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https://doc.babylonjs.com/typedoc/classes/BABYLON.PhysicsBody
When I followed this tutorial I ended up with "cannot find property setShape of undefined' error, where undefined is the havok physicsPlugin due to it being not found in the provided scene. The tutorial puts Scene as the param where a bool startsAsleep is, causing scene to be undefined. Not having a scene param was also a silent fail, which I'm not sure if is intended or not