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                case sim_pure_primitive_heightfield:
                {
                    int xCnt,yCnt; // height values along x or y
                    float minH,maxH; // min and max heights (relative to frame)
                    // Heightfield x and y size is: s(0) and s(1)
                    // Heightfield pad x-size is: s(0)/(float(xCnt-1))
                    // Heightfield pad y-size is: s(1)/(float(yCnt-1))
                    const float* hData=_simGetHeightfieldData(geomInfo,&xCnt,&yCnt,&minH,&maxH);
                    // hData contains xCnt*yCnt heights in following order: x0y0, x1,y0, ..., xn,y0,x0y1,x1y1, ...
                    _newtonHeightfieldData.resize(xCnt*yCnt);
                    for (int i=0;i<xCnt;i++)
                    {
                        for (int j=0;j<yCnt;j++)
                            _newtonHeightfieldData[(xCnt-1-i)+xCnt*j]=hData[i+xCnt*j];
                    }
                    C3X3Matrix rot1;
                    rot1.buildXRotation(-piValue/2.0f);
                    C3X3Matrix rot2;
                    rot2.buildZRotation(piValue);
                    C7Vector ilif;
                    ilif.setIdentity();
                    ilif.Q=rot2.getQuaternion()*ilif.Q;
                    ilif.Q=rot1.getQuaternion()*ilif.Q;
                    ilif.X+=C3Vector(s(0),0.0f,s(1))*0.5f;
                    ilif.inverse();
                    dMatrix invMatrix (GetDMatrixFromVrepTransformation(ilif));
                    char* attributeMap=new char[xCnt*yCnt];
                    for (int i=0;i<xCnt*yCnt;i++)
                        attributeMap[i]=0;
                    _shape = NewtonCreateHeightFieldCollision(world,xCnt,yCnt,1,0,&_newtonHeightfieldData[0],attributeMap,1.0f,s(0)/(float(xCnt-1)),0);
                    NewtonCollisionSetMatrix(_shape,&invMatrix[0][0]);
                    break;
                }