public static void ApplyPenData(RigidBody body, ObjPenetrationData penD)
{
body.SetMasterPosition(body.Position + penD.dPos);
body.SetMasterRotation(body.Rotation + penD.dRot);
}
public static void ApplyColData(RigidBody body, ObjCollisionData colD)
{
body.SetMasterPosition(body.Position + colD.dPos);
body.Velocity += colD.dVel;
body.AngularVelocity += colD.dAngVel;
}