bool hasStatus = true;
    m_data->m_softBodyWorldInfo.m_broadphase = m_data->m_broadphase;
    m_data->m_softBodyWorldInfo.m_sparsesdf.Initialize();


    const btScalar spawnX =  0;
    const btScalar spawnHeight = 1;
    const btScalar spawnZ =  0;
    const btVector3 centerOfCloth = btVector3(spawnX, spawnHeight, spawnZ);
    const int numX = 100;
    const int numY = 100;
    const int noFixedCorners = 0;
    const int pinAllFourCornerVertices = 1+2+4+8;
    const int fixed = pinAllFourCornerVertices;
    const double mass = 0.01;
    btSoftBody *cloth = btSoftBodyHelpers::CreatePatch(m_data->m_softBodyWorldInfo,
                                                       btVector3(centerOfCloth.x() ,spawnHeight + 1, centerOfCloth.z() - 1),
                                                       btVector3(centerOfCloth.x() ,spawnHeight - 1, centerOfCloth.z() - 1),
                                                       btVector3(centerOfCloth.x() ,spawnHeight + 1, centerOfCloth.z() + 1),
                                                       btVector3(centerOfCloth.x() ,spawnHeight - 1, centerOfCloth.z() + 1),
                                                       numX, numY,
                                                       fixed, true);


    cloth->m_materials[0]->m_kLST   =   0.4;
    cloth->m_cfg.collisions     |=  btSoftBody::fCollision::VF_SS;
    cloth->setTotalMass(mass);

    cloth->rotate(btQuaternion(0.70711, 0, 0, 0.70711));
    cloth->scale(btVector3(0.2, 0.2, 0.2));
    cloth->randomizeConstraints();

    const btScalar bulletDefaultMargin = 0.03;
    const btScalar blenderDefaultMargin = 0.03;
    cloth->getCollisionShape()->setMargin(blenderDefaultMargin);


    m_data->m_softBodyWorldInfo.air_density = (btScalar) 1.2;
    m_data->m_softBodyWorldInfo.water_density = 0;
    m_data->m_softBodyWorldInfo.water_offset = 0;
    m_data->m_softBodyWorldInfo.water_normal = btVector3(0, 0, 0);
    btVector3 currentGravity = m_data->m_dynamicsWorld->getGravity();
    m_data->m_softBodyWorldInfo.m_gravity.setValue(currentGravity.x(), currentGravity.y(), currentGravity.z());

    cloth->m_cfg.piterations = 5;
    cloth->m_cfg.citerations = 5;
    cloth->m_cfg.diterations = 5;
    cloth->m_cfg.kDP = 0.005f;

    // cloth->m_cfg.kDP;                    // Damping coefficient [0,1]
    // cloth->m_cfg.kDG = 100.0f;                    // Drag coefficient [0,+inf]
    // cloth->m_cfg.kLF;                    // Lift coefficient [0,+inf]
    // cloth->m_cfg.kPR;                    // Pressure coefficient [-inf,+inf]
    // cloth->m_cfg.kVC;                    // Volume conversation coefficient [0,+inf]
    cloth->m_cfg.kDF = 1.0f;                    // Dynamic friction coefficient [0,1]
    // cloth->m_cfg.kMT;                    // Pose matching coefficient [0,1]
    // cloth->m_cfg.kCHR;                   // Rigid contacts hardness [0,1]
    // cloth->m_cfg.kKHR;                   // Kinetic contacts hardness [0,1]
    // cloth->m_cfg.kSHR;                   // Soft contacts hardness [0,1]
    // cloth->m_cfg.kAHR;                   // Anchors hardness [0,1]
    // cloth->m_cfg.kSRHR_CL;               // Soft vs rigid hardness [0,1] (cluster only)
    // cloth->m_cfg.kSKHR_CL;               // Soft vs kinetic hardness [0,1] (cluster only)
    // cloth->m_cfg.kSSHR_CL;
    m_data->m_dynamicsWorld->addSoftBody(cloth);



    serverStatusOut.m_type = CMD_CLIENT_COMMAND_COMPLETED;
    return hasStatus;