code: function(){
          if(!this.allowSleep||!this.sleeping)return;
          this.sleeping=false;
          this.sleepTime=0;
          // awake connected constraints
          var cs=this.contactLink;
          while(cs!=null){
              cs.body.sleepTime=0;
              cs.body.sleeping=false;
              cs=cs.next;
          }
          var js=this.jointLink;
          while(js!=null){
              js.body.sleepTime=0;
              js.body.sleeping=false;
              js=js.next;
          }
          for(var shape=this.shapes;shape!=null;shape=shape.next){
              shape.updateProxy();
          }
      }
docs: Awake the rigid body.