Game Physics engine

// Parent process tick
   Parent::processTick(move);
	
   // if body valid
   if(SimpleBody) {
	    // get current container
		Container * currentContainer;
		if(isClientObject()) // Client object. 
		{
		   currentContainer = &gClientContainer;
		}
		else // Server object. 
		{
		   currentContainer =  &gServerContainer;
		}

		// variables for collision detection
		RayInfo rInfo; // Will return info on what the castRay found including object information.
		Point3F start, end;
		
		// number of mass elements
		long temp1Long = SimpleBody->NumMassElements;
		long j;

		// for all mass elements
		for(j = 0; j < temp1Long; j++)
		{
			if(SimpleBody->MassElement[j].CollisionsArePossible == TRUE)
			{
				// calculate distance from terrain
				start.x = end.x = SimpleBody->MassElement[j].WorldSpacePos.x; 
				start.y = end.y = SimpleBody->MassElement[j].WorldSpacePos.z; 
				start.z = 2000; //SimpleBody->MassElement[j].WorldSpacePos.y;
				end.z = -2000; 

				if(currentContainer->castRay(start, end,  StaticObjectType | 
											   InteriorObjectType | WaterObjectType | 
											   ShapeBaseObjectType | StaticShapeObjectType | 
											   ItemObjectType | TerrainObjectType |
											   StaticTSObjectType , &rInfo))
				{
				//	Con::printf("Position distanz %f",SimpleBody->MassElement[j].WorldSpacePos.y -rInfo.point.z);

					// set terrain distance
					SimpleBody->MassElement_TerrainDistance[j] = SimpleBody->MassElement[j].WorldSpacePos.y-rInfo.point.z; 
					SimpleBody->MassElement_TerrainFrictionConstant[j] = 1.0f;
				}
			}
		}

		// start simulation
	    float g_NormalFrameTime=0.001f*32;
		PhysicalSimulationParameter->Calculate_TimeSteps(g_NormalFrameTime , 4);
		SimpleBody->Simulate_BehaviourApprox(PhysicalSimulationParameter, TRUE, FALSE, 0.75f);

		// get render Matrix
		MatrixF mat=mObjToWorld;

		// get rotation of simulation Object
		D3DXMATRIXA16 tempMatrix = g_identityMatrix;
		tempMatrix._11 = 2.0f;
		tempMatrix._22 = 2.0f;
		tempMatrix._33 = 2.0f;
		tempMatrix *= SimpleBody->RotationMatrix;
		
		// get position of simulation object
		Point3F pos;
		pos.x = SimpleBody->CenterOfMass_WorldSpace.x;
		pos.y = SimpleBody->CenterOfMass_WorldSpace.z;
		pos.z = SimpleBody->CenterOfMass_WorldSpace.y;

		//// Set new Rotation of render matrix
	                MatrixF xRot,zRot;
	                xRot.set(EulerF(tempMatrix._11, 0, 0));
	                zRot.set(EulerF(0, 0, tempMatrix._22));
		mat.mul(zRot, xRot);

		// Set new position of render matrix
		mat.setColumn(3,pos);

		// set matrix to object
		Parent::setTransform(mat);
		setMaskBits(PositionMask);