{

if(m_dynamicsWorld)//step the simulation

m_dynamicsWorld->stepSimulation(1.0f/60.0f);

{

m_collisionConfiguration = new btDefaultCollisionConfiguration(); //collision configuration contains default setup for memory, collision setup

m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration); //use the default collision dispatcher

m_broadphase = new btDbvtBroadphase();

m_solver = new btSequentialImpulseConstraintSolver; //the default constraint solver

m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);

m_dynamicsWorld->setGravity(btVector3(0,-20,0));

g_fPosX = 0.0f;

g_fPosY = -5.0f;

g_fPosZ = 0.0f;

Objects Object; //This Order Must Be Preserved

Object.createGround(-3.0f);

Object.createWallZ(5, 10, 2.0, 0.0f, 0.0f, 0.0f);

Object.createStones(50.0f, 0.0f, 10.0f, 1);

{

//cleanup in the reverse order of creation/initialization

for (int i=m_dynamicsWorld->getNumCollisionObjects()-1; i>=0; i--) //remove the rigidbodies from the dynamics world and delete them

{

btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i];

btRigidBody* body = btRigidBody::upcast(obj);

if(body && body->getMotionState())

delete body->getMotionState();

m_dynamicsWorld->removeCollisionObject(obj);

delete obj;

}

for (int j=0; j<m_collisionShapes.size(); j++) //delete collision shapes

{

btCollisionShape* shape = m_collisionShapes[j];

delete shape;

}

m_collisionShapes.clear();

delete m_dynamicsWorld;

delete m_solver;

delete m_broadphase;

delete m_dispatcher;

delete m_collisionConfiguration;

}