fairly large refactoring of dispatcher/simulation island management, to allow for parallel simulation.

Demos/CcdPhysicsDemo/CcdPhysicsDemo.cpp

@@ -13,6 +13,9 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
+//#define USE_PARALLEL_DISPATCHER 1
+
+
 #include "CcdPhysicsEnvironment.h"
 #include "ParallelPhysicsEnvironment.h"
 
@@ -89,6 +92,7 @@ const int maxNumObjects = 32760;
 MyMotionState ms[maxNumObjects];
 CcdPhysicsController* physObjects[maxNumObjects] = {0,0,0,0};
 int	shapeIndex[maxNumObjects];
+
 #ifdef USE_PARALLEL_DISPATCHER
 ParallelPhysicsEnvironment* physicsEnvironmentPtr = 0;
 #else
@@ -308,6 +312,8 @@ int main(int argc,char** argv)
 
 
 	clientResetScene();
+	physicsEnvironmentPtr->SyncMotionStates(0.f);
+
 
 	{
 		//physObjects[i]->SetAngularVelocity(0,0,-2,true);

Demos/CollisionInterfaceDemo/CollisionInterfaceDemo.cpp

@@ -120,9 +120,11 @@ void clientDisplay(void) {
 
 	if (collisionWorld)
 		collisionWorld->PerformDiscreteCollisionDetection();
-
-	///one way to draw all the contact points is iterating over contact manifolds / points:
+	
 	int i;
+/*
+	///one way to draw all the contact points is iterating over contact manifolds / points:
+
 	int numManifolds = collisionWorld->GetDispatcher()->GetNumManifolds();
 	for (i=0;i<numManifolds;i++)
 	{
@@ -147,6 +149,7 @@ void clientDisplay(void) {
 			glEnd();
 		}
 	}
+*/
 
 
 	//GL_ShapeDrawer::DrawCoordSystem();