btMultiBodyConstraintSolver writes back the applied impulse for contact points

(added some debugging output for this in the demos, commented-out by default)

Demos3/AllBullet2Demos/main.cpp

@@ -180,11 +180,13 @@ int main(int argc, char* argv[])
 		
 		app->drawGrid();
 		
+		static int frameCount = 0;
+		frameCount++;
+
 		if (0)
 		{
 		char bla[1024];
-		static int frameCount = 0;
-		frameCount++;
+		
 		sprintf(bla,"Simple test frame %d", frameCount);
 		
 		app->drawText(bla,10,10);
@@ -197,6 +199,9 @@ int main(int argc, char* argv[])
 				unsigned long int	curTimeInMicroseconds = clock.getTimeMicroseconds();
 				unsigned long int diff = curTimeInMicroseconds-prevTimeInMicroseconds;
 				float deltaTimeInSeconds = (diff)*1.e-6;
+				//printf("---------------------------------------------------\n");
+				//printf("Framecount = %d\n",frameCount);
+
 				sCurrentDemo->stepSimulation(deltaTimeInSeconds);//1./60.f);
 				prevTimeInMicroseconds = curTimeInMicroseconds;
 			}

Demos3/bullet2/BasicDemo/BasicDemo.cpp

@@ -145,7 +145,8 @@ void	BasicDemo::renderScene()
 void	BasicDemo::stepSimulation(float dt)
 {
 	m_dynamicsWorld->stepSimulation(dt);
-/*
+
+	/*
 	//print applied force
 	//contact points
 	for (int i=0;i<m_dynamicsWorld->getDispatcher()->getNumManifolds();i++)
@@ -165,7 +166,7 @@ void	BasicDemo::stepSimulation(float dt)
 			}
 		}
 	}
-*/
+	*/
 }
 
 

Demos3/bullet2/FeatherstoneMultiBodyDemo/BulletMultiBodyDemos.cpp

@@ -610,8 +610,27 @@ void	FeatherstoneDemo1::renderScene()
 
 void	FeatherstoneDemo1::stepSimulation(float deltaTime)
 {
-	m_dynamicsWorld->stepSimulation(deltaTime,0);
+	m_dynamicsWorld->stepSimulation(deltaTime);//,0);
 //		CProfileManager::dumpAll();
+	/*
+	for (int i=0;i<m_dynamicsWorld->getDispatcher()->getNumManifolds();i++)
+	{
+		btPersistentManifold* contact = m_dynamicsWorld->getDispatcher()->getManifoldByIndexInternal(i);
+		for (int c=0;c<contact->getNumContacts();c++)
+		{
+			btManifoldPoint& pt = contact->getContactPoint(c);
+			btScalar dist = pt.getDistance();
+			if (dist< contact->getContactProcessingThreshold())
+			{
+				printf("normalImpulse[%d.%d] = %f\n",i,c,pt.m_appliedImpulse);
+				
+			} else
+			{
+				printf("?\n");
+			}
+		}
+	}
+	*/
 }
 
 

Demos3/bullet2/FeatherstoneMultiBodyDemo/MultiDofDemo.cpp

@@ -46,6 +46,25 @@ void	MultiDofDemo::stepSimulation(float deltaTime)
 	float internalTimeStep = 1./240.f;
 	m_dynamicsWorld->stepSimulation(deltaTime,10,internalTimeStep);
 //		CProfileManager::dumpAll();
+	/*
+	for (int i=0;i<m_dynamicsWorld->getDispatcher()->getNumManifolds();i++)
+	{
+		btPersistentManifold* contact = m_dynamicsWorld->getDispatcher()->getManifoldByIndexInternal(i);
+		for (int c=0;c<contact->getNumContacts();c++)
+		{
+			btManifoldPoint& pt = contact->getContactPoint(c);
+			btScalar dist = pt.getDistance();
+			if (dist< contact->getContactProcessingThreshold())
+			{
+				printf("normalImpulse[%d.%d] = %f\n",i,c,pt.m_appliedImpulse);
+				
+			} else
+			{
+				printf("?\n");
+			}
+		}
+	}
+	*/
 }