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();
}
