public PhysicsRigidBody[] listRigidBodies() {
        verifyAddedToSpatial("enumerate rigid bodies");

        int numLinks = countLinks();
        PhysicsRigidBody[] result = new PhysicsRigidBody[numLinks];

        int linkIndex = 0;
        if (torsoLink != null) {
            result[0] = torsoLink.getRigidBody();
            ++linkIndex;
        }
        for (BoneLink boneLink : boneLinkList) {
            result[linkIndex] = boneLink.getRigidBody();
            ++linkIndex;
        }
        assert linkIndex == numLinks;

        return result;
    }
Enumerate all rigid bodies managed by this control.
<p>
Allowed only when the control IS added to a spatial.

@return a new array of pre-existing rigid bodies (not null, not empty)
jme3-jbullet/src/main/java/com/jme3/bullet/animation/DacLinks.java