Render-Physics Loop

gistfile1.cpp

for(int i = 0; i < bodyCount; i++)
{
    neRigidBody * body = rigidBodies[i];
    ISceneNode * node = sceneNodes[body->GetUserData()];
    neV3 bodyPos = body->GetPos();
    vector3df nodePos = tokVectorToIrrlicht(bodyPos);
    node->setPosition(nodePos);
    neQ bodyRot = body->GetRotationQ();

    quaternion nodeRotQ;
    nodeRotQ.set(bodyRot.X,bodyRot.Y,bodyRot.Z,bodyRot.W);
    vector3df nodeRotE;
    nodeRotQ.toEuler(nodeRotE);
    nodeRotE *= 180/PI;
    node->setRotation(nodeRotE);
}