public void ReInitializeData(Vector3 positionXNA, Material mat, Vector3 halfSize)
{
this.HalfSize = halfSize;
this.PositionCenterEngine = MathHelperModule.GetPositionCenter(positionXNA, halfSize.X, halfSize.Y);
this.RectangleArea = MathHelperModule.GetBoxRigid2DCoordinatesPositionCenter(this.PositionCenterEngine, halfSize.X,
halfSize.Y);
XAxis = new Vector3(1, 0, 0);
YAxis = new Vector3(0, 1, 0);
XAxis.Normalize();
YAxis.Normalize();
SetMaterial(mat);
SetMass(HalfSize);
this.InvMass = 1 / Mass;
baseMomentOfInertia = Mass * Math.Max(HalfSize.X, HalfSize.Y) * Math.Max(HalfSize.X, HalfSize.Y) * 4 / 12f;
dAngle = 0;
vertices = new VertexPositionColor[5];
velocity = new Vector3(0, 0, 0);
InverseInertiaTensorWorld = new Matrix();
InverseInertiaTensorWorld.M11 =
InverseInertiaTensorWorld.M22 = InverseInertiaTensorWorld.M33 = (float)1 / baseMomentOfInertia;
InverseInertiaTensorWorld.M44 = 1;
vertices[0].Position = this.PositionCenterEngine + new Vector3(HalfSize.X, HalfSize.Y, 0);
vertices[1].Position = this.PositionCenterEngine + new Vector3(-HalfSize.X, HalfSize.Y, 0);
vertices[2].Position = this.PositionCenterEngine + new Vector3(-HalfSize.X, -HalfSize.Y, 0);
vertices[3].Position = this.PositionCenterEngine + new Vector3(HalfSize.X, -HalfSize.Y, 0);
vertices[4].Position = this.PositionCenterEngine + new Vector3(HalfSize.X, HalfSize.Y, 0);
}