private static void ApplyAnisotropicFriction(CollisionObject colObj, ref Vector3 frictionDirection)
{
if (colObj != null && colObj.HasAnisotropicFriction())
{
// transform to local coordinates
Vector3 loc_lateral = MathUtil.TransposeTransformNormal(frictionDirection, colObj.GetWorldTransform());
Vector3 friction_scaling = colObj.GetAnisotropicFriction();
//apply anisotropic friction
loc_lateral *= friction_scaling;
// ... and transform it back to global coordinates
frictionDirection = Vector3.TransformNormal(loc_lateral, colObj.GetWorldTransform());
}
}