add support for the <interpenetrate>, which disables collisions between two bodies linked by a constraint.

Demos/ColladaDemo/ColladaConverter.cpp

@@ -624,7 +624,8 @@ void	ColladaConverter::prepareConstraints(ConstraintInput& input)
 								);
 						}
 
-
+						domBool interpenetrate = commonRef->getInterpenetrate()->getValue();
+						bool disableCollisionsBetweenLinkedBodies = interpenetrate;
 						//convert INF / -INF into lower > upper
 
 						//currently there is a hack in the DOM to detect INF / -INF
@@ -681,7 +682,8 @@ void	ColladaConverter::prepareConstraints(ConstraintInput& input)
 								linearLowerLimits,
 								linearUpperLimits,
 								angularLowerLimits,
-								angularUpperLimits
+								angularUpperLimits,
+								disableCollisionsBetweenLinkedBodies
 									);
 							} else
 							{
@@ -693,7 +695,8 @@ void	ColladaConverter::prepareConstraints(ConstraintInput& input)
 								linearLowerLimits,
 								linearUpperLimits,
 								angularLowerLimits,
-								angularUpperLimits
+								angularUpperLimits,
+								disableCollisionsBetweenLinkedBodies
 									);
 							}
 						} else

Demos/ColladaDemo/ColladaConverter.h

@@ -75,7 +75,8 @@ public:
 			const btVector3& linearMinLimits,
 			const btVector3& linearMaxLimits,
 			const btVector3& angularMinLimits,
-			const btVector3& angularMaxLimits
+			const btVector3& angularMaxLimits,
+			bool disableCollisionsBetweenLinkedBodies
 			) = 0;
 
 	virtual btRigidBody*  createRigidBody(bool isDynamic, 

Demos/ColladaDemo/ColladaDemo.cpp

@@ -54,7 +54,8 @@ class MyColladaConverter : public ColladaConverter
 			const btVector3& linearMinLimits,
 			const btVector3& linearMaxLimits,
 			const btVector3& angularMinLimits,
-			const btVector3& angularMaxLimits
+			const btVector3& angularMaxLimits,
+			bool disableCollisionsBetweenLinkedBodies
 			)
 		{
 			if (bodyRef)
@@ -78,7 +79,7 @@ class MyColladaConverter : public ColladaConverter
 				genericConstraint->setAngularLowerLimit(angularMinLimits);
 				genericConstraint->setAngularUpperLimit(angularMaxLimits);
 
-				m_demoApp->getDynamicsWorld()->addConstraint( genericConstraint );
+				m_demoApp->getDynamicsWorld()->addConstraint( genericConstraint,disableCollisionsBetweenLinkedBodies );
 				
 				return genericConstraint;
 			}