private static void ApplyImpulse(float3 impulse, float3 ang0, float3 ang1, float3 ang2, ref MotionVelocity velocity)
{
velocity.ApplyLinearImpulse(impulse);
velocity.ApplyAngularImpulse(impulse.x * ang0 + impulse.y * ang1 + impulse.z * ang2);
}
