+ need to reset rigid body using 'setCenterOfMassTransform' to reset world inertia tensor

+ fixes in compound algorithm -> recompute contact points
+ add debug drawing to some demos.
+ revert btJacobianEntry change
+ replace dCROSSMAT by btVector3::getSkewSymmetricMatrix

Demos/ForkLiftDemo/main.cpp

@@ -1,7 +1,9 @@
 
 #include "ForkLiftDemo.h"
 #include "GlutStuff.h"
-
+#include "GLDebugDrawer.h"
+#include "btBulletDynamicsCommon.h"
+GLDebugDrawer	gDebugDrawer;
 
 int main(int argc,char** argv)
 {
@@ -9,6 +11,7 @@ int main(int argc,char** argv)
         ForkLiftDemo* pForkLiftDemo = new ForkLiftDemo;
 
         pForkLiftDemo->initPhysics(); 
+		pForkLiftDemo->getDynamicsWorld()->setDebugDrawer(&gDebugDrawer);
 
         return glutmain(argc, argv,640,480,"Bullet ForkLift Demo. http://www.continuousphysics.com/Bullet/phpBB2/", pForkLiftDemo);
 }

Demos/OpenGL/DemoApplication.cpp

@@ -608,7 +608,7 @@ btVector3	DemoApplication::getRayTo(int x,int y)
 	return rayTo;
 }
 
-btScalar mousePickClamping = 3.f;
+btScalar mousePickClamping = 30.f;
 
 
 void DemoApplication::mouseFunc(int button, int state, int x, int y)
@@ -1249,7 +1249,7 @@ void	DemoApplication::clientResetScene()
 			{
 				btDefaultMotionState* myMotionState = (btDefaultMotionState*)body->getMotionState();
 				myMotionState->m_graphicsWorldTrans = myMotionState->m_startWorldTrans;
-				colObj->setWorldTransform( myMotionState->m_graphicsWorldTrans );
+				body->setCenterOfMassTransform( myMotionState->m_graphicsWorldTrans );
 				colObj->setInterpolationWorldTransform( myMotionState->m_startWorldTrans );
 				colObj->activate();
 				//colObj->setActivationState(WANTS_DEACTIVATION);

Demos/RagdollDemo/main.cpp

@@ -1,3 +1,17 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2008 Erwin Coumans  http://bulletphysics.com
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
 
 #include "RagdollDemo.h"
 #include "GlutStuff.h"

Demos/SliderConstraintDemo/main.cpp

@@ -5,13 +5,18 @@ April 04, 2008
 #include "SliderConstraintDemo.h"
 #include "GlutStuff.h"
 
+#include "GLDebugDrawer.h"
+#include "btBulletDynamicsCommon.h"
+
+GLDebugDrawer	gDebugDrawer;
+
 int main(int argc,char** argv)
 {
 
         SliderConstraintDemo* sliderConstraintDemo = new SliderConstraintDemo();
 
         sliderConstraintDemo->initPhysics();
-
+		sliderConstraintDemo->getDynamicsWorld()->setDebugDrawer(&gDebugDrawer);
        
 
         return glutmain(argc, argv,640,480,"Slider Constraint Demo. http://www.continuousphysics.com/Bullet/phpBB2/", sliderConstraintDemo);

Demos/VehicleDemo/main.cpp

@@ -1,7 +1,9 @@
 
 #include "VehicleDemo.h"
 #include "GlutStuff.h"
-
+#include "GLDebugDrawer.h"
+#include "btBulletDynamicsCommon.h"
+GLDebugDrawer	gDebugDrawer;
 
 int main(int argc,char** argv)
 {
@@ -9,6 +11,7 @@ int main(int argc,char** argv)
         VehicleDemo* vehicleDemo = new VehicleDemo;
 
         vehicleDemo->initPhysics(); 
+		vehicleDemo->getDynamicsWorld()->setDebugDrawer(&gDebugDrawer);
 
         return glutmain(argc, argv,640,480,"Bullet Vehicle Demo. http://www.continuousphysics.com/Bullet/phpBB2/", vehicleDemo);
 }