Code:

physicsWorld::physicsWorld()    {        //create all the world components        bulletConfiguration = new btDefaultCollisionConfiguration();        bulletDispatcher = new btCollisionDispatcher(bulletConfiguration);        bulletBroadPhaseInterface = new btDbvtBroadphase();        bulletSolver = new btSequentialImpulseConstraintSolver();                //create the world        bulletWorld = new btDiscreteDynamicsWorld(bulletDispatcher,bulletBroadPhaseInterface,bulletSolver,bulletConfiguration);        bulletWorld->setGravity(btVector3(0,-10,0));                //here are some temp gemoetries        btTransform t;        t.setIdentity();        t.setOrigin(btVector3(0,0,0));                btStaticPlaneShape* plane = new btStaticPlaneShape(btVector3(0,1,0),0.0);        btMotionState* motionStatePlane = new btDefaultMotionState(t);        btRigidBody::btRigidBodyConstructionInfo info(0.0,motionStatePlane,plane);        btRigidBody* planeBody = new btRigidBody(info);                        rigidBodies.push_back(planeBody);        bulletWorld->addRigidBody(planeBody);                addRigidSpehere(1, glm::vec3(0,3,0));                    }physicsWorld::~physicsWorld()    {        //delete everything        delete bulletWorld;        delete bulletConfiguration;        delete bulletDispatcher;        delete bulletBroadPhaseInterface;        delete bulletSolver;                //delete all the rigid bodies        for (int i = 0; i <  rigidBodies.size(); i ++)            {                delete rigidBodies[i];            }             }void physicsWorld::update(double time)    {        bulletWorld->stepSimulation(time);    }btRigidBody* physicsWorld::addRigidSpehere(float rad, glm::vec3 position)    {        btTransform t;        t.setIdentity();        t.setOrigin(btVector3(position.x,position.y,position.z));                btSphereShape* sphere = new btSphereShape(rad);                //calculate inertia        btVector3 inertia(0.0,0.0,0.0);        sphere->calculateLocalInertia(1.0, inertia);                btMotionState* motionState = new btDefaultMotionState(t);        btRigidBody::btRigidBodyConstructionInfo info(1.0,motionState,sphere,inertia);        btRigidBody* sphereBody = new btRigidBody(info);                rigidBodies.push_back(sphereBody);        bulletWorld->addRigidBody(sphereBody);                return sphereBody;    }

Code:

 SceneRenderer.currentScene->PhysicsWorld->update(1.0/60.0);