void SYM_PHYSICSBODY::SetGeometry(SYM_GEOMETRY *Geom)
	{
	    NewtonBodySetUserData(Body, Geom);
	}

void  PhysicsSetTransform (const NewtonBody* body, const dFloat* matrix)
    {
        //Get geometry
        SYM_GEOMETRY *Geometry = (SYM_GEOMETRY*)NewtonBodyGetUserData(body);

...

bool SYM_MODEL::Load(string ModelName, string Filename)	{		//Load mesh from resource manager		Mesh = Engine->ResourceManager.Meshes.Get(Filename);		//Check for errors		if(!Mesh) return false;		//Set name		Name = ModelName;		//New physics body		PhysicsBody = new SYM_PHYSICSBODY;		//Create physics body from AABB		PhysicsBody->CreateBox(Mesh->AABB.Size);		//Set physics geometry		PhysicsBody->SetGeometry(dynamic_cast<SYM_GEOMETRY*>(this));		return true;	}

SYM_BRUSH::SYM_BRUSH(string BrushName, int GeomType, SYM_VECTOR3 Dimentions, SYM_VECTOR3 Pos)	{		//Create new mesh		Mesh = new SYM_MESH;		//Create new mesh subset		MeshSubset = new SYM_MESHSUBSET;		//Switch type		switch(GeomType)		{			case SYM_BOX:				//Create a box				break;			case SYM_PLANE:				//Create a plane				//Mesh->CreatePlane(Dimentions);				//Create geometry				CreatePlane(Dimentions);				break;			case SYM_CYLINDER:				//Create a cylinder				break;			case SYM_SPHERE:				//Create a sphere				break;			default:				return;		}		//Process vertex/face data		MeshSubset->Process();		//Add subset to mesh		Mesh->Subsets.push_back(*MeshSubset);		//Set name		Name = BrushName;		//New physics body		PhysicsBody = new SYM_PHYSICSBODY;		//Setup collision body		PhysicsBody->CreateCustom(Mesh->Subsets[0].Vertices, Mesh->Subsets[0].Faces);		//Set physics geometry		PhysicsBody->SetGeometry(dynamic_cast<SYM_GEOMETRY*>(this));		//Set position		SetPosition(Pos);	}

bool SYM_PHYSICSBODY::CreateBox(SYM_VECTOR3 Dimentions)	{		//Create collision object		Collision = NewtonCreateBox(Engine->Physics.GetWorld(), Dimentions.x, Dimentions.y, Dimentions.z, NULL);		//Create rigid body		RigidBody = NewtonCreateBody(Engine->Physics.GetWorld(), Collision);		//Set tranform callback		NewtonBodySetTransformCallback(RigidBody, PhysicsSetTransform);		//Set force and torque callback to rigid body		NewtonBodySetForceAndTorqueCallback(RigidBody, PhysicsApplyForceAndTorque);		//Release collision object		NewtonReleaseCollision(Engine->Physics.GetWorld(), Collision);		//Set the mass distribution matrix		NewtonBodySetMassMatrix(RigidBody, Mass, 1.0f, 1.0f, 1.0f);		//Get AABB		NewtonBodyGetAABB(RigidBody, AABBMin, AABBMax);		return true;	}

//Get geometry        SYM_GEOMETRY *Geometry = 0;        Geometry = (SYM_GEOMETRY*)NewtonBodyGetUserData(body);        //Check geometry exists        if(Geometry)        {            cout << Geometry->Name << endl;        }        else        {            Engine->Logger.AddEntry("Error: PhysicsSetTransform called with no geometry set");        }