protected override Body[] OnVolumeCast(Capsule capsule, int contactGroup)
{
Vec3 center;
capsule.GetCenter(out center);
float length = capsule.GetLength();
Vec3 direction;
capsule.GetDirection(out direction);
dGeomID volumeCastGeomID = Ode.dCreateCapsule(rootSpaceID, capsule.Radius, length);
Quat rotation = Quat.FromDirectionZAxisUp(direction);
Mat3 rot;
rotation.ToMat3(out rot);
Mat3 rotationMat;
Mat3.FromRotateByY(MathFunctions.PI / 2, out rotationMat);
Mat3 mat3;
Mat3.Multiply(ref rot, ref rotationMat, out mat3);
Ode.dMatrix3 odeMat3;
Convert.ToODE(ref mat3, out odeMat3);
Ode.dGeomSetRotation(volumeCastGeomID, ref odeMat3);
Ode.dGeomSetPosition(volumeCastGeomID, center.X, center.Y, center.Z);
Body[] result = DoVolumeCastGeneral(volumeCastGeomID, contactGroup);
Ode.dGeomDestroy(volumeCastGeomID);
return(result);
}