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broadphase = new btDbvtBroadphase();
collisionConfiguration = new btDefaultCollisionConfiguration();
dispatcher = new btCollisionDispatcher(collisionConfiguration);
solver = new btSequentialImpulseConstraintSolver;
dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher, broadphase, solver, collisionConfiguration);
dynamicsWorld->setGravity(btVector3(0, btgravity, 0));
groundShape = new btStaticPlaneShape(btVector3(0, 1, 0), 1);
btDefaultMotionState* groundMotionState = new btDefaultMotionState(btTransform(btQuaternion(0, 0, 0, 1), btVector3(0, -1, 0)));
btRigidBody::btRigidBodyConstructionInfo
groundRigidBodyCI(0, groundMotionState, groundShape, btVector3(0, groundplaneheight, 0));
groundRigidBody = new btRigidBody(groundRigidBodyCI);
dynamicsWorld->addRigidBody(groundRigidBody);