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

        static EntityProperties GetDebugProperties(BulletWorld pWorld, BulletBody pCollisionObject)
        {
            EntityProperties ent = new EntityProperties();
            // 20131224 not used        DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
            CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
            IndexedMatrix transform = collisionObject.GetWorldTransform();
            IndexedVector3 LinearVelocity = collisionObject.GetInterpolationLinearVelocity();
            IndexedVector3 AngularVelocity = collisionObject.GetInterpolationAngularVelocity();
            IndexedQuaternion rotation = transform.GetRotation();
            ent.Acceleration = Vector3.Zero;
            ent.ID = (uint)collisionObject.GetUserPointer();
            ent.Position = new Vector3(transform._origin.X, transform._origin.Y, transform._origin.Z);
            ent.Rotation = new Quaternion(rotation.X, rotation.Y, rotation.Z, rotation.W);
            ent.Velocity = new Vector3(LinearVelocity.X, LinearVelocity.Y, LinearVelocity.Z);
            ent.RotationalVelocity = new Vector3(AngularVelocity.X, AngularVelocity.Y, AngularVelocity.Z);
            return ent;
        }