worldview.cpp

    // 衝突検出方法の選択(デフォルトを選択)
    btDefaultCollisionConfiguration *config = new btSoftBodyRigidBodyCollisionConfiguration();
    btCollisionDispatcher *dispatcher = new btCollisionDispatcher(config);

    // ブロードフェーズ法の設定(Dynamic AABB tree method)
    btDbvtBroadphase *broadphase = new btDbvtBroadphase();

    // 拘束(剛体間リンク)のソルバ設定
    btSequentialImpulseConstraintSolver* solver = new btSequentialImpulseConstraintSolver();

    // Bulletのワールド作成
    m_dynamic_world = new btSoftRigidDynamicsWorld(dispatcher, broadphase, solver, config, 0);

    // 重力加速度の設定(OpenGLに合わせてy軸方向を上下方向にする)
    // m_dynamic_world->setGravity(btVector3(0, -9.8, 0));
    m_world_info.m_dispatcher = dispatcher;
    m_world_info.m_broadphase = broadphase;
    m_world_info.m_sparsesdf.Initialize();
    m_world_info.m_gravity.setValue(0, -9.8, 0);
    m_world_info.air_density = 1.2;