I read the docs and it said "At each 'frame tick' (also referred to as a PSI) assume that the body has reached its final position at t1. This becomes the initial position of the updated hkSweptTransform."
Is this mean:
1.when the step coming to an PSI, it use current RB's position and orientaion as the pos and rotation at t0?
2.then it apply the force to the object and get a new velocity, then use it to calculate the new position as t1's pos
3.then use this hkSweptTransform to do colllison detector?
Do Ithink like this is right?