/// GENERAL SETTINGS
btBroadphaseInterface *m_broadPhase = new btDbvtBroadphase();
btDefaultCollisionConfiguration *m_collisionConfig = new btDefaultCollisionConfiguration();
btCollisionDispatcher *m_dispatcher = new btCollisionDispatcher(m_collisionConfig);
btSequentialImpulseConstraintSolver *m_solver = new btSequentialImpulseConstraintSolver();
m_dynamicWorld = new btDiscreteDynamicsWorld(m_dispatcher, m_broadPhase, m_solver, m_collisionConfig);
m_dynamicWorld->setGravity(btVector3(0.f, -9.8f, 0.f));
/////////////////////////
/// ADD BODY
btStaticPlaneShape *l_groundShape = new btStaticPlaneShape(btVector3(0.f, 1.f, 0.f), 0.f);
btDefaultMotionState *l_groundMotionState = new btDefaultMotionState(btTransform(btQuaternion(0.f, 0.f, 0.f, 1.f), btVector3(0.f, 0.f, 0.f)));
btRigidBody::btRigidBodyConstructionInfo groundRigidBodyCI(0.f, l_groundMotionState, l_groundShape);
btRigidBody *m_floorBody = new btRigidBody(groundRigidBodyCI);
m_dynamicWorld->addRigidBody(m_floorBody);
/////////////////////////
/// REMOVE BODY
m_dynamicWorld->removeRigidBody(m_floorBody);
delete m_floorBody->getMotionState();
delete m_floorBody;
/////////////////////////
m_dynamicWorld->stepSimulation(1.f/60.f, 10.f, 1.f/60.f);