Code:

void createMaze(const btVector3& position, const vector3df& scale, float mass){IMesh* maze = game.getDevice()->getSceneManager()->getMesh("maze.obj");IMeshSceneNode* node = game.getDevice()->getSceneManager()->addMeshSceneNode(maze);node->setScale(irr::core::vector3df(0.2f, 0.2f, 0.2f));node->setMaterialFlag(EMF_LIGHTING, false);node->setMaterialTexture(0, game.getDevice()->getVideoDriver()->getTexture("cube.jpg"));btTransform transform;transform.setIdentity();transform.setOrigin(position);btDefaultMotionState* motionState = new btDefaultMotionState(transform);btVector3 halfExtents(scale.X * 0.5f, scale.Y * 0.5f, scale.Z * 0.5f);btCollisionShape* shape = new btBoxShape(halfExtents);btVector3 localInertia;shape->calculateLocalInertia(mass, localInertia);btRigidBody* rigidBody = new btRigidBody(mass, motionState, shape, localInertia);PhysicsEntity* physicsEntity = new PhysicsEntity(node);physicsEntity->setRigidBody(rigidBody);world->addRigidBody(rigidBody);}