void btSoftRigidDynamicsWorld::internalSingleStepSimulation(btScalar timeStep)
{
// Let the solver grab the soft bodies and if necessary optimize for it
m_softBodySolver->optimize(getSoftBodyArray());
if (!m_softBodySolver->checkInitialized())
{
btAssert("Solver initialization failed\n");
}
btDiscreteDynamicsWorld::internalSingleStepSimulation(timeStep);
///solve soft bodies constraints
solveSoftBodiesConstraints(timeStep);
//self collisions
for (int i = 0; i < m_softBodies.size(); i++)
{
btSoftBody* psb = (btSoftBody*)m_softBodies[i];
psb->defaultCollisionHandler(psb);
}
///update soft bodies
m_softBodySolver->updateSoftBodies();
// End solver-wise simulation step
// ///////////////////////////////
}
void btSoftRigidDynamicsWorld::internalSingleStepSimulation( btScalar timeStep)
{
btDiscreteDynamicsWorld::internalSingleStepSimulation( timeStep );
///solve soft bodies constraints
solveSoftBodiesConstraints();
///update soft bodies
updateSoftBodies();
}
void btSoftRigidDynamicsWorld::internalSingleStepSimulation( btScalar timeStep)
{
btDiscreteDynamicsWorld::internalSingleStepSimulation( timeStep );
///solve soft bodies constraints
solveSoftBodiesConstraints();
//self collisions
for ( int i=0;i<m_softBodies.size();i++)
{
btSoftBody* psb=(btSoftBody*)m_softBodies[i];
psb->defaultCollisionHandler(psb);
}
///update soft bodies
updateSoftBodies();
}