add btMultiBodyConstraint::finalizeMultiDof API: if you add multi-body constraints to a multi-dof btMultiBody, before it has been finalized using the btMultiBody::finalizeMultiDof call,

then you have to manually call the btMultiBodyConstraint::finalizeMultiDof for all multi-dof multi body constraints.

Demos/Raytracer/RaytracerSetup.h

@@ -0,0 +1,42 @@
+#ifndef RAYTRACER_SETUP_H
+#define RAYTRACER_SETUP_H
+
+
+#include "Bullet3AppSupport/CommonRigidBodySetup.h"
+
+struct RaytracerPhysicsSetup : public CommonPhysicsSetup
+{
+	
+	struct RaytracerInternalData* m_internalData;
+
+	RaytracerPhysicsSetup();
+
+	virtual ~RaytracerPhysicsSetup();
+
+	virtual void initPhysics(GraphicsPhysicsBridge& gfxBridge);
+
+	virtual void exitPhysics();
+
+	virtual void stepSimulation(float deltaTime);
+
+    virtual void    debugDraw(int debugDrawFlags);
+
+	virtual bool pickBody(const btVector3& rayFromWorld, const btVector3& rayToWorld);
+	virtual bool movePickedBody(const btVector3& rayFromWorld, const btVector3& rayToWorld);
+	virtual void removePickingConstraint();
+
+	virtual void syncPhysicsToGraphics(GraphicsPhysicsBridge& gfxBridge);
+
+		///worldRaytest performs a ray versus all objects in a collision world, returning true is a hit is found (filling in worldNormal and worldHitPoint)
+	bool	worldRaytest(const btVector3& rayFrom,const btVector3& rayTo,btVector3& worldNormal,btVector3& worldHitPoint);
+
+	///singleObjectRaytest performs a ray versus one collision shape, returning true is a hit is found (filling in worldNormal and worldHitPoint)
+	bool	singleObjectRaytest(const btVector3& rayFrom,const btVector3& rayTo,btVector3& worldNormal,btVector3& worldHitPoint);
+	
+	///lowlevelRaytest performs a ray versus convex shape, returning true is a hit is found (filling in worldNormal and worldHitPoint)
+	bool	lowlevelRaytest(const btVector3& rayFrom,const btVector3& rayTo,btVector3& worldNormal,btVector3& worldHitPoint);
+
+
+};
+
+#endif //RAYTRACER_SETUP_H