Irrlicht and Newton

Thanks to gman all moves.
I have sniped the code from the tutorial of the Irrlicht web site and translated to fit gg.ibmax and newton.mod and created a function so to be able to use Maps with newton.
Here is the function:

Function T_irrAnimateMeshToNewtonCollisionTree(nWorld:Byte Ptr , g_map:T_irrIAnimatedMesh , g_newtonMap:Byte Ptr)

	NewtonTreeCollisionBeginBuild(g_newtonmap)
	Local cMeshBuffer:Int, j:Int
	Local v1i:Int, v2i:Int, v3i:Int
	Local mb:T_irrIMeshBuffer

	Local vArray:Float[9]	'// vertex array (3*3 floats)

	Local tmpCount:Int = 0

	For cMeshBuffer=0 To g_map.getMesh(0).getMeshBufferCount() - 1
		
		mb = g_map.getMesh(0).getMeshBuffer(cMeshBuffer)

		'video::S3DVertex2TCoords* mb_vertices = (irr::video::S3DVertex2TCoords*)mb->getVertices();
		Local mb_vertices:T_irrArray_S3DVertex = mb.getVertices()
		'u16* mb_indices  = mb->getIndices();
		 Local mb_indices:T_irrArray_u16  = mb.getIndices()
		
		'// add each triangle from the mesh
		'For j=0 To j<mb->getIndexCount(); j+=3)
		For j=0 To mb.getIndexCount() - 1 Step 3
			v1i = mb_indices.elementAt(j)
			v2i = mb_indices.elementAt(j+1)
			v3i = mb_indices.elementAt(j+2)
	
			vArray[0] = mb_vertices.elementAt(v1i).getPos().getX()
			vArray[1] = mb_vertices.elementAt(v1i).getPos().getY()
			vArray[2] = mb_vertices.elementAt(v1i).getPos().getZ()
			vArray[3] = mb_vertices.elementAt(v2i).getPos().getX()
			vArray[4] = mb_vertices.elementAt(v2i).getPos().getY()
			vArray[5] = mb_vertices.elementAt(v2i).getPos().getZ()
			vArray[6] = mb_vertices.elementAt(v3i).getPos().getX()
			vArray[7] = mb_vertices.elementAt(v3i).getPos().getY()
			vArray[8] = mb_vertices.elementAt(v3i).getPos().getZ()

			'NewtonTreeCollisionAddFace(g_newtonmap, 3, (Float*)vArray, 12, 1);
			NewtonTreeCollisionAddFace(g_newtonmap, 3,Varptr vArray[0], 12, 1)
		Next

	Next
	NewtonTreeCollisionEndBuild(g_newtonmap, 0);
	Local g_newtonmapbody:Byte Ptr = NewtonCreateBody(nWorld, g_newtonmap);

Rem
After loading the bsp mesh in irrlicht we must create a newton collision tree consisting of all the triangles
in the bsp mesh. To do this we loop through the indices list And add vertices 3 at a time into newton. I should
mention here that I was lazy when writing this And just used a straight cast To video::S3DVertex2TCoords - this is because
bsp meshes have lightmap textures on them. If you are using a mesh with only 1 set of texture co-ordinates (like
a landscape Or .x level) Then use (video::S3DVertex).
Newton requires 2 pointers For every Object - a NewtonBody* For the rigid body, And a NewtonCollision* that
describes the objects geometry. After creating the tree collision geometry, we create a body For the map And
assign it To the collision. Bodys which have a tree collision For their geometry are static And their mass
will be ignored by newton - so you can only use meshes For your scenery!
End Rem
	'// set the newton world size based on the bsp size
	Local boxP0:Float[3] 
	Local boxP1:Float[3] 
	Local matrix:Float[16] 
	NewtonBodyGetMatrix (g_newtonmapbody,Varptr matrix[0]) 
	NewtonCollisionCalculateAABB (g_newtonmap,Varptr matrix[0], Varptr boxP0[0], Varptr boxP1[0]) 
	'// you can pad the box here If you wish
	'//boxP0.y -= somevalue; 
	'//boxP1.y += somevaluef; 
	'NewtonSetWorldSize (nWorld, (Float*)boxP0, (Float*)boxP1);
	NewtonSetWorldSize (nWorld, Varptr boxP0[0], Varptr boxP1[0])
Rem
After loading the map, we can calculate the bounding box surrounding it And set the newton world size To
match. Newton should automatically disable anything which falls out of the map this way.
End Rem
End Function

beware that if you move the map in irrlicht you lose all the compartibility.