public static Tuple <RigidBody, int> CreateRigidBody(this IRigidBodyContainer world, CollisionShape collisionShape, ref RigidBodyPose initialPose, ref RigidBodyProperties bodyProperties, ref BulletSharp.Vector3 localInertia, float mass)
{
DefaultMotionState motionState = new DefaultMotionState((BulletSharp.Matrix)initialPose);
RigidBodyConstructionInfo constructionInfo = new RigidBodyConstructionInfo(mass, motionState, collisionShape, localInertia);
constructionInfo.ApplyRigidBodyProperties(ref bodyProperties);
RigidBody rigidBody = new RigidBody(constructionInfo);
rigidBody.CollisionFlags = CollisionFlags.None;
rigidBody.ApplyProperties(ref bodyProperties);
BodyCustomData customData = new BodyCustomData(world.GetNewBodyId());
rigidBody.UserObject = customData;
world.Register(rigidBody);
return(new Tuple <RigidBody, int>(rigidBody, customData.Id));
}