void SetupAttachmentScene()
{
    sprintf(gTitleString, "Attachment Demo");

	// Create objects in scene
	groundPlane = CreateGroundPlane();
	NxActor* box1 = CreateBox(NxVec3(-7,12.25,0), NxVec3(2.5,1,1), 0);
	NxActor* box2 = CreateBox(NxVec3(0,12.25,0), NxVec3(2.5,1,1), 0);
	NxActor* box3 = CreateBox(NxVec3(7,12.25,0), NxVec3(2.5,1,1), 0);	

	NxActor* attachedBox = CreateBox(NxVec3(-7.2,4.5,1.6), NxVec3(1.25,1,1), 1);
	NxActor* attachedSphere = CreateSphere(NxVec3(-0.25,4.0,2.0), 1.3, 1);
	NxActor* attachedCapsule = CreateCapsule(NxVec3(9.0,5.5,2.0),2.0, 1, 1); 

	NxReal damping = 0.3;
	attachedBox->setAngularDamping(damping);
	attachedBox->setLinearDamping(damping);
	attachedSphere->setAngularDamping(damping);
	attachedSphere->setLinearDamping(damping);
	attachedCapsule->setAngularDamping(damping);
	attachedCapsule->setLinearDamping(damping);

	NxQuat q;
	q.fromAngleAxis(90,NxVec3(0,0,1));
	attachedCapsule->setGlobalOrientationQuat(q);

	// Cloth
	NxClothDesc clothDesc;
	clothDesc.globalPose.M.rotX(1.3);
	clothDesc.thickness = 0.3;	
	clothDesc.attachmentResponseCoefficient = 1;
	clothDesc.flags |= NX_CLF_BENDING;
	clothDesc.flags |= NX_CLF_BENDING_ORTHO;
	clothDesc.flags |= NX_CLF_DAMPING | NX_CLF_VISUALIZATION;

	if (gHardwareCloth)
		clothDesc.flags |= NX_CLF_HARDWARE;

	// Cloth attaching to sphere
	clothDesc.globalPose.t = NxVec3(0.75,5,2);
	MyCloth* regularCloth1 = new MyCloth(gScene, clothDesc, 2, 8, 0.4);
	regularCloth1->getNxCloth()->attachToCollidingShapes(NX_CLOTH_ATTACHMENT_TWOWAY);
	gCloths.push_back(regularCloth1);

	// Cloth attaching to box
	clothDesc.globalPose.t = NxVec3(-6.2,5,2);
	MyCloth* regularCloth2 = new MyCloth(gScene, clothDesc, 2, 8, 0.4);
	regularCloth2->getNxCloth()->attachToCollidingShapes(NX_CLOTH_ATTACHMENT_TWOWAY);
	gCloths.push_back(regularCloth2);

	// Cloth attaching to capsule
	clothDesc.globalPose.t = NxVec3(8.0,5,2);
	clothDesc.attachmentTearFactor = 2.0;
	MyCloth* regularCloth3 = new MyCloth(gScene, clothDesc, 2, 8, 0.4);
	regularCloth3->getNxCloth()->attachToShape(box3->getShapes()[0], NX_CLOTH_ATTACHMENT_TEARABLE);
	regularCloth3->getNxCloth()->attachToShape(attachedCapsule->getShapes()[0], NX_CLOTH_ATTACHMENT_TWOWAY);
	gCloths.push_back(regularCloth3);
}
NxActor* CreateBoard(const NxVec3& pos)
{
	NxActor* actor = CreateBox(pos + NxVec3(0,0.5,0), NxVec3(1,0.25,0.5), 10);
	actor->raiseBodyFlag(NX_BF_FROZEN_ROT_X);
	actor->setAngularDamping(0.5);

	// Left wheel
	NxWheelDesc wheelDesc;
	//wheelDesc.wheelAxis.set(0,0,1);
	//wheelDesc.downAxis.set(0,-1,0);
    wheelDesc.wheelApproximation = 10;
	wheelDesc.wheelRadius = 0.5;
	wheelDesc.wheelWidth = 0.1;
	wheelDesc.wheelSuspension = 0.5;
//	wheelDesc.wheelSuspension = 1.0;
	wheelDesc.springRestitution = 7000;
	wheelDesc.springDamping = 0;
	wheelDesc.springBias = 0;  
//	wheelDesc.springRestitution = 20;
//	wheelDesc.springDamping = 0.5;
//	wheelDesc.springBias = 0; 
	wheelDesc.maxBrakeForce = 1;
	wheelDesc.frictionToFront = 0.1;
	wheelDesc.frictionToSide = 0.99;
	wheelDesc.position = NxVec3(1.5,0.5,0);
	wheelDesc.wheelFlags = NX_WF_USE_WHEELSHAPE | NX_WF_BUILD_LOWER_HALF | NX_WF_ACCELERATED | 
		                   NX_WF_AFFECTED_BY_HANDBRAKE | NX_WF_STEERABLE_INPUT;

    wheel1 = AddWheelToActor(actor, &wheelDesc);

	// Right wheel
	NxWheelDesc wheelDesc2;
	//wheelDesc2.wheelAxis.set(0,0,1);
	//wheelDesc2.downAxis.set(0,-1,0);
    wheelDesc2.wheelApproximation = 10;
	wheelDesc2.wheelRadius = 0.5;
	wheelDesc2.wheelWidth = 0.1;
	wheelDesc2.wheelSuspension = 0.5;
//	wheelDesc2.wheelSuspension = 1.0;  
	wheelDesc2.springRestitution = 7000;
	wheelDesc2.springDamping = 0;
	wheelDesc2.springBias = 0;
//	wheelDesc2.springRestitution = 20;
//	wheelDesc2.springDamping = 0.5;
//	wheelDesc2.springBias = 0;  
	wheelDesc2.maxBrakeForce = 1;
	wheelDesc2.frictionToFront = 0.1;
	wheelDesc2.frictionToSide = 0.99;
	wheelDesc2.position = NxVec3(-1.5,0.5,0);
	wheelDesc2.wheelFlags = NX_WF_USE_WHEELSHAPE | NX_WF_BUILD_LOWER_HALF | NX_WF_ACCELERATED | 
		                    NX_WF_AFFECTED_BY_HANDBRAKE | NX_WF_STEERABLE_INPUT;

    wheel2 = AddWheelToActor(actor, &wheelDesc2);

	return actor;
}