private static void ApplyAnisotropicFriction(CollisionObject colObj, ref IndexedVector3 frictionDirection)
{
if (colObj != null && colObj.HasAnisotropicFriction())
{
// transform to local coordinates
IndexedVector3 loc_lateral = frictionDirection * colObj.GetWorldTransform()._basis;
IndexedVector3 friction_scaling = colObj.GetAnisotropicFriction();
//apply anisotropic friction
loc_lateral *= friction_scaling;
// ... and transform it back to global coordinates
frictionDirection = colObj.GetWorldTransform()._basis * loc_lateral;
}
}