public bool AddRigidBody(BRigidBody rb) { if (!_isDisposed) { if (m_worldType < WorldType.RigidBodyDynamics) { Log.Warning("World type must not be collision only"); } if (rb._BuildCollisionObject()) { ((DiscreteDynamicsWorld)m_world).AddRigidBody((RigidBody)rb.GetCollisionObject(), rb.groupsIBelongTo, rb.collisionMask); rb.isInWorld = true; } return(true); } return(false); }