- DemoApplication, debug text rendering was broken, glLoadIdentity() missing

- copy user data over to child shape
- added applied impulse to btManifoldPoint
- add ContactProcessedCallback (needs test/demo)
- didn't copy over m_additionalDampingFactor into btRigidBody.

src/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h

@@ -30,6 +30,7 @@ class btManifoldPoint
 		public:
 			btManifoldPoint()
 				:m_userPersistentData(0),
+				m_appliedImpulse(0.f),
 				m_lifeTime(0)
 			{
 			}
@@ -43,7 +44,8 @@ class btManifoldPoint
 					m_distance1( distance ),
 					m_combinedFriction(btScalar(0.)),
 					m_combinedRestitution(btScalar(0.)),
-					m_userPersistentData(0),					
+					m_userPersistentData(0),
+					m_appliedImpulse(0.f),
 					m_lifeTime(0)
 			{
 				
@@ -65,6 +67,7 @@ class btManifoldPoint
 
 				
 			mutable void*	m_userPersistentData;
+			btScalar		m_appliedImpulse;
 
 			int		m_lifeTime;//lifetime of the contactpoint in frames
 			

src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.cpp

@@ -20,6 +20,7 @@ subject to the following restrictions:
 
 btScalar					gContactBreakingThreshold = btScalar(0.02);
 ContactDestroyedCallback	gContactDestroyedCallback = 0;
+ContactProcessedCallback	gContactProcessedCallback = 0;
 
 
 
@@ -234,6 +235,11 @@ void btPersistentManifold::refreshContactPoints(const btTransform& trA,const btT
 			if (distance2d  > getContactBreakingThreshold()*getContactBreakingThreshold() )
 			{
 				removeContactPoint(i);
+			} else
+			{
+				//contact point processed callback
+				if (gContactProcessedCallback)
+					(*gContactProcessedCallback)(manifoldPoint,m_body0,m_body1);
 			}
 		}
 	}

src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h

@@ -28,6 +28,7 @@ struct btCollisionResult;
 extern btScalar gContactBreakingThreshold;
 
 typedef bool (*ContactDestroyedCallback)(void* userPersistentData);
+typedef bool (*ContactProcessedCallback)(btManifoldPoint& cp,void* body0,void* body1);
 extern ContactDestroyedCallback	gContactDestroyedCallback;
 
 
@@ -123,6 +124,7 @@ public:
 			m_pointCache[index] = m_pointCache[lastUsedIndex]; 
 			//get rid of duplicated userPersistentData pointer
 			m_pointCache[lastUsedIndex].m_userPersistentData = 0;
+			m_pointCache[lastUsedIndex].m_appliedImpulse = 0.f;
 			m_pointCache[lastUsedIndex].m_lifeTime = 0;
 		}
 
@@ -136,12 +138,14 @@ public:
 #define MAINTAIN_PERSISTENCY 1
 #ifdef MAINTAIN_PERSISTENCY
 		int	lifeTime = m_pointCache[insertIndex].getLifeTime();
+		btScalar	appliedImpulse = m_pointCache[insertIndex].m_appliedImpulse;
 		btAssert(lifeTime>=0);
 		void* cache = m_pointCache[insertIndex].m_userPersistentData;
 		
 		m_pointCache[insertIndex] = newPoint;
 
 		m_pointCache[insertIndex].m_userPersistentData = cache;
+		m_pointCache[insertIndex].m_appliedImpulse = appliedImpulse;
 		m_pointCache[insertIndex].m_lifeTime = lifeTime;
 #else
 		clearUserCache(m_pointCache[insertIndex]);