Code:

        void BeEulerIntegrator::Integrate(BeRigidBody* Body, Float DeltaTime)        {            // Should we mess with this body?            if (!Body->IsDynamic() || Body->IsFlagSet(BeRigidBodyFlags::DISABLED) ||                 Body->Mass() < MathUtil::BE_EPSILON || !Body->Scene())                return;            BeVector3 Force;            BeVector3 Torque;            // Linear dynamics            // ---------------            Force = Body->Force() + Body->ImpulseForce();            if (!Body->IsFlagSet(BeRigidBodyFlags::NO_GRAVITY))                Force += Body->Scene()->Gravity() * Body->Mass();                        Body->AddLinearMomentum(Force * DeltaTime);            Body->Translate(Body->LinearVelocity() * DeltaTime);            // Angular dynamics            // ----------------            Torque = Body->Torque() + Body->ImpulseTorque();            Body->AddAngularMomentum(Torque * DeltaTime);            BeQuaternion kW = BeQuaternion(Body->AngularVelocity().x(),                                           Body->AngularVelocity().y(),                                           Body->AngularVelocity().z(),                                           0.0f);            BeQuaternion kA1DQDT = 0.5f * kW * Body->QOrientation();            Body->SetQOrientation(Body->QOrientation() + DeltaTime * kA1DQDT);            // Reset impulses            Body->SetImpulseForce(BeVector3::Zero);            Body->SetImpulseTorque(BeVector3::Zero);        }