float h = step.dt;
// Integrate velocities and apply damping. Initialize the body state.
for (int i = 0; i < m_bodyCount; ++i) {
final Body b = m_bodies[i];
final Sweep bm_sweep = b.m_sweep;
final Vec2 c = bm_sweep.c;
float a = bm_sweep.a;
final Vec2 v = b.m_linearVelocity;
float w = b.m_angularVelocity;