c++ - Bullet Physics - Orienting a rigid body -

i'm trying orient cylinder in bullet. right now, cylinder thing in simulation. have found answers here, , believe close, still no rotation. here function creating cylinder, maybe jump out @ someone.

what doing incorrectly?

void createcylinder(int index, double x, double y, double z, double radius, double length, int yaw, int pitch, int roll) {      btscalar mass = 1;     btvector3 position(x,y,z);     btvector3 cylinertia(0,0,0);      //create collision shape     btcollisionshape* cylcoll = new btcylindershape(btvector3(radius,length,1));      //default motion state     btdefaultmotionstate* ms = new btdefaultmotionstate(bttransform(btquaternion(0,0,0,1), btvector3(0,10,0)));      //calculate inertia     cylcoll->calculatelocalinertia(mass, cylinertia);      //construction info     btrigidbody::btrigidbodyconstructioninfo cylci(         mass,         ms,         cylcoll,          //collision shape         cylinertia //inertia     );      btrigidbody *cylinder = new btrigidbody(cylci);        //orient cylinder     bttransform tr;     tr.setidentity();     btquaternion quat;     quat.seteuler(yaw,pitch,roll); //or quat.seteulerzyx depending on ordering want     tr.setrotation(quat);      //apply transform cylinder rigid body     cylinder->setcenterofmasstransform(tr);       body[index] = cylinder;     m_dynamicsworld->addrigidbody(body[index]);  } 

you must modify body's worldtransform, not centerofmasstransform. can in defaultmotionstate on body itself.