gistfile1.txt

	{
		btCompoundShape* compoundShape = new btCompoundShape();
		btBoxShape* cube  = new btBoxShape(btVector3(0.5, 0.5, 0.5));
		m_collisionShapes.push_back(cube);
		btTransform transform;
	
		transform.setIdentity();
		transform.setOrigin(btVector3(0, 0, 0));
		compoundShape->addChildShape(transform, cube);

		transform.setIdentity();
		transform.setOrigin(btVector3(0, 1, 0));
		compoundShape->addChildShape(transform, cube);

		transform.setIdentity();
		transform.setOrigin(btVector3(0, 2, 0));
		compoundShape->addChildShape(transform, cube);

		transform.setIdentity();
		transform.setOrigin(btVector3(0, 1, 1));
		compoundShape->addChildShape(transform, cube);
		
		transform.setIdentity();
		transform.setOrigin(btVector3(0, 10, 0));
		btScalar masses[4]={1,1,1,1};
		btTransform principal;
		btVector3 inertia;
		compoundShape->calculatePrincipalAxisTransform(masses,principal,inertia);
		btCompoundShape* compound2 = new btCompoundShape();
		m_collisionShapes.push_back(compound2);
#if 0
		compound2->addChildShape(principal.inverse(), compoundShape);
#else	
		for (int i=0;i<compoundShape->getNumChildShapes();i++)
		{
			compound2->addChildShape(compoundShape->getChildTransform(i)*principal.inverse(),compoundShape->getChildShape(i));
		}
#endif
		delete compoundShape;
		createRigidBody(1.0 , transform, compound2);
	}