function _integratePose(body, dt) {
    if (body.restrictions !== 0) {
        var restrictions = body.restrictions;
        var x = null;
        var y = null;
        var z = null;
        var ax = null;
        var ay = null;
        var az = null;

        if (restrictions & 32) x = 0;
        if (restrictions & 16) y = 0;
        if (restrictions & 8) z = 0;
        if (restrictions & 4) ax = 0;
        if (restrictions & 2) ay = 0;
        if (restrictions & 1) az = 0;

        if (x !== null || y !== null || z !== null) body.setVelocity(x,y,z);
        if (ax !== null || ay !== null || az !== null) body.setAngularVelocity(ax, ay, az);
    }

    body.position.add(Vec3.scale(body.velocity, dt, DELTA_REGISTER));

    var w = body.angularVelocity;
    var q = body.orientation;
    var wx = w.x;
    var wy = w.y;
    var wz = w.z;

    var qw = q.w;
    var qx = q.x;
    var qy = q.y;
    var qz = q.z;

    var hdt = dt * 0.5;
    q.w += (-wx * qx - wy * qy - wz * qz) * hdt;
    q.x += (wx * qw + wy * qz - wz * qy) * hdt;
    q.y += (wy * qw + wz * qx - wx * qz) * hdt;
    q.z += (wz * qw + wx * qy - wy * qx) * hdt;

    q.normalize();

    body.updateInertia();
}
Update the Particle position and orientation based off current translational and angular velocities.

@method
@private
@param {Particle} body The body to update.
@param {Number} dt Delta time.
@return {undefined} undefined