Substitute rigid body simulation?

[sara]

Hi,

I want to create my own rigid body simulation algorithm. Is there a way to replace the btrigidbody integration with mine, but still maintaining the rest of the simulation (collision detection, contact response, etc) ?

Thanks!

[sara]

Anyone?

I just want to compare different integration algorithms (explicit euler, implicit, runge-kutta, etc)

[sara]

I though of inheriting from btRigidBody, but the problem is that the methods of btRigidBody are not virtual, so my methods are not being called.

Any suggestions?