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(); }