Universe.Physics.BulletSPlugin.BSAPIXNA.AddChildShapeToCompoundShape C# (CSharp) Method

        public override void AddChildShapeToCompoundShape(BulletShape pCShape, BulletShape paddShape,
            Vector3 displacementPos, Quaternion displacementRot)
        {
            IndexedMatrix relativeTransform = new IndexedMatrix();
            CompoundShape compoundshape = (pCShape as BulletShapeXNA).shape as CompoundShape;
            CollisionShape addshape = (paddShape as BulletShapeXNA).shape;

            relativeTransform._origin = new IndexedVector3(displacementPos.X, displacementPos.Y, displacementPos.Z);
            relativeTransform.SetRotation(new IndexedQuaternion(displacementRot.X, displacementRot.Y, displacementRot.Z,
                displacementRot.W));
            compoundshape.AddChildShape(ref relativeTransform, addshape);
        }