// collision configuration contains default setup for memory, collision
// setup
CollisionConfiguration collisionConfiguration = new DefaultCollisionConfiguration();

// use the default collision dispatcher. For parallel processing you can
// use a diffent dispatcher (see Extras/BulletMultiThreaded)
CollisionDispatcher dispatcher = new CollisionDispatcher(
      collisionConfiguration);

BroadphaseInterface broadphase = new DbvtBroadphase();

// the default constraint solver. For parallel processing you can use a
// different solver (see Extras/BulletMultiThreaded)
ConstraintSolver solver = new SequentialImpulseConstraintSolver();

mDynamics = new DiscreteDynamicsWorld(dispatcher, broadphase, solver,
      collisionConfiguration);

mDynamics.setGravity(new Vector3f(0f, -10f, 0f));

CollisionShape colShape = new BoxShape(new Vector3f(1, 1, 1));

// Create Dynamic Objects
Transform startTransform = new Transform();
startTransform.setIdentity();

float mass = 1f;

Vector3f localInertia = new Vector3f(0, 0, 0);
colShape.calculateLocalInertia(mass, localInertia);

// using motionstate is recommended, it provides
// interpolation capabilities, and only synchronizes
// 'active' objects
DefaultMotionState myMotionState = new DefaultMotionState(
      startTransform);

RigidBodyConstructionInfo rbInfo = new RigidBodyConstructionInfo(mass,
      myMotionState, colShape, localInertia);
dice = new RigidBody(rbInfo);

dice.setActivationState(RigidBody.ACTIVE_TAG);

mDynamics.addRigidBody(dice);