Thanks to Mårten Svanfeldt for the contribution:

- optionally disable collisions between bodies that are linked with constraints
- improved debug rendering with support for compounds, spheres, capsules

src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp

@@ -290,16 +290,32 @@ void	btHeightfieldTerrainShape::processAllTriangles(btTriangleCallback* callback
 		for(int x=startX; x<endX; x++)
 		{
 			btVector3 vertices[3];
-			//first triangle
-			getVertex(x,j,vertices[0]);
-			getVertex(x,j+1,vertices[1]);
-			getVertex(x+1,j,vertices[2]);
-			callback->processTriangle(vertices,x,j);
-			//second triangle
-			getVertex(x+1,j,vertices[0]);
-			getVertex(x,j+1,vertices[1]);
-			getVertex(x+1,j+1,vertices[2]);
-			callback->processTriangle(vertices,x,j);
+			if (!m_flipQuadEdges)
+			{
+				//first triangle
+				getVertex(x,j,vertices[0]);
+				getVertex(x,j+1,vertices[1]);
+				getVertex(x+1,j,vertices[2]);
+				callback->processTriangle(vertices,x,j);
+				//second triangle
+				getVertex(x+1,j,vertices[0]);
+				getVertex(x,j+1,vertices[1]);
+				getVertex(x+1,j+1,vertices[2]);
+				callback->processTriangle(vertices,x,j);
+			} else
+			{
+				//first triangle
+				getVertex(x,j,vertices[0]);
+				getVertex(x+1,j,vertices[1]);
+				getVertex(x+1,j+1,vertices[2]);
+				callback->processTriangle(vertices,x,j);
+				//second triangle
+				getVertex(x,j,vertices[0]);
+				getVertex(x+1,j+1,vertices[1]);
+				getVertex(x,j+1,vertices[2]);
+				callback->processTriangle(vertices,x,j);
+				
+			}
 		}
 	}
 

src/BulletCollision/CollisionShapes/btMultiSphereShape.h

@@ -46,6 +46,20 @@ public:
 
 	virtual void	batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
 	
+	int	getSphereCount() const
+	{
+		return m_numSpheres;
+	}
+
+	const btVector3&	getSpherePosition(int index) const
+	{
+		return m_localPositions[index];
+	}
+
+	btScalar	getSphereRadius(int index) const
+	{
+		return m_radi[index];
+	}
 
 	virtual int	getShapeType() const { return MULTI_SPHERE_SHAPE_PROXYTYPE; }