Вот кусок кода
Code
// Создание днм примитивы
Body[0] := dBodyCreate (World);
dBodySetPosition (Body[0], 0, cSTARTZ+cWHEEL_OFFSET, Index*4.5);
dMassSetBox (M, 1, cWIDTH, cHEIGHT, cLENGTH);
dMassAdjust (M, cCMASS);
dBodySetMass (Body[0], @M);
Box[0] := dCreateBox (nil, cWIDTH, cHEIGHT, cLENGTH);
dGeomSetBody (Box[0], Body[0]);
Code
begin
glPushMatrix();
Pos := dBodyGetPosition(Body[0]);
Rot := dBodyGetRotation(Body[0]);
SetTransform(Pos, Rot);
Boxs.Draw; // Отрисовка модели
glPopMatrix();
