for (int i = 0; i < BodyPart.BODYPART_COUNT.ordinal(); ++i) {
if (bodies[i] != null && rigidBody != null) {
CollisionAlgorithm Algorithm = GLOBAL.jBullet.myWorld
.getDispatcher().findAlgorithm(rigidBody, bodies[i]);//getDispatcher()->findAlgorithm( pBulletObj1, pBulletObj2 );
ManifoldResult manifoldResult = new ManifoldResult(rigidBody,
bodies[i]);
Algorithm.processCollision(rigidBody, bodies[i],
GLOBAL.jBullet.myWorld.getDispatchInfo(),
manifoldResult);
PersistentManifold pManifold = manifoldResult
.getPersistentManifold();
if (pManifold != null){
GLOBAL.jBullet.myWorld.getCollisionWorld().getDispatcher().releaseManifold(pManifold);
return true;
}