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rigidBody->getMotionState()->getWorldTransform(bTransform);
bRotation = bTransform.getRotation();
bOffset = bTransform.getOrigin();
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rigidBody->getWorldTransform().setOrigin(btVector3(0, -1, 0));
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rigidBody->getMotionState()->getWorldTransform(bTransform);
bRotation = bTransform.getRotation();
bOffset = bTransform.getOrigin();
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rigidBody->getWorldTransform().setOrigin(btVector3(0, -1, 0));
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rigidBody->getMotionState()->getWorldTransform(bTransform);
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bTransform = rigidBody->getWorldTransform();