Cube::Cube(dWorldID world, dSpaceID space, dReal width, dReal
height, dReal depth, dReal mass)
{
    body = dBodyCreate(world);
    geom = dCreateBox(space, width, height, depth);

    dMass m;
    dMassSetBox(&m, 1.0f, width, height, depth);
    dMassAdjust(&m, mass);
    dBodySetMass(body, &m);

    dGeomSetBody(geom, body);

}

... ...

Cube *cube = new Cube(world, space, 0.3, 0.3, 0.3, 1);

glEnable(GL_TEXTURE_2D);
    glBindTexture(GL_TEXTURE_2D,m_uiTexture);

    GLfloat afVertices[]= //todo...vertex arrays
    glVertexAttribPointer(vertexAttr2, 3, GL_FLOAT, GL_FALSE, 0, afVertices);
    glEnableVertexAttribArray(vertexAttr2);

    GLfloat afTexCoord[]=//todo...coordinates arrays
    glVertexAttribPointer(texCoordAttr2, 3, GL_FLOAT, GL_FALSE, 0, afTexCoord);
    glEnableVertexAttribArray(texCoordAttr2);

    GLfloat afNormals[]=//todo...normal arrays
    glVertexAttribPointer(normalAttr2, 3, GL_FLOAT, GL_FALSE, 0, afNormals);
    glEnableVertexAttribArray(normalAttr2);

    glUniform1i(textureUniform2, 0); //use texture unit 0

    glDrawArrays(GL_TRIANGLES, 0, 36);

    glDisableVertexAttribArray(vertexAttr2);
    glDisableVertexAttribArray(normalAttr2);
    glDisableVertexAttribArray(texCoordAttr2);