Distance_01

void AddRigidBodies() {
  //add the falling movingBox 
	{
		hkVector4 halfExtents(0.5f, 0.5f, 0.5f);
		hkpBoxShape* boxShape = new hkpBoxShape(halfExtents);

		hkpRigidBodyCinfo ci;
		ci.m_shape = boxShape;
		ci.m_position = pos2;
		ci.m_motionType = hkpMotion::MOTION_DYNAMIC;
		boxShape->setRadius(0.001f);

		const hkReal boxMass(10.0f);
		hkMassProperties massProps;
		hkpInertiaTensorComputer::computeShapeVolumeMassProperties(boxShape, boxMass, massProps);
		ci.setMassProperties(massProps);

		hkpRigidBody* rigidBody = new hkpRigidBody(ci);
		
		movingBox = static_cast<hkpRigidBody*>(g_pWorld->addEntity(rigidBody));
			
		rigidBody->removeReference();
		

		//create the fixed box
		ci.m_position = pos1;
		ci.m_motionType = hkpMotion::MOTION_FIXED;
		rigidBody = new hkpRigidBody(ci);
		fixedBox = static_cast<hkpRigidBody*>(g_pWorld->addEntity(rigidBody));
		
		rigidBody->removeReference();
		boxShape->removeReference();
	}

	//create the static box where the smaller movingBox will fall
	{
		hkVector4 halfExtents(20.0f, 2.0f, 20.f);
		hkpBoxShape* boxShape = new hkpBoxShape(halfExtents);
		hkpRigidBodyCinfo ci;
		ci.m_shape = boxShape;
		ci.m_position = hkVector4(0, -2, 0);
		ci.m_motionType = hkpMotion::MOTION_FIXED;
		boxShape->setRadius(0.001f);
		hkpRigidBody* rigidBody = new hkpRigidBody(ci);
		boxShape->removeReference();
		g_pWorld->addEntity(rigidBody)->removeReference();
	}

	//
	// CREATE STIFF SPRING CONSTRAINT
	// 
	{
		
		hkpStiffSpringConstraintData* spring = new hkpStiffSpringConstraintData(); 
		 
		// Create constraint
		spring->setInWorldSpace(movingBox->getTransform(), fixedBox->getTransform(), pos2, pos1);
		
		 
		//
		//	Create and add the constraint
		//
		{
			hkpConstraintInstance* constraint = new hkpConstraintInstance(movingBox, fixedBox, spring );
			g_pWorld->addConstraint(constraint);
			constraint->removeReference(); 
		}		 
		spring->removeReference();   
	}
}