static void ApplyForceAndTorque(IntPtr body, float timestep, int threadIndex)
{
float mass = 0, iXX = 0, iYY = 0, iZZ = 0;
NewtonAPI.NewtonBodyGetMassMatrix(body, ref mass, ref iXX, ref iYY, ref iZZ);
Vector3 force = new Vector3(0.0f, -9.8f * mass, 0.0f);
NewtonAPI.NewtonBodyAddForce(body, ref force);
}
