static btMultiBodyLinkCollider * upcast(btCollisionObject *colObj)
const btMultibodyLink & getLink(int index) const
virtual bool checkCollideWithOverride(const btCollisionObject *co) const
btMultiBodyLinkCollider(btMultiBody *multiBody, int link)
static const btMultiBodyLinkCollider * upcast(const btCollisionObject *colObj)
bool hasSelfCollision() const
btMultiBody * m_multiBody