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

        public override bool AddObjectToWorld(BulletWorld pWorld, BulletBody pBody)
        {
            DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
            CollisionObject cbody = (pBody as BulletBodyXNA).body;
            RigidBody rbody = cbody as RigidBody;

            // Bullet resets several variables when an object is added to the world. In particular,
            //   BulletXNA resets position and rotation. Gravity is also reset depending on the static/dynamic
            //   type. Of course, the collision flags in the broadphase proxy are initialized to default.
            IndexedMatrix origPos = cbody.GetWorldTransform();
            if (rbody != null)
            {
                IndexedVector3 origGrav = rbody.GetGravity();
                world.AddRigidBody(rbody);
                rbody.SetGravity(origGrav);
            }
            else
            {
                world.AddCollisionObject(cbody);
            }
            cbody.SetWorldTransform(origPos);

            pBody.ApplyCollisionMask(pWorld.physicsScene);

            //if (body.GetBroadphaseHandle() != null)
            //    world.UpdateSingleAabb(body);
            return true;
        }