static void Init_TetraCube(SoftDemo* pdemo)
{
    btSoftBody* psb=btSoftBodyHelpers::CreateFromTetGenData(pdemo->m_softBodyWorldInfo,
static void Init_TetraCube(SoftDemo* pdemo)
{
    btSoftBody* psb=btSoftBodyHelpers::CreateFromTetGenData(pdemo->m_softBodyWorldInfo,
                                                            TetraCube::getElements(),
                                                            0,
                                                            TetraCube::getNodes(),
                                                            false,true,true);
    pdemo->getSoftDynamicsWorld()->addSoftBody(psb);
    psb->scale(btVector3(3,3,3));
    psb->translate(btVector3(-5,5,0));
    psb->setVolumeMass(3000);

    psb->m_cfg.piterations=1;
    psb->generateClusters(64);
    psb->applyClusters(true);
    psb->getCollisionShape()->setMargin(0.01);
    psb->m_cfg.collisions   =   btSoftBody::fCollision::CL_SS+  btSoftBody::fCollision::CL_RS+ btSoftBody::fCollision::CL_SELF;
    psb->addForce(btVector3(0, -3000, 0));
    psb->m_cfg.kSKHR_CL = 1.0;
    psb->m_cfg.kSRHR_CL = 1.0;
    psb->m_cfg.kSSHR_CL = 1.0;
    psb->m_cfg.kAHR = 1;
    psb->m_cfg.kVC = 0;
    psb->m_materials[0]->m_kAST = 1.0;
    psb->m_materials[0]->m_kLST = 1.0;
    psb->m_materials[0]->m_kVST = 1.0;

    psb->generateBendingConstraints(1, psb->m_materials[0]);
    pdemo->m_cutting=true;

}