int uniqueId = body.getWorldArrayIndex();
		const int INVALID_SOLVER_BODY_ID = -1;
		m_kinematicBodyUniqueIdToSolverBodyTableMutex.lock();
		if (m_kinematicBodyUniqueIdToSolverBodyTable.size() <= uniqueId)
		{
			// ~~m_kinematicBodyUniqueIdToSolverBodyTableMutex.lock();~~
			// now that we have the lock, check again
			if (m_kinematicBodyUniqueIdToSolverBodyTable.size() <= uniqueId)
			{
				m_kinematicBodyUniqueIdToSolverBodyTable.resize(uniqueId + 1, INVALID_SOLVER_BODY_ID);
			}
			// ~~m_kinematicBodyUniqueIdToSolverBodyTableMutex.unlock();~~
		}
                // ** the following read may have **uninitialized** data without lock ** !!!
		solverBodyId = m_kinematicBodyUniqueIdToSolverBodyTable[uniqueId];
		m_kinematicBodyUniqueIdToSolverBodyTableMutex.unlock();