Bullet Physics Basic Wrapper

#include "clVector3.h"
#include "btBulletDynamicsCommon.h"

template<typename T> class clList;
template<typename T> struct clMatrix4x4; using clMat4 = clMatrix4x4<float>;
template<typename T> struct clQuaternion; using clQuat = clQuaternion<float>;

class clBulletPhysicsObject
{
public:
  clBulletPhysicsObject(btCollisionObject *pObject, btDiscreteDynamicsWorld *pWorld);

  clVec3 Position() const;
  void SetPosition(const clVec3 &pos);
  clVec3 Velocity() const;
  void SetVelocity(const clVec3 &vel);
  clMat4 ModelMatrix() const;
  clQuat Orientation() const;
  void ApplyForce(const clVec3 &force, const clVec3 &offset = clVec3::Zero());
  void SetCanSleep(const bool &canSleep = true);
  void Destroy();

private:
  btCollisionObject *m_pObject;
  btDiscreteDynamicsWorld *m_pWorld;
  clList<clByteList> m_meshDataBlocks;
};

class clBulletPhysicsScene
{
public:
  clBulletPhysicsScene(clVec3 gravity = clVec3{ 0, 0, -1 });
  ~clBulletPhysicsScene();

  bool RayCast(const clVec3 &start, const clVec3 &end, clVec3 *pHitLocation = nullptr);
  void Update(const float &timeStep = 1.f / 60.f, const int &maxSubSteps = 10, const float &fixedTimeStep = 0.0005);

  clBulletPhysicsObject* AddSphere(const clVec3 &position, const float &radius, const float &mass);
  clBulletPhysicsObject* AddBox(const clVec3 &position, const clVec3 &dimensions, const float &mass);
  clBulletPhysicsObject* AddMesh(const clVec3 &position, const clList<clVec3> &verts, const float &mass);

private:
  btDiscreteDynamicsWorld *m_pWorld;
  btCollisionDispatcher *m_pDispatcher;
  btDbvtBroadphase m_overlappingPairsCache;
  btSequentialImpulseConstraintSolver m_solver;
  btDefaultCollisionConfiguration *m_pCollisionConfiguration;
};