IBodySceneNode* CreateCubeBody(scene::IMeshSceneNode *ent, bool dynamique)
{
	core::vector3df sc= ent->getScale();
	sx = ent->getBoundingBox().getExtent().X * sc.X;
	sy = ent->getBoundingBox().getExtent().Y * sc.Y;
	sz = ent->getBoundingBox().getExtent().Z * sc.Z;
	NewtonCollision* collision = NewtonCreateBox(nWorld, sx,sy,sz, 0, NULL);


	body = NewtonCreateBody (nWorld, collision);

	// set the transformation for this rigid body
	ent->updateAbsolutePosition();
	
	
	core::matrix4 irr_mat = ent->getRelativeTransformation();
	NewtonBodySetMatrix (body, irr_mat.pointer());

	// set a destructor for this rigid body
	if(dynamique)
	{
		// set the transform call back function 
		NewtonBodySetTransformCallback (body, (NewtonSetTransform) bodyPhysicsSetTransform);
		// set the force and torque call back function
		NewtonBodySetForceAndTorqueCallback (body, (NewtonApplyForceAndTorque)bodyPhysicsApplyForceAndTorque);
		NewtonBodySetMassMatrix(body, mass, 1.0f, 1.0f, 1.0f);
	}

	// pour le moment ce code, a oir sinon celui ci-dessus
	NewtonReleaseCollision (nWorld, collision);

	return body;
}

//---------------------------------------------------------
NewtonCollision* CreateCollideConcave(scene::ISceneNode *ent, int optimized)
{

	NewtonCollision* collision;

	core::vector3df sc= ent->getScale();
	//
	// create the collision tree geometry
	collision = NewtonCreateTreeCollision(nWorld, 0);

	// prepare to create collision geometry
	NewtonTreeCollisionBeginBuild(collision);


	u32 skippedFaceNumber;
	core::array<core::triangle3df> tri;
	
	
	scene::IMeshSceneNode *node = (scene::IMeshSceneNode*) ent;
	tri = getPolys(node->getMesh(), sc, 1.0e-6f, skippedFaceNumber ); 

	int ntri=0;
	for(u32 i=0; i<tri.size(); i++) 
	{	core::vector3df v1[3];
		v1[0] = tri[i].pointA;
		v1[1] = tri[i].pointB;
		v1[2] = tri[i].pointC;
		NewtonTreeCollisionAddFace(collision, 3, &v1[0].X, sizeof (core::vector3df), 1);
		ntri++;
	}

	NewtonTreeCollisionEndBuild(collision, optimized);


	return collision;
}

IBodySceneNode* CreateSceneBody(scene::IMeshSceneNode *ent, NewtonCollision* collision)
{
	NewtonCollision* collision = CreateCollideConcave(ent, 0);

	body = NewtonCreateBody (nWorld, collision);

	// set the transformation for this rigid body
	ent->updateAbsolutePosition();
	
	
	core::matrix4 irr_mat = ent->getRelativeTransformation();
	NewtonBodySetMatrix (body, irr_mat.pointer());

	// pour le moment ce code, a oir sinon celui ci-dessus
	NewtonReleaseCollision (nWorld, collision);

	return body;
}