NxActor* CreateBox()
{
	// Set the box starting height to 3.5m so box starts off falling onto the ground
	NxReal boxStartHeight = 3.5; 

	// Add a single-shape actor to the scene
	NxActorDesc actorDesc;
	NxBodyDesc bodyDesc;

	// The actor has one shape, a box, 1m on a side
	NxBoxShapeDesc boxDesc;
	boxDesc.dimensions.set(0.5,0.5,0.5);
	actorDesc.shapes.pushBack(&boxDesc);

	actorDesc.body = &bodyDesc;
	actorDesc.density = 10;
	actorDesc.globalPose.t = NxVec3(0,boxStartHeight,0);		
	return gScene->createActor(actorDesc);	
}