[ODE] How I can set Body having a trimesh?

[Eugen Lofing]

Hello!

How I can set Body having a trimesh?
I have a Mesh and don't want to use dMassSetBox.

If I use this:

dGeomSetPosition(geom,pos.X,pos.Y,pos.Z);
body = dBodyCreate(world);
dMassSetBox(&mass,1.0f,(dReal)extend.X,(dReal)extend.Y,(dReal)extend.Z);
dMassAdjust(&mass,0.25);
dBodySetMass(body,&mass);
dGeomSetBody(geom,body);
dBodySetPosition(body,pos.X,pos.Y,pos.Z);
dBodySetData(body,(void*)this);

.. so it doesn't work it shood.

Please Help me!! If u have some litle example (with code)
with a falling trimesh or so.. 


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