.btTransform.setOrigin C# (CSharp) Method

        public void setOrigin(btVector3 origin)
        {
            LinearMathPINVOKE.btTransform_setOrigin(swigCPtr, btVector3.getCPtr(origin));
            if (LinearMathPINVOKE.SWIGPendingException.Pending) throw LinearMathPINVOKE.SWIGPendingException.Retrieve();
        }

    public bool OnBulletCreate()
    {
        if( rigidBodyObj != null ) // have created!
        {
            return true;
        }

        if( CollisionShapeObject == null )   // if user not give a collision, search it on itself first!
            CollisionShapeObject = GetComponent<BCollisionShape>();

        if( CollisionShapeObject == null )
        {
            Debug.LogError("Bullet RigidBody need a collision shape!");
            return false;
        }

        bool cResult = CollisionShapeObject.OnBulletCreate();

        if( cResult == false )
        {
            Debug.LogError("Collision Shape Create Error!");
            return false;
        }

        btTransform trans = new btTransform();
        trans.setIdentity();
        btVector3 pos = new btVector3(transform.position.x,transform.position.y,transform.position.z);
        trans.setOrigin(pos);
        trans.setRotation(new btQuaternion(transform.rotation.x,transform.rotation.y,transform.rotation.z,transform.rotation.w));

        //rigidbody is dynamic if and only if mass is non zero, otherwise static
        bool isDynamic = (Mass != 0.0f);

        btVector3 localInertia = new btVector3(0,0,0);
        if (isDynamic)
        {
             CollisionShapeObject.CalculateLocalInertia(Mass,localInertia);
        }

        //using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
        myMotionState = new btDefaultMotionState(trans);
        rbInfo = new btRigidBodyConstructionInfo(Mass,myMotionState.GetSwigPtr(),CollisionShapeObject.GetCollisionShapePtr(),localInertia.GetSwigPtr());
        rigidBodyObj = new btRigidBody(rbInfo);
        collisionObject = btCollisionObject.GetObjectFromSwigPtr(rigidBodyObj.GetCollisionObject());
        collisionObject.setFriction(Friction);
        return true;
    }