private void CreateSubpartsConstraint(MyEntitySubpart subpart)
{
m_subpartsFixedData = new HkFixedConstraintData();
m_subpartsFixedData.SetSolvingMethod(HkSolvingMethod.MethodStabilized);
m_subpartsFixedData.SetInertiaStabilizationFactor(1);
var matAD = MatrixD.CreateWorld(Position * CubeGrid.GridSize + Vector3D.Transform(Vector3D.Transform(m_subpartsConstraintPos, WorldMatrix), CubeGrid.PositionComp.LocalMatrix), PositionComp.LocalMatrix.Forward, PositionComp.LocalMatrix.Up);
matAD.Translation = CubeGrid.Physics.WorldToCluster(matAD.Translation);
var matA = (Matrix)matAD;
var matB = subpart.PositionComp.LocalMatrix;
m_subpartsFixedData.SetInWorldSpace(ref matA, ref matB, ref matB);
//Dont dispose the fixed data or we wont have access to them
HkConstraintData constraintData = m_subpartsFixedData;
m_subpartsConstraint = new HkConstraint(CubeGrid.Physics.RigidBody, m_subpartPhysics.RigidBody, constraintData);
var info = CubeGrid.Physics.RigidBody.GetCollisionFilterInfo();
info = HkGroupFilter.CalcFilterInfo(CubeGrid.Physics.RigidBody.Layer, HkGroupFilter.GetSystemGroupFromFilterInfo(info), 1, 1);
m_subpartPhysics.RigidBody.SetCollisionFilterInfo(info);
CubeGrid.Physics.HavokWorld.RefreshCollisionFilterOnEntity(m_subpartPhysics.RigidBody);
Debug.Assert(m_subpartsConstraint.RigidBodyA != null);
m_subpartsConstraint.WantRuntime = true;
}