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mpBroadphase = new btDbvtBroadphase();
// Set up the collision configuration and dispatcher
mpCollisionConfiguration = new btDefaultCollisionConfiguration();
mpDispatcher = new btCollisionDispatcher(mpCollisionConfiguration);
// The actual physics solver
mpSolver = new btSequentialImpulseConstraintSolver;
// The world.
mpDynamicsWorld = new btDiscreteDynamicsWorld(mpDispatcher, mpBroadphase, mpSolver, mpCollisionConfiguration);