apply newForceTorque.diff patch: it will allow to report

joint reaction force/torque, while using impulse-based response
for btMultiBody

src/BulletDynamics/Featherstone/btMultiBody.h

@@ -273,6 +273,8 @@ public:
     //
 
     void clearForcesAndTorques();
+   void clearConstraintForces();
+
 	void clearVelocities();
 
     void addBaseForce(const btVector3 &f) 
@@ -282,7 +284,17 @@ public:
     void addBaseTorque(const btVector3 &t) { m_baseTorque += t; }
     void addLinkForce(int i, const btVector3 &f);
     void addLinkTorque(int i, const btVector3 &t);
-    void addJointTorque(int i, btScalar Q);
+
+ void addBaseConstraintForce(const btVector3 &f)
+        {
+                m_baseConstraintForce += f;
+        }
+    void addBaseConstraintTorque(const btVector3 &t) { m_baseConstraintTorque += t; }
+    void addLinkConstraintForce(int i, const btVector3 &f);
+    void addLinkConstraintTorque(int i, const btVector3 &t);
+       
+
+void addJointTorque(int i, btScalar Q);
 	void addJointTorqueMultiDof(int i, int dof, btScalar Q);
 	void addJointTorqueMultiDof(int i, const btScalar *Q);
 
@@ -318,7 +330,9 @@ public:
 	void stepVelocitiesMultiDof(btScalar dt,
                         btAlignedObjectArray<btScalar> &scratch_r,
                         btAlignedObjectArray<btVector3> &scratch_v,
-                        btAlignedObjectArray<btMatrix3x3> &scratch_m);
+                        btAlignedObjectArray<btMatrix3x3> &scratch_m,
+			bool isConstraintPass=false
+		);
 
     // calcAccelerationDeltas
     // input: force vector (in same format as jacobian, i.e.:
@@ -374,6 +388,23 @@ public:
 		}
     }
 
+	void applyDeltaVeeMultiDof2(const btScalar * delta_vee, btScalar multiplier)
+	{
+		for (int dof = 0; dof < 6 + getNumDofs(); ++dof)
+                {
+                        m_deltaV[dof] += delta_vee[dof] * multiplier;
+                }
+	}
+	void processDeltaVeeMultiDof2()
+	{
+		applyDeltaVeeMultiDof(&m_deltaV[0],1);
+
+		for (int dof = 0; dof < 6 + getNumDofs(); ++dof)
+                {
+			m_deltaV[dof] = 0.f;
+		}
+	}
+
 	void applyDeltaVeeMultiDof(const btScalar * delta_vee, btScalar multiplier) 
 	{
 		//for (int dof = 0; dof < 6 + getNumDofs(); ++dof)
@@ -591,7 +622,10 @@ private:
 
     btVector3 m_baseForce;     // external force applied to base. World frame.
     btVector3 m_baseTorque;    // external torque applied to base. World frame.
-    
+   
+    btVector3 m_baseConstraintForce;     // external force applied to base. World frame.
+    btVector3 m_baseConstraintTorque;    // external torque applied to base. World frame.
+ 
     btAlignedObjectArray<btMultibodyLink> m_links;    // array of m_links, excluding the base. index from 0 to num_links-1.
 	btAlignedObjectArray<btMultiBodyLinkCollider*> m_colliders;
 
@@ -611,7 +645,7 @@ private:
     //  offset         size         array
     //   0              num_links+1  rot_from_parent
     //
-    
+   btAlignedObjectArray<btScalar> m_deltaV; 
     btAlignedObjectArray<btScalar> m_realBuf;
     btAlignedObjectArray<btVector3> m_vectorBuf;
     btAlignedObjectArray<btMatrix3x3> m_matrixBuf;