Code:

btCollisionShape* boxShape = new btBoxShape(btVector3(halfW,halfH,halfD));   for (int i=0;i<numBodies;i++){btTransform bodyTransform;bodyTransform.setIdentity();bodyTransform.setOrigin(btVector3(0,-27+i*halfH,0));        btScalar mass(10.);bool isDynamic = (mass != 0.f);btVector3 localInertia;if (isDynamic)boxShape->calculateLocalInertia(mass,localInertia);btDefaultMotionState* myMotionState = new btDefaultMotionState(bodyTransform);btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,boxShape,localInertia);        btRigidBody* boxBody=new btRigidBody(rbInfo);                boxBody->setActivationState(DISABLE_DEACTIVATION);        sBoxBodies.push_back(boxBody);        sDynamicsWorld->addRigidBody(boxBody);                btTransform frameInB;        frameInB = btTransform::getIdentity();        frameInB.setOrigin(btVector3(btScalar(0), btScalar(-halfH), btScalar(0.)));                        btGeneric6DofConstraint* pGen6DOF = new btGeneric6DofConstraint(*boxBody, frameInB, true);                pGen6DOF->setLimit(0, btScalar(0.), btScalar(0.));        pGen6DOF->setLimit(1, btScalar(0.), btScalar(0.));        pGen6DOF->setLimit(2, btScalar(0.), btScalar(0.));        pGen6DOF->setLimit(3, btScalar(0.), btScalar(SIMD_PI));        pGen6DOF->setLimit(4, btScalar(0.), btScalar(0.));        pGen6DOF->setLimit(5, btScalar(0.), btScalar(0.));                sDynamicsWorld->addConstraint(pGen6DOF);}

Code:

sDynamicsWorld->rayTest(CameraPosition, Ray, rayCallback);                if (rayCallback.hasHit())                {                                        btRigidBody* body = btRigidBody::upcast(rayCallback.m_collisionObject);                    if (body)                    {                        body->setActivationState(DISABLE_DEACTIVATION);                                               if(oldy > TouchScreen->LocationYTouchesMoved)                        {                                body->applyTorque(btVector3(25000,0,0));                        }                        else                        {                            body->applyTorque(btVector3(-25000,0,0));                        }                                            }                                                       }