void RigidBody::integrate(real duration)
{
///<BodyIntegrateBase
    if (!isAwake) return;

///>BodyIntegrate10
///>LastUpdateAcceleration
    // Calculate linear acceleration from force inputs.
    lastFrameAcceleration = acceleration;
    lastFrameAcceleration.addScaledVector(forceAccum, inverseMass);
///<LastUpdateAcceleration

    // Calculate angular acceleration from torque inputs.
    Vector3 angularAcceleration =
        inverseInertiaTensorWorld.transform(torqueAccum);

    // Adjust velocities
    // Update linear velocity from both acceleration and impulse.
    velocity.addScaledVector(lastFrameAcceleration, duration);

    // Update angular velocity from both acceleration and impulse.
    rotation.addScaledVector(angularAcceleration, duration);

    // Impose drag.
    velocity *= real_pow(linearDamping, duration);
    rotation *= real_pow(angularDamping, duration);

    // Adjust positions
    // Update linear position.
    position.addScaledVector(velocity, duration);

    // Update angular position.
    orientation.addScaledVector(rotation, duration);

    // Impose drag.
    velocity *= real_pow(linearDamping, duration);
    rotation *= real_pow(angularDamping, duration);

    // Normalise the orientation, and update the matrices with the new
    // position and orientation
    calculateDerivedData();

///>ClearAccumulators
    // Clear accumulators.
    clearAccumulators();
///<ClearAccumulators
///<BodyIntegrate10

    // Update the kinetic energy store, and possibly put the body to
    // sleep.
    if (canSleep) {
        real currentMotion = velocity.scalarProduct(velocity) +
            rotation.scalarProduct(rotation);

        real bias = real_pow(0.5, duration);
        motion = bias*motion + (1-bias)*currentMotion;

        if (motion < sleepEpsilon) setAwake(false);
        else if (motion > 10 * sleepEpsilon) motion = 10 * sleepEpsilon;
    }
///>BodyIntegrateBase
}