diff --git a/Demos/AllBulletDemos/Main.cpp b/Demos/AllBulletDemos/Main.cpp
index e3a7253f5..f54d0bef1 100644
--- a/Demos/AllBulletDemos/Main.cpp
+++ b/Demos/AllBulletDemos/Main.cpp
@@ -50,7 +50,7 @@ namespace
 	float viewY = 0.0f;
 	int tx, ty, tw, th;
 	int	gDrawAabb=0;
-	int	gDebugDraw=0;
+	int	gWireFrame=0;
 	int	gDebugContacts=0;
 	int gDebugNoDeactivation = 0;
 }
@@ -120,7 +120,7 @@ void SimulationLoop()
 	{
 		demo->setDebugMode(demo->getDebugMode() & (~btIDebugDraw::DBG_DrawAabb));
 	}
-	if (gDebugDraw)
+	if (gWireFrame)
 	{
 		demo->setDebugMode(demo->getDebugMode() |btIDebugDraw::DBG_DrawWireframe);
 	} else
@@ -284,7 +284,7 @@ int main(int argc, char** argv)
 	GLUI_Panel* drawPanel =	glui->add_panel("Draw");
 
 	glui->add_checkbox_to_panel(drawPanel, "AABBs", &gDrawAabb);
-	glui->add_checkbox_to_panel(drawPanel, "DebugDrawer", &gDebugDraw);
+	glui->add_checkbox_to_panel(drawPanel, "Wireframe", &gWireFrame);
 	glui->add_checkbox_to_panel(drawPanel, "Contacts", &gDebugContacts);
 
 //	glui->add_checkbox_to_panel(drawPanel, "Impulses", &settings.drawImpulses);
diff --git a/Demos/Benchmarks/BenchmarkDemo.cpp b/Demos/Benchmarks/BenchmarkDemo.cpp
index 1841ccb88..7bb6eb1d2 100644
--- a/Demos/Benchmarks/BenchmarkDemo.cpp
+++ b/Demos/Benchmarks/BenchmarkDemo.cpp
@@ -274,7 +274,6 @@ void	BenchmarkDemo::initPhysics()
 	btVector3 worldAabbMax(10000,10000,10000);
 	m_overlappingPairCache = new btAxisSweep3(worldAabbMin,worldAabbMax,3500);
 	//m_overlappingPairCache = new btDbvtBroadphase();
-		
 
 	///the default constraint solver. For parallel processing you can use a different solver (see Extras/BulletMultiThreaded)
 	btSequentialImpulseConstraintSolver* sol = new btSequentialImpulseConstraintSolver;
diff --git a/Demos/BspDemo/BspDemo.cpp b/Demos/BspDemo/BspDemo.cpp
index 4ea66cd21..f20e3aae0 100644
--- a/Demos/BspDemo/BspDemo.cpp
+++ b/Demos/BspDemo/BspDemo.cpp
@@ -147,7 +147,8 @@ void	BspDemo::initPhysics(char* bspfilename)
 	m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
 	btVector3 worldMin(-1000,-1000,-1000);
 	btVector3 worldMax(1000,1000,1000);
-	m_broadphase = new btAxisSweep3(worldMin,worldMax);
+	m_broadphase = new btDbvtBroadphase();
+	//m_broadphase = new btAxisSweep3(worldMin,worldMax);
 	//btOverlappingPairCache* broadphase = new btSimpleBroadphase();
 	m_solver = new btSequentialImpulseConstraintSolver();
 	//ConstraintSolver* solver = new OdeConstraintSolver;
@@ -235,6 +236,9 @@ void BspDemo::displayCallback(void) {
 
 	renderme();
 
+	//optional but useful: debug drawing
+	if (m_dynamicsWorld)
+		m_dynamicsWorld->debugDrawWorld();
 
 	glFlush();
 	glutSwapBuffers();
diff --git a/Demos/CcdPhysicsDemo/CcdPhysicsDemo.cpp b/Demos/CcdPhysicsDemo/CcdPhysicsDemo.cpp
index d275a1d0f..6ffacea4a 100644
--- a/Demos/CcdPhysicsDemo/CcdPhysicsDemo.cpp
+++ b/Demos/CcdPhysicsDemo/CcdPhysicsDemo.cpp
@@ -240,7 +240,7 @@ void CcdPhysicsDemo::clientMoveAndDisplay()
 		
 		//optional but useful: debug drawing
 		m_dynamicsWorld->debugDrawWorld();
-
+		
 #ifdef VERBOSE_TIMESTEPPING_CONSOLEOUTPUT
 		if (!numSimSteps)
 			printf("Interpolated transforms\n");
@@ -295,9 +295,12 @@ void CcdPhysicsDemo::displayCallback(void) {
 
 	glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); 
 
-	
 	renderme();
 
+	//optional but useful: debug drawing
+	if (m_dynamicsWorld)
+		m_dynamicsWorld->debugDrawWorld();
+
 	glFlush();
 	glutSwapBuffers();
 }
diff --git a/Demos/CharacterDemo/CharacterDemo.cpp b/Demos/CharacterDemo/CharacterDemo.cpp
index 4420a4686..c852d4ba1 100644
--- a/Demos/CharacterDemo/CharacterDemo.cpp
+++ b/Demos/CharacterDemo/CharacterDemo.cpp
@@ -1,528 +1,629 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-/// September 2006: CharacterDemo is work in progress, this file is mostly just a placeholder
-/// This CharacterDemo file is very early in development, please check it later
-/// One todo is a basic engine model:
-/// A function that maps user input (throttle) into torque/force applied on the wheels
-/// with gears etc.
-#include "btBulletDynamicsCommon.h"
-#include "BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h"
-
-#include "GLDebugDrawer.h"
-#include <stdio.h> //printf debugging
-
-#include "GL_ShapeDrawer.h"
-
-#include "GlutStuff.h"
-#include "CharacterDemo.h"
-#include "CharacterController.h"
-
-const int maxProxies = 32766;
-const int maxOverlap = 65535;
-
-static int gForward = 0;
-static int gBackward = 0;
-static int gLeft = 0;
-static int gRight = 0;
-static int gJump = 0;
-
-CharacterDemo::CharacterDemo()
-:
-m_cameraHeight(4.f),
-m_minCameraDistance(3.f),
-m_maxCameraDistance(10.f),
-m_indexVertexArrays(0),
-m_vertices(0)
-{
-	m_character = 0;
-	m_cameraPosition = btVector3(30,30,30);
-}
-
-CharacterDemo::~CharacterDemo()
-{
-	//cleanup in the reverse order of creation/initialization
-	if (m_character)
-		m_character->destroy (m_dynamicsWorld);
-
-	//remove the rigidbodies from the dynamics world and delete them
-	int i;
-	for (i=m_dynamicsWorld->getNumCollisionObjects()-1; i>=0 ;i--)
-	{
-		btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i];
-		btRigidBody* body = btRigidBody::upcast(obj);
-		if (body && body->getMotionState())
-		{
-			delete body->getMotionState();
-		}
-		m_dynamicsWorld->removeCollisionObject( obj );
-		delete obj;
-	}
-
-	//delete collision shapes
-	for (int j=0;j<m_collisionShapes.size();j++)
-	{
-		btCollisionShape* shape = m_collisionShapes[j];
-		delete shape;
-	}
-
-	delete m_indexVertexArrays;
-	delete m_vertices;
-
-	//delete dynamics world
-	delete m_dynamicsWorld;
-
-	//delete solver
-	delete m_constraintSolver;
-
-	//delete broadphase
-	delete m_overlappingPairCache;
-
-	//delete dispatcher
-	delete m_dispatcher;
-
-	delete m_collisionConfiguration;
-
-}
-
-void CharacterDemo::initPhysics()
-{
-
-	btCollisionShape* groundShape = new btBoxShape(btVector3(50,3,50));
-	m_collisionShapes.push_back(groundShape);
-	m_collisionConfiguration = new btDefaultCollisionConfiguration();
-	m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
-	btVector3 worldMin(-1000,-1000,-1000);
-	btVector3 worldMax(1000,1000,1000);
-	m_overlappingPairCache = new btAxisSweep3(worldMin,worldMax);
-	m_constraintSolver = new btSequentialImpulseConstraintSolver();
-	m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_overlappingPairCache,m_constraintSolver,m_collisionConfiguration);
-	//m_dynamicsWorld->setGravity(btVector3(0,0,0));
-	btTransform tr;
-	tr.setIdentity();
-
-//either use heightfield or triangle mesh
-#define  USE_TRIMESH_GROUND 1
-#ifdef USE_TRIMESH_GROUND
-	int i;
-
-const float TRIANGLE_SIZE=20.f;
-
-	//create a triangle-mesh ground
-	int vertStride = sizeof(btVector3);
-	int indexStride = 3*sizeof(int);
-
-	const int NUM_VERTS_X = 20;
-	const int NUM_VERTS_Y = 20;
-	const int totalVerts = NUM_VERTS_X*NUM_VERTS_Y;
-	
-	const int totalTriangles = 2*(NUM_VERTS_X-1)*(NUM_VERTS_Y-1);
-
-	m_vertices = new btVector3[totalVerts];
-	int*	gIndices = new int[totalTriangles*3];
-
-	
-
-	for ( i=0;i<NUM_VERTS_X;i++)
-	{
-		for (int j=0;j<NUM_VERTS_Y;j++)
-		{
-			float wl = .2f;
-			//height set to zero, but can also use curved landscape, just uncomment out the code
-			float height = 20.f*sinf(float(i)*wl)*cosf(float(j)*wl);
-#ifdef FORCE_ZAXIS_UP
-			m_vertices[i+j*NUM_VERTS_X].setValue(
-				(i-NUM_VERTS_X*0.5f)*TRIANGLE_SIZE,
-				(j-NUM_VERTS_Y*0.5f)*TRIANGLE_SIZE,
-				height
-				);
-
-#else
-			m_vertices[i+j*NUM_VERTS_X].setValue(
-				(i-NUM_VERTS_X*0.5f)*TRIANGLE_SIZE,
-				height,
-				(j-NUM_VERTS_Y*0.5f)*TRIANGLE_SIZE);
-#endif
-
-		}
-	}
-
-	int index=0;
-	for ( i=0;i<NUM_VERTS_X-1;i++)
-	{
-		for (int j=0;j<NUM_VERTS_Y-1;j++)
-		{
-			gIndices[index++] = j*NUM_VERTS_X+i;
-			gIndices[index++] = j*NUM_VERTS_X+i+1;
-			gIndices[index++] = (j+1)*NUM_VERTS_X+i+1;
-
-			gIndices[index++] = j*NUM_VERTS_X+i;
-			gIndices[index++] = (j+1)*NUM_VERTS_X+i+1;
-			gIndices[index++] = (j+1)*NUM_VERTS_X+i;
-		}
-	}
-	
-	m_indexVertexArrays = new btTriangleIndexVertexArray(totalTriangles,
-		gIndices,
-		indexStride,
-		totalVerts,(btScalar*) &m_vertices[0].x(),vertStride);
-
-	bool useQuantizedAabbCompression = true;
-	groundShape = new btBvhTriangleMeshShape(m_indexVertexArrays,useQuantizedAabbCompression);
-	
-	tr.setOrigin(btVector3(0,-4.5f,0));
-
-#else
-	//testing btHeightfieldTerrainShape
-	int width=128;
-	int length=128;
-	unsigned char* heightfieldData = new unsigned char[width*length];
-	{
-		for (int i=0;i<width*length;i++)
-		{
-			heightfieldData[i]=0;
-		}
-	}
-
-	char*	filename="heightfield128x128.raw";
-	FILE* heightfieldFile = fopen(filename,"r");
-	if (!heightfieldFile)
-	{
-		filename="../../heightfield128x128.raw";
-		heightfieldFile = fopen(filename,"r");
-	}
-	if (heightfieldFile)
-	{
-		int numBytes =fread(heightfieldData,1,width*length,heightfieldFile);
-		//btAssert(numBytes);
-		if (!numBytes)
-		{
-			printf("couldn't read heightfield at %s\n",filename);
-		}
-		fclose (heightfieldFile);
-	}
-	
-
-	btScalar maxHeight = 20000.f;
-	
-	bool useFloatDatam=false;
-	bool flipQuadEdges=false;
-
-	btHeightfieldTerrainShape* heightFieldShape = new btHeightfieldTerrainShape(width,length,heightfieldData,maxHeight,upIndex,useFloatDatam,flipQuadEdges);;
-	groundShape = heightFieldShape;
-	
-	heightFieldShape->setUseDiamondSubdivision(true);
-
-	btVector3 localScaling(20,20,20);
-	localScaling[upIndex]=1.f;
-	groundShape->setLocalScaling(localScaling);
-
-	tr.setOrigin(btVector3(0,-64.5f,0));
-
-#endif //
-
-	m_collisionShapes.push_back(groundShape);
-	//create ground object
-	localCreateRigidBody(0,tr,groundShape);
-
-	m_character = new CharacterController ();
-	m_character->setup (m_dynamicsWorld);
-
-#define CUBE_HALF_EXTENTS 0.5
-#define EXTRA_HEIGHT 10.0
-	btBoxShape* boxShape = new btBoxShape (btVector3(1.0, 1.0, 1.0));
-	m_collisionShapes.push_back (boxShape);
-#define DO_WALL
-#ifdef DO_WALL
-	for (i=0;i<50;i++)
-	{
-		btCollisionShape* shape = boxShape;
-		//shape->setMargin(gCollisionMargin);
-
-		bool isDyna = i>0;
-
-		btTransform trans;
-		trans.setIdentity();
-		
-		if (i>0)
-		{
-			//stack them
-			int colsize = 10;
-			int row = (i*CUBE_HALF_EXTENTS*2)/(colsize*2*CUBE_HALF_EXTENTS);
-			int row2 = row;
-			int col = (i)%(colsize)-colsize/2;
-
-
-			if (col>3)
-			{
-				col=11;
-				row2 |=1;
-			}
-
-			btVector3 pos(col*2*CUBE_HALF_EXTENTS + (row2%2)*CUBE_HALF_EXTENTS,
-				row*2*CUBE_HALF_EXTENTS+CUBE_HALF_EXTENTS+EXTRA_HEIGHT,0);
-
-			trans.setOrigin(pos);
-		} else
-		{
-			trans.setOrigin(btVector3(0,EXTRA_HEIGHT-CUBE_HALF_EXTENTS,0));
-		}
-
-		float mass = 1.f;
-
-		if (!isDyna)
-			mass = 0.f;
-	
-		btRigidBody* body = localCreateRigidBody(mass,trans,shape);
-#ifdef USE_KINEMATIC_GROUND
-		if (mass == 0.f)
-		{
-			body->setCollisionFlags( body->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
-			body->setActivationState(DISABLE_DEACTIVATION);
-		}
-#endif //USE_KINEMATIC_GROUND
-		
-	}
-#endif
-	
-	clientResetScene();
-	
-	setCameraDistance(26.f);
-
-}
-
-
-//to be implemented by the demo
-void CharacterDemo::renderme()
-{
-	updateCamera();
-
-	DemoApplication::renderme();
-}
-
-void CharacterDemo::clientMoveAndDisplay()
-{
-
-	glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); 
-
-	float dt = getDeltaTimeMicroseconds() * 0.000001f;
-
-	/* Character stuff &*/
-	if (m_character)
-	{			
-		m_character->preStep (m_dynamicsWorld);
-		m_character->playerStep (dt, gForward, gBackward, gLeft, gRight);
-		if (gJump)
-		{
-			gJump = 0;
-			m_character->jump ();
-		}
-	}
-	
-	if (m_dynamicsWorld)
-	{
-		//during idle mode, just run 1 simulation step maximum
-		int maxSimSubSteps = m_idle ? 1 : 2;
-		if (m_idle)
-			dt = 1.0/420.f;
-
-		int numSimSteps = m_dynamicsWorld->stepSimulation(dt,maxSimSubSteps);
-		//optional but useful: debug drawing
-		m_dynamicsWorld->debugDrawWorld();
-
-
-//#define VERBOSE_FEEDBACK
-#ifdef VERBOSE_FEEDBACK
-		if (!numSimSteps)
-			printf("Interpolated transforms\n");
-		else
-		{
-			if (numSimSteps > maxSimSubSteps)
-			{
-				//detect dropping frames
-				printf("Dropped (%i) simulation steps out of %i\n",numSimSteps - maxSimSubSteps,numSimSteps);
-			} else
-			{
-				printf("Simulated (%i) steps\n",numSimSteps);
-			}
-		}
-#endif //VERBOSE_FEEDBACK
-
-	}
-
-	
-	
-
-
-
-
-#ifdef USE_QUICKPROF 
-        btProfiler::beginBlock("render"); 
-#endif //USE_QUICKPROF 
-
-
-	renderme(); 
-
-#ifdef USE_QUICKPROF 
-        btProfiler::endBlock("render"); 
-#endif 
-	
-
-	glFlush();
-	glutSwapBuffers();
-
-}
-
-
-
-void CharacterDemo::displayCallback(void) 
-{
-	glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); 
-
-	renderme();
-
-
-	glFlush();
-	glutSwapBuffers();
-}
-
-
-
-void CharacterDemo::clientResetScene()
-{	
-	m_dynamicsWorld->getBroadphase()->getOverlappingPairCache()->cleanProxyFromPairs(m_character->getRigidBody()->getBroadphaseHandle(),getDynamicsWorld()->getDispatcher());
-	
-	btTransform startTransform;
-	startTransform.setIdentity ();
-	startTransform.setOrigin (btVector3(0.0, 2.0, 0.0));
-	
-	m_character->getRigidBody()->getMotionState()->setWorldTransform(startTransform);
-	m_character->getRigidBody()->setLinearVelocity(btVector3(0,0,0));
-	m_character->getRigidBody()->setAngularVelocity(btVector3(0,0,0));
-
-}
-
-void CharacterDemo::specialKeyboardUp(int key, int x, int y)
-{
-   switch (key) 
-    {
-    case GLUT_KEY_UP:
-	{
-		gForward = 0;
-	}
-	break;
-	case GLUT_KEY_DOWN:
-	{	
-		gBackward = 0;
-	}
-	break;
-	case GLUT_KEY_LEFT:
-	{
-		gLeft = 0;
-	}
-	break;
-	case GLUT_KEY_RIGHT:
-	{
-		gRight = 0;
-	}
-	break;
-	default:
-		DemoApplication::specialKeyboardUp(key,x,y);
-        break;
-    }
-}
-
-
-void CharacterDemo::specialKeyboard(int key, int x, int y)
-{
-
-//	printf("key = %i x=%i y=%i\n",key,x,y);
-
-    switch (key) 
-    {
-    case GLUT_KEY_UP:
-	{
-		gForward = 1;
-	}
-	break;
-	case GLUT_KEY_DOWN:
-	{	
-		gBackward = 1;
-	}
-	break;
-	case GLUT_KEY_LEFT:
-	{
-		gLeft = 1;
-	}
-	break;
-	case GLUT_KEY_RIGHT:
-	{
-		gRight = 1;
-	}
-	break;
-	case GLUT_KEY_F1:
-	{
-		if (m_character && m_character->canJump())
-			gJump = 1;
-	}
-	break;
-	default:
-		DemoApplication::specialKeyboard(key,x,y);
-        break;
-    }
-
-//	glutPostRedisplay();
-
-
-}
-
-void	CharacterDemo::updateCamera()
-{
-	
-//#define DISABLE_CAMERA 1
-#ifdef DISABLE_CAMERA
-	DemoApplication::updateCamera();
-	return;
-#endif //DISABLE_CAMERA
-
-	glMatrixMode(GL_PROJECTION);
-	glLoadIdentity();
-
-	btTransform characterWorldTrans;
-
-	//look at the vehicle
-	m_character->getRigidBody()->getMotionState()->getWorldTransform(characterWorldTrans);
-	btVector3 up = characterWorldTrans.getBasis()[1];
-	btVector3 backward = -characterWorldTrans.getBasis()[2];
-	up.normalize ();
-	backward.normalize ();
-
-	m_cameraTargetPosition = characterWorldTrans.getOrigin();
-	m_cameraPosition = m_cameraTargetPosition + up * 5.0 + backward * 5.0;
-		
-	//update OpenGL camera settings
-    glFrustum(-1.0, 1.0, -1.0, 1.0, 1.0, 10000.0);
-
-	 glMatrixMode(GL_MODELVIEW);
-	 glLoadIdentity();
-
-    gluLookAt(m_cameraPosition[0],m_cameraPosition[1],m_cameraPosition[2],
-		      m_cameraTargetPosition[0],m_cameraTargetPosition[1], m_cameraTargetPosition[2],
-			  m_cameraUp.getX(),m_cameraUp.getY(),m_cameraUp.getZ());
-  
-
-
-}
-
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+/// September 2006: CharacterDemo is work in progress, this file is mostly just a placeholder
+/// This CharacterDemo file is very early in development, please check it later
+/// One todo is a basic engine model:
+/// A function that maps user input (throttle) into torque/force applied on the wheels
+/// with gears etc.
+#include "btBulletDynamicsCommon.h"
+#include "BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h"
+
+#include "GLDebugDrawer.h"
+#include <stdio.h> //printf debugging
+
+#include "GL_ShapeDrawer.h"
+
+#include "GlutStuff.h"
+#include "CharacterDemo.h"
+#include "CharacterController.h"
+
+const int maxProxies = 32766;
+const int maxOverlap = 65535;
+
+static int gForward = 0;
+static int gBackward = 0;
+static int gLeft = 0;
+static int gRight = 0;
+static int gJump = 0;
+
+CharacterDemo::CharacterDemo()
+:
+m_cameraHeight(4.f),
+m_minCameraDistance(3.f),
+m_maxCameraDistance(10.f),
+m_indexVertexArrays(0),
+m_vertices(0)
+{
+	m_character = 0;
+	m_cameraPosition = btVector3(30,30,30);
+}
+
+CharacterDemo::~CharacterDemo()
+{
+	//cleanup in the reverse order of creation/initialization
+	if (m_character)
+		m_character->destroy (m_dynamicsWorld);
+
+	//remove the rigidbodies from the dynamics world and delete them
+	int i;
+	for (i=m_dynamicsWorld->getNumCollisionObjects()-1; i>=0 ;i--)
+	{
+		btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i];
+		btRigidBody* body = btRigidBody::upcast(obj);
+		if (body && body->getMotionState())
+		{
+			delete body->getMotionState();
+		}
+		m_dynamicsWorld->removeCollisionObject( obj );
+		delete obj;
+	}
+
+	//delete collision shapes
+	for (int j=0;j<m_collisionShapes.size();j++)
+	{
+		btCollisionShape* shape = m_collisionShapes[j];
+		delete shape;
+	}
+
+	delete m_indexVertexArrays;
+	delete m_vertices;
+
+	//delete dynamics world
+	delete m_dynamicsWorld;
+
+	//delete solver
+	delete m_constraintSolver;
+
+	//delete broadphase
+	delete m_overlappingPairCache;
+
+	//delete dispatcher
+	delete m_dispatcher;
+
+	delete m_collisionConfiguration;
+
+}
+
+class MyCustomOverlappingPairCallback : public btOverlappingPairCallback
+{
+
+	CharacterDemo*	m_characterDemo;
+	btCollisionObject*	m_characterCollider;
+
+	btHashedOverlappingPairCache*	m_hashPairCache;
+
+public:
+
+	MyCustomOverlappingPairCallback(CharacterDemo* demo,btCollisionObject* characterCollider)
+		:m_characterDemo(demo),
+		m_characterCollider(characterCollider)
+	{
+		m_hashPairCache = new btHashedOverlappingPairCache();
+	}
+	
+	virtual ~MyCustomOverlappingPairCallback()
+	{
+		delete m_hashPairCache;
+	}
+
+	virtual btBroadphasePair*	addOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1)
+	{
+		if (proxy0->m_clientObject==m_characterCollider || proxy1->m_clientObject==m_characterCollider)
+		{
+			printf("addOverlappingPair (%x,%x)\n",proxy0,proxy1);
+			return m_hashPairCache->addOverlappingPair(proxy0,proxy1);
+		}
+		return 0;
+	}
+
+	virtual void*	removeOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1,btDispatcher* dispatcher)
+	{
+		if (proxy0->m_clientObject==m_characterCollider || proxy1->m_clientObject==m_characterCollider)
+		{
+			printf("removeOverlappingPair (%x,%x)\n",proxy0,proxy1);
+			return m_hashPairCache->removeOverlappingPair(proxy0,proxy1,dispatcher);
+		}
+		return 0;
+	}
+
+	virtual void	removeOverlappingPairsContainingProxy(btBroadphaseProxy* proxy0,btDispatcher* dispatcher)
+	{
+		if (proxy0->m_clientObject==m_characterCollider)
+		{
+			printf("removeOverlappingPairsContainingProxy (%x)\n",proxy0);
+			m_hashPairCache->removeOverlappingPairsContainingProxy(proxy0,dispatcher);
+		}
+	}
+	
+	btBroadphasePairArray&	getOverlappingPairArray()
+	{
+		return m_hashPairCache->getOverlappingPairArray();
+	}
+
+};
+
+void CharacterDemo::initPhysics()
+{
+
+	btCollisionShape* groundShape = new btBoxShape(btVector3(50,3,50));
+	m_collisionShapes.push_back(groundShape);
+	m_collisionConfiguration = new btDefaultCollisionConfiguration();
+	m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
+	btVector3 worldMin(-1000,-1000,-1000);
+	btVector3 worldMax(1000,1000,1000);
+	btAxisSweep3* sweepBP = new btAxisSweep3(worldMin,worldMax);
+	m_overlappingPairCache = sweepBP;
+		
+	m_constraintSolver = new btSequentialImpulseConstraintSolver();
+	m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_overlappingPairCache,m_constraintSolver,m_collisionConfiguration);
+	//m_dynamicsWorld->setGravity(btVector3(0,0,0));
+	btTransform tr;
+	tr.setIdentity();
+
+//either use heightfield or triangle mesh
+#define  USE_TRIMESH_GROUND 1
+#ifdef USE_TRIMESH_GROUND
+	int i;
+
+const float TRIANGLE_SIZE=20.f;
+
+	//create a triangle-mesh ground
+	int vertStride = sizeof(btVector3);
+	int indexStride = 3*sizeof(int);
+
+	const int NUM_VERTS_X = 20;
+	const int NUM_VERTS_Y = 20;
+	const int totalVerts = NUM_VERTS_X*NUM_VERTS_Y;
+	
+	const int totalTriangles = 2*(NUM_VERTS_X-1)*(NUM_VERTS_Y-1);
+
+	m_vertices = new btVector3[totalVerts];
+	int*	gIndices = new int[totalTriangles*3];
+
+	
+
+	for ( i=0;i<NUM_VERTS_X;i++)
+	{
+		for (int j=0;j<NUM_VERTS_Y;j++)
+		{
+			float wl = .2f;
+			//height set to zero, but can also use curved landscape, just uncomment out the code
+			float height = 20.f*sinf(float(i)*wl)*cosf(float(j)*wl);
+#ifdef FORCE_ZAXIS_UP
+			m_vertices[i+j*NUM_VERTS_X].setValue(
+				(i-NUM_VERTS_X*0.5f)*TRIANGLE_SIZE,
+				(j-NUM_VERTS_Y*0.5f)*TRIANGLE_SIZE,
+				height
+				);
+
+#else
+			m_vertices[i+j*NUM_VERTS_X].setValue(
+				(i-NUM_VERTS_X*0.5f)*TRIANGLE_SIZE,
+				height,
+				(j-NUM_VERTS_Y*0.5f)*TRIANGLE_SIZE);
+#endif
+
+		}
+	}
+
+	int index=0;
+	for ( i=0;i<NUM_VERTS_X-1;i++)
+	{
+		for (int j=0;j<NUM_VERTS_Y-1;j++)
+		{
+			gIndices[index++] = j*NUM_VERTS_X+i;
+			gIndices[index++] = j*NUM_VERTS_X+i+1;
+			gIndices[index++] = (j+1)*NUM_VERTS_X+i+1;
+
+			gIndices[index++] = j*NUM_VERTS_X+i;
+			gIndices[index++] = (j+1)*NUM_VERTS_X+i+1;
+			gIndices[index++] = (j+1)*NUM_VERTS_X+i;
+		}
+	}
+	
+	m_indexVertexArrays = new btTriangleIndexVertexArray(totalTriangles,
+		gIndices,
+		indexStride,
+		totalVerts,(btScalar*) &m_vertices[0].x(),vertStride);
+
+	bool useQuantizedAabbCompression = true;
+	groundShape = new btBvhTriangleMeshShape(m_indexVertexArrays,useQuantizedAabbCompression);
+	
+	tr.setOrigin(btVector3(0,-4.5f,0));
+
+#else
+	//testing btHeightfieldTerrainShape
+	int width=128;
+	int length=128;
+	unsigned char* heightfieldData = new unsigned char[width*length];
+	{
+		for (int i=0;i<width*length;i++)
+		{
+			heightfieldData[i]=0;
+		}
+	}
+
+	char*	filename="heightfield128x128.raw";
+	FILE* heightfieldFile = fopen(filename,"r");
+	if (!heightfieldFile)
+	{
+		filename="../../heightfield128x128.raw";
+		heightfieldFile = fopen(filename,"r");
+	}
+	if (heightfieldFile)
+	{
+		int numBytes =fread(heightfieldData,1,width*length,heightfieldFile);
+		//btAssert(numBytes);
+		if (!numBytes)
+		{
+			printf("couldn't read heightfield at %s\n",filename);
+		}
+		fclose (heightfieldFile);
+	}
+	
+
+	btScalar maxHeight = 20000.f;
+	
+	bool useFloatDatam=false;
+	bool flipQuadEdges=false;
+
+	btHeightfieldTerrainShape* heightFieldShape = new btHeightfieldTerrainShape(width,length,heightfieldData,maxHeight,upIndex,useFloatDatam,flipQuadEdges);;
+	groundShape = heightFieldShape;
+	
+	heightFieldShape->setUseDiamondSubdivision(true);
+
+	btVector3 localScaling(20,20,20);
+	localScaling[upIndex]=1.f;
+	groundShape->setLocalScaling(localScaling);
+
+	tr.setOrigin(btVector3(0,-64.5f,0));
+
+#endif //
+
+	m_collisionShapes.push_back(groundShape);
+	//create ground object
+	localCreateRigidBody(0,tr,groundShape);
+
+	m_character = new CharacterController ();
+	m_character->setup (m_dynamicsWorld);
+
+	//we need to remove the rigid body from the broadphase in order to register all collisions
+	m_dynamicsWorld->removeRigidBody(m_character->getRigidBody());
+	//some custom callback sample
+	m_customPairCallback = new MyCustomOverlappingPairCallback(this,m_character->getRigidBody());
+	sweepBP->setOverlappingPairUserCallback(m_customPairCallback);
+	m_dynamicsWorld->addRigidBody(m_character->getRigidBody());
+
+
+#define CUBE_HALF_EXTENTS 0.5
+#define EXTRA_HEIGHT 10.0
+	btBoxShape* boxShape = new btBoxShape (btVector3(1.0, 1.0, 1.0));
+	m_collisionShapes.push_back (boxShape);
+#define DO_WALL
+#ifdef DO_WALL
+	for (i=0;i<50;i++)
+	{
+		btCollisionShape* shape = boxShape;
+		//shape->setMargin(gCollisionMargin);
+
+		bool isDyna = i>0;
+
+		btTransform trans;
+		trans.setIdentity();
+		
+		if (i>0)
+		{
+			//stack them
+			int colsize = 10;
+			int row = (i*CUBE_HALF_EXTENTS*2)/(colsize*2*CUBE_HALF_EXTENTS);
+			int row2 = row;
+			int col = (i)%(colsize)-colsize/2;
+
+
+			if (col>3)
+			{
+				col=11;
+				row2 |=1;
+			}
+
+			btVector3 pos(col*2*CUBE_HALF_EXTENTS + (row2%2)*CUBE_HALF_EXTENTS,
+				row*2*CUBE_HALF_EXTENTS+CUBE_HALF_EXTENTS+EXTRA_HEIGHT,0);
+
+			trans.setOrigin(pos);
+		} else
+		{
+			trans.setOrigin(btVector3(0,EXTRA_HEIGHT-CUBE_HALF_EXTENTS,0));
+		}
+
+		float mass = 1.f;
+
+		if (!isDyna)
+			mass = 0.f;
+	
+		btRigidBody* body = localCreateRigidBody(mass,trans,shape);
+#ifdef USE_KINEMATIC_GROUND
+		if (mass == 0.f)
+		{
+			body->setCollisionFlags( body->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
+			body->setActivationState(DISABLE_DEACTIVATION);
+		}
+#endif //USE_KINEMATIC_GROUND
+		
+	}
+#endif
+	
+	clientResetScene();
+	
+	setCameraDistance(26.f);
+
+}
+
+
+//to be implemented by the demo
+void CharacterDemo::renderme()
+{
+	updateCamera();
+
+	DemoApplication::renderme();
+}
+
+void CharacterDemo::clientMoveAndDisplay()
+{
+
+	glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); 
+
+	float dt = getDeltaTimeMicroseconds() * 0.000001f;
+
+	/* Character stuff &*/
+	if (m_character)
+	{			
+		m_character->preStep (m_dynamicsWorld);
+		m_character->playerStep (dt, gForward, gBackward, gLeft, gRight);
+		if (gJump)
+		{
+			gJump = 0;
+			m_character->jump ();
+		}
+	}
+
+	printf("numPairs = %d\n",m_customPairCallback->getOverlappingPairArray().size());
+	{
+		btManifoldArray	manifoldArray;
+		for (int i=0;i<m_customPairCallback->getOverlappingPairArray().size();i++)
+		{
+			manifoldArray.clear();
+			
+			const btBroadphasePair& pair = m_customPairCallback->getOverlappingPairArray()[i];
+			btBroadphasePair* collisionPair = m_overlappingPairCache->getOverlappingPairCache()->findPair(pair.m_pProxy0,pair.m_pProxy1);
+
+			if (collisionPair->m_algorithm)
+				collisionPair->m_algorithm->getAllContactManifolds(manifoldArray);
+
+			for (int j=0;j<manifoldArray.size();j++)
+			{
+				btPersistentManifold* manifold = manifoldArray[j];
+				for (int p=0;p<manifold->getNumContacts();p++)
+				{
+					const btManifoldPoint&pt = manifold->getContactPoint(p);
+
+					m_dynamicsWorld->getDebugDrawer()->drawContactPoint(pt.getPositionWorldOnB(),pt.m_normalWorldOnB,pt.getDistance(),pt.getLifeTime(),btVector3(1.f,1.f,0.f));
+				}
+			}
+		}
+	}
+
+
+	
+	if (m_dynamicsWorld)
+	{
+		//during idle mode, just run 1 simulation step maximum
+		int maxSimSubSteps = m_idle ? 1 : 2;
+		if (m_idle)
+			dt = 1.0/420.f;
+
+		int numSimSteps = m_dynamicsWorld->stepSimulation(dt,maxSimSubSteps);
+		
+		//optional but useful: debug drawing
+		if (m_dynamicsWorld)
+			m_dynamicsWorld->debugDrawWorld();
+
+//#define VERBOSE_FEEDBACK
+#ifdef VERBOSE_FEEDBACK
+		if (!numSimSteps)
+			printf("Interpolated transforms\n");
+		else
+		{
+			if (numSimSteps > maxSimSubSteps)
+			{
+				//detect dropping frames
+				printf("Dropped (%i) simulation steps out of %i\n",numSimSteps - maxSimSubSteps,numSimSteps);
+			} else
+			{
+				printf("Simulated (%i) steps\n",numSimSteps);
+			}
+		}
+#endif //VERBOSE_FEEDBACK
+
+	}
+
+	
+	
+
+
+
+
+#ifdef USE_QUICKPROF 
+        btProfiler::beginBlock("render"); 
+#endif //USE_QUICKPROF 
+
+
+	renderme(); 
+
+#ifdef USE_QUICKPROF 
+        btProfiler::endBlock("render"); 
+#endif 
+	
+
+	glFlush();
+	glutSwapBuffers();
+
+}
+
+
+
+void CharacterDemo::displayCallback(void) 
+{
+	glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); 
+
+	renderme();
+
+	//optional but useful: debug drawing
+	if (m_dynamicsWorld)
+		m_dynamicsWorld->debugDrawWorld();
+
+
+	glFlush();
+	glutSwapBuffers();
+}
+
+
+
+void CharacterDemo::clientResetScene()
+{	
+	m_dynamicsWorld->getBroadphase()->getOverlappingPairCache()->cleanProxyFromPairs(m_character->getRigidBody()->getBroadphaseHandle(),getDynamicsWorld()->getDispatcher());
+	
+	btTransform startTransform;
+	startTransform.setIdentity ();
+	startTransform.setOrigin (btVector3(0.0, 2.0, 0.0));
+	
+	m_character->getRigidBody()->getMotionState()->setWorldTransform(startTransform);
+	m_character->getRigidBody()->setLinearVelocity(btVector3(0,0,0));
+	m_character->getRigidBody()->setAngularVelocity(btVector3(0,0,0));
+
+}
+
+void CharacterDemo::specialKeyboardUp(int key, int x, int y)
+{
+   switch (key) 
+    {
+    case GLUT_KEY_UP:
+	{
+		gForward = 0;
+	}
+	break;
+	case GLUT_KEY_DOWN:
+	{	
+		gBackward = 0;
+	}
+	break;
+	case GLUT_KEY_LEFT:
+	{
+		gLeft = 0;
+	}
+	break;
+	case GLUT_KEY_RIGHT:
+	{
+		gRight = 0;
+	}
+	break;
+	default:
+		DemoApplication::specialKeyboardUp(key,x,y);
+        break;
+    }
+}
+
+
+void CharacterDemo::specialKeyboard(int key, int x, int y)
+{
+
+//	printf("key = %i x=%i y=%i\n",key,x,y);
+
+    switch (key) 
+    {
+    case GLUT_KEY_UP:
+	{
+		gForward = 1;
+	}
+	break;
+	case GLUT_KEY_DOWN:
+	{	
+		gBackward = 1;
+	}
+	break;
+	case GLUT_KEY_LEFT:
+	{
+		gLeft = 1;
+	}
+	break;
+	case GLUT_KEY_RIGHT:
+	{
+		gRight = 1;
+	}
+	break;
+	case GLUT_KEY_F1:
+	{
+		if (m_character && m_character->canJump())
+			gJump = 1;
+	}
+	break;
+	default:
+		DemoApplication::specialKeyboard(key,x,y);
+        break;
+    }
+
+//	glutPostRedisplay();
+
+
+}
+
+void	CharacterDemo::updateCamera()
+{
+	
+//#define DISABLE_CAMERA 1
+#ifdef DISABLE_CAMERA
+	DemoApplication::updateCamera();
+	return;
+#endif //DISABLE_CAMERA
+
+	glMatrixMode(GL_PROJECTION);
+	glLoadIdentity();
+
+	btTransform characterWorldTrans;
+
+	//look at the vehicle
+	m_character->getRigidBody()->getMotionState()->getWorldTransform(characterWorldTrans);
+	btVector3 up = characterWorldTrans.getBasis()[1];
+	btVector3 backward = -characterWorldTrans.getBasis()[2];
+	up.normalize ();
+	backward.normalize ();
+
+	m_cameraTargetPosition = characterWorldTrans.getOrigin();
+	m_cameraPosition = m_cameraTargetPosition + up * 5.0 + backward * 5.0;
+		
+	//update OpenGL camera settings
+    glFrustum(-1.0, 1.0, -1.0, 1.0, 1.0, 10000.0);
+
+	 glMatrixMode(GL_MODELVIEW);
+	 glLoadIdentity();
+
+    gluLookAt(m_cameraPosition[0],m_cameraPosition[1],m_cameraPosition[2],
+		      m_cameraTargetPosition[0],m_cameraTargetPosition[1], m_cameraTargetPosition[2],
+			  m_cameraUp.getX(),m_cameraUp.getY(),m_cameraUp.getZ());
+  
+
+
+}
+
diff --git a/Demos/CharacterDemo/CharacterDemo.h b/Demos/CharacterDemo/CharacterDemo.h
index 44f2e3df5..10fe7722f 100644
--- a/Demos/CharacterDemo/CharacterDemo.h
+++ b/Demos/CharacterDemo/CharacterDemo.h
@@ -41,6 +41,8 @@ class CharacterDemo : public DemoApplication
 
 	class btTriangleIndexVertexArray*	m_indexVertexArrays;
 
+	class	MyCustomOverlappingPairCallback*	m_customPairCallback;
+
 	btVector3*	m_vertices;
 
 	
diff --git a/Demos/CharacterDemo/main.cpp b/Demos/CharacterDemo/main.cpp
index b60016ccd..080eb8621 100644
--- a/Demos/CharacterDemo/main.cpp
+++ b/Demos/CharacterDemo/main.cpp
@@ -1,7 +1,10 @@
 
 #include "CharacterDemo.h"
 #include "GlutStuff.h"
+#include "GLDebugDrawer.h"
+#include "btBulletDynamicsCommon.h"
 
+GLDebugDrawer	gDebugDrawer;
 
 int main(int argc,char** argv)
 {
@@ -9,6 +12,7 @@ int main(int argc,char** argv)
         CharacterDemo* characterDemo = new CharacterDemo;
 
         characterDemo->initPhysics(); 
+		characterDemo->getDynamicsWorld()->setDebugDrawer(&gDebugDrawer);
 
         return glutmain(argc, argv,640,480,"Bullet Character Demo. http://www.continuousphysics.com/Bullet/phpBB2/", characterDemo);
 }
diff --git a/Demos/ConcaveDemo/ConcavePhysicsDemo.cpp b/Demos/ConcaveDemo/ConcavePhysicsDemo.cpp
index 10a187a3d..0131e8f13 100644
--- a/Demos/ConcaveDemo/ConcavePhysicsDemo.cpp
+++ b/Demos/ConcaveDemo/ConcavePhysicsDemo.cpp
@@ -351,6 +351,7 @@ void ConcaveDemo::clientMoveAndDisplay()
 
 	//optional but useful: debug drawing
 	m_dynamicsWorld->debugDrawWorld();
+
 	
 	renderme();
 
@@ -368,6 +369,11 @@ void ConcaveDemo::displayCallback(void) {
 
 	renderme();
 
+	//optional but useful: debug drawing
+	if (m_dynamicsWorld)
+		m_dynamicsWorld->debugDrawWorld();
+
+
     glFlush();
     glutSwapBuffers();
 }
diff --git a/Demos/GimpactTestDemo/GimpactTestDemo.cpp b/Demos/GimpactTestDemo/GimpactTestDemo.cpp
index 5f9f91d03..df9af2f76 100644
--- a/Demos/GimpactTestDemo/GimpactTestDemo.cpp
+++ b/Demos/GimpactTestDemo/GimpactTestDemo.cpp
@@ -628,6 +628,10 @@ void GimpactConcaveDemo::displayCallback(void) {
 
 	renderme();
 
+	//optional but useful: debug drawing
+	if (m_dynamicsWorld)
+		m_dynamicsWorld->debugDrawWorld();
+
 	glFlush();
 	glutSwapBuffers();
 }
diff --git a/Demos/MovingConcaveDemo/ConcavePhysicsDemo.cpp b/Demos/MovingConcaveDemo/ConcavePhysicsDemo.cpp
index 5b7d38117..bd594dc49 100644
--- a/Demos/MovingConcaveDemo/ConcavePhysicsDemo.cpp
+++ b/Demos/MovingConcaveDemo/ConcavePhysicsDemo.cpp
@@ -1909,6 +1909,10 @@ void ConcaveDemo::displayCallback(void) {
 
 	renderme();
 
+	//optional but useful: debug drawing
+	if (m_dynamicsWorld)
+		m_dynamicsWorld->debugDrawWorld();
+
     glFlush();
     glutSwapBuffers();
 }
diff --git a/Demos/MultiThreadedDemo/MultiThreadedDemo.cpp b/Demos/MultiThreadedDemo/MultiThreadedDemo.cpp
index a89b3800f..1ed317be6 100644
--- a/Demos/MultiThreadedDemo/MultiThreadedDemo.cpp
+++ b/Demos/MultiThreadedDemo/MultiThreadedDemo.cpp
@@ -212,6 +212,10 @@ void MultiThreadedDemo::displayCallback(void) {
 
 	glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); 
 
+	//optional but useful: debug drawing
+	if (m_dynamicsWorld)
+		m_dynamicsWorld->debugDrawWorld();
+
 	
 	renderme();
 
diff --git a/Demos/OpenGL/GLDebugDrawer.cpp b/Demos/OpenGL/GLDebugDrawer.cpp
index 7927782f1..fa8695c16 100644
--- a/Demos/OpenGL/GLDebugDrawer.cpp
+++ b/Demos/OpenGL/GLDebugDrawer.cpp
@@ -68,7 +68,7 @@ void	GLDebugDrawer::reportErrorWarning(const char* warningString)
 
 void	GLDebugDrawer::drawContactPoint(const btVector3& pointOnB,const btVector3& normalOnB,btScalar distance,int lifeTime,const btVector3& color)
 {
-	if (m_debugMode & btIDebugDraw::DBG_DrawContactPoints)
+	
 	{
 		btVector3 to=pointOnB+normalOnB*distance;
 		const btVector3&from = pointOnB;
diff --git a/Demos/RagdollDemo/RagdollDemo.cpp b/Demos/RagdollDemo/RagdollDemo.cpp
index 6f90a53fc..62274a28e 100644
--- a/Demos/RagdollDemo/RagdollDemo.cpp
+++ b/Demos/RagdollDemo/RagdollDemo.cpp
@@ -373,9 +373,11 @@ void RagdollDemo::clientMoveAndDisplay()
 	if (m_dynamicsWorld)
 	{
 		m_dynamicsWorld->stepSimulation(ms / 1000000.f);
+		
 		//optional but useful: debug drawing
 		m_dynamicsWorld->debugDrawWorld();
 
+
 	}
 
 	renderme(); 
@@ -391,6 +393,10 @@ void RagdollDemo::displayCallback()
 
 	renderme();
 
+	//optional but useful: debug drawing
+	if (m_dynamicsWorld)
+		m_dynamicsWorld->debugDrawWorld();
+
 	glFlush();
 	glutSwapBuffers();
 }
diff --git a/Demos/RagdollDemo/main.cpp b/Demos/RagdollDemo/main.cpp
index 8123671c4..7c0ad9d1e 100644
--- a/Demos/RagdollDemo/main.cpp
+++ b/Demos/RagdollDemo/main.cpp
@@ -1,13 +1,17 @@
 
 #include "RagdollDemo.h"
 #include "GlutStuff.h"
+#include "GLDebugDrawer.h"
+#include "btBulletDynamicsCommon.h"
+
+GLDebugDrawer	gDebugDrawer;
 
 int main(int argc,char* argv[])
 {
         RagdollDemo demoApp;
 
         demoApp.initPhysics();
-       
+		demoApp.getDynamicsWorld()->setDebugDrawer(&gDebugDrawer);
 
         return glutmain(argc, argv,640,480,"Bullet Physics Demo. http://bullet.sf.net",&demoApp);
 }
diff --git a/Demos/SoftDemo/SoftDemo.cpp b/Demos/SoftDemo/SoftDemo.cpp
index b7d7e6f3b..97e69dfee 100644
--- a/Demos/SoftDemo/SoftDemo.cpp
+++ b/Demos/SoftDemo/SoftDemo.cpp
@@ -1182,7 +1182,7 @@ void	SoftDemo::initPhysics()
 
 
 	btCollisionShape* groundShape = 0;
-	bool useConcaveMesh = false;//not ready yet true;
+	bool useConcaveMesh = true;//not ready yet true;
 
 	if (useConcaveMesh)
 	{
diff --git a/Demos/VehicleDemo/VehicleDemo.cpp b/Demos/VehicleDemo/VehicleDemo.cpp
index f635251c0..c190b8725 100644
--- a/Demos/VehicleDemo/VehicleDemo.cpp
+++ b/Demos/VehicleDemo/VehicleDemo.cpp
@@ -450,9 +450,7 @@ void VehicleDemo::clientMoveAndDisplay()
 			dt = 1.0/420.f;
 
 		int numSimSteps = m_dynamicsWorld->stepSimulation(dt,maxSimSubSteps);
-		//optional but useful: debug drawing
-		m_dynamicsWorld->debugDrawWorld();
-
+		
 
 //#define VERBOSE_FEEDBACK
 #ifdef VERBOSE_FEEDBACK
@@ -486,6 +484,10 @@ void VehicleDemo::clientMoveAndDisplay()
 
 	renderme(); 
 
+	//optional but useful: debug drawing
+	if (m_dynamicsWorld)
+		m_dynamicsWorld->debugDrawWorld();
+
 #ifdef USE_QUICKPROF 
         btProfiler::endBlock("render"); 
 #endif 
@@ -504,6 +506,9 @@ void VehicleDemo::displayCallback(void)
 
 	renderme();
 
+//optional but useful: debug drawing
+	if (m_dynamicsWorld)
+		m_dynamicsWorld->debugDrawWorld();
 
 	glFlush();
 	glutSwapBuffers();
diff --git a/Extras/BulletMultiThreaded/SpuContactManifoldCollisionAlgorithm.h b/Extras/BulletMultiThreaded/SpuContactManifoldCollisionAlgorithm.h
index 8a585a863..5c1a4b96f 100644
--- a/Extras/BulletMultiThreaded/SpuContactManifoldCollisionAlgorithm.h
+++ b/Extras/BulletMultiThreaded/SpuContactManifoldCollisionAlgorithm.h
@@ -46,6 +46,12 @@ public:
 
 	virtual ~SpuContactManifoldCollisionAlgorithm();
 
+	virtual	void	getAllContactManifolds(btManifoldArray&	manifoldArray)
+	{
+		if (m_manifoldPtr)
+			manifoldArray.push_back(m_manifoldPtr);
+	}
+
 	btPersistentManifold*	getContactManifoldPtr()
 	{
 		return m_manifoldPtr;
diff --git a/Extras/GIMPACT/include/GIMPACT/Bullet/btGImpactCollisionAlgorithm.h b/Extras/GIMPACT/include/GIMPACT/Bullet/btGImpactCollisionAlgorithm.h
index 49e206fb8..f12c44cb5 100755
--- a/Extras/GIMPACT/include/GIMPACT/Bullet/btGImpactCollisionAlgorithm.h
+++ b/Extras/GIMPACT/include/GIMPACT/Bullet/btGImpactCollisionAlgorithm.h
@@ -204,7 +204,11 @@ public:
 
 	btScalar	calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
 
-
+	virtual	void	getAllContactManifolds(btManifoldArray&	manifoldArray)
+	{
+		if (m_manifoldPtr)
+			manifoldArray.push_back(m_manifoldPtr);
+	}
 
 
 	struct CreateFunc :public 	btCollisionAlgorithmCreateFunc
diff --git a/src/BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h b/src/BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h
index 610eab4ce..1618ad9fd 100644
--- a/src/BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h
+++ b/src/BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h
@@ -17,6 +17,7 @@ subject to the following restrictions:
 #define COLLISION_ALGORITHM_H
 
 #include "LinearMath/btScalar.h"
+#include "LinearMath/btAlignedObjectArray.h"
 
 struct btBroadphaseProxy;
 class btDispatcher;
@@ -25,6 +26,7 @@ class btCollisionObject;
 struct btDispatcherInfo;
 class	btPersistentManifold;
 
+typedef btAlignedObjectArray<btPersistentManifold*>	btManifoldArray;
 
 struct btCollisionAlgorithmConstructionInfo
 {
@@ -71,6 +73,7 @@ public:
 
 	virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) = 0;
 
+	virtual	void	getAllContactManifolds(btManifoldArray&	manifoldArray) = 0;
 };
 
 
diff --git a/src/BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.h b/src/BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.h
index beddd8977..588110595 100644
--- a/src/BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.h
+++ b/src/BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.h
@@ -41,6 +41,15 @@ public:
 
 	virtual ~btBoxBoxCollisionAlgorithm();
 
+	virtual	void	getAllContactManifolds(btManifoldArray&	manifoldArray)
+	{
+		if (m_manifoldPtr && m_ownManifold)
+		{
+			manifoldArray.push_back(m_manifoldPtr);
+		}
+	}
+
+
 	struct CreateFunc :public 	btCollisionAlgorithmCreateFunc
 	{
 		virtual	btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
diff --git a/src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.h b/src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.h
index a381d8b3c..1682c6761 100644
--- a/src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.h
+++ b/src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.h
@@ -44,6 +44,15 @@ public:
 
 	btScalar	calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
 
+	virtual	void	getAllContactManifolds(btManifoldArray&	manifoldArray)
+	{
+		int i;
+		for (i=0;i<m_childCollisionAlgorithms.size();i++)
+		{
+			m_childCollisionAlgorithms[i]->getAllContactManifolds(manifoldArray);
+		}
+	}
+
 	struct CreateFunc :public 	btCollisionAlgorithmCreateFunc
 	{
 		virtual	btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
diff --git a/src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp b/src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp
index 9dc22d805..06ea9563d 100644
--- a/src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp
+++ b/src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp
@@ -37,6 +37,13 @@ btConvexConcaveCollisionAlgorithm::~btConvexConcaveCollisionAlgorithm()
 {
 }
 
+void	btConvexConcaveCollisionAlgorithm::getAllContactManifolds(btManifoldArray&	manifoldArray)
+{
+	if (m_btConvexTriangleCallback.m_manifoldPtr)
+	{
+		manifoldArray.push_back(m_btConvexTriangleCallback.m_manifoldPtr);
+	}
+}
 
 
 btConvexTriangleCallback::btConvexTriangleCallback(btDispatcher*  dispatcher,btCollisionObject* body0,btCollisionObject* body1,bool isSwapped):
diff --git a/src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.h b/src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.h
index da33e9889..34b9a107b 100644
--- a/src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.h
+++ b/src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.h
@@ -88,6 +88,8 @@ public:
 
 	btScalar	calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
 
+	virtual	void	getAllContactManifolds(btManifoldArray&	manifoldArray);
+	
 	void	clearCache();
 
 	struct CreateFunc :public 	btCollisionAlgorithmCreateFunc
diff --git a/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h b/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h
index ca58bce25..a0030e679 100644
--- a/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h
+++ b/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h
@@ -47,6 +47,14 @@ public:
 
 	virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
 
+	virtual	void	getAllContactManifolds(btManifoldArray&	manifoldArray)
+	{
+		///should we use m_ownManifold to avoid adding duplicates?
+		if (m_manifoldPtr && m_ownManifold)
+			manifoldArray.push_back(m_manifoldPtr);
+	}
+
+
 	void	setLowLevelOfDetail(bool useLowLevel);
 
 
diff --git a/src/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.h b/src/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.h
index b503ba40c..416b7717b 100644
--- a/src/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.h
+++ b/src/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.h
@@ -42,6 +42,14 @@ public:
 
 	virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
 
+	virtual	void	getAllContactManifolds(btManifoldArray&	manifoldArray)
+	{
+		if (m_manifoldPtr && m_ownManifold)
+		{
+			manifoldArray.push_back(m_manifoldPtr);
+		}
+	}
+
 	struct CreateFunc :public 	btCollisionAlgorithmCreateFunc
 	{
 		virtual	btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
diff --git a/src/BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.h b/src/BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.h
index 89e708078..e54721dec 100644
--- a/src/BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.h
+++ b/src/BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.h
@@ -34,6 +34,10 @@ public:
 
 	virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
 
+	virtual	void	getAllContactManifolds(btManifoldArray&	manifoldArray)
+	{
+	}
+
 	struct CreateFunc :public 	btCollisionAlgorithmCreateFunc
 	{
 		virtual	btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
diff --git a/src/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.h b/src/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.h
index b839dc4ad..729978de1 100644
--- a/src/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.h
+++ b/src/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.h
@@ -42,6 +42,14 @@ public:
 
 	virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
 
+	virtual	void	getAllContactManifolds(btManifoldArray&	manifoldArray)
+	{
+		if (m_manifoldPtr && m_ownManifold)
+		{
+			manifoldArray.push_back(m_manifoldPtr);
+		}
+	}
+
 	btScalar getSphereDistance( btCollisionObject* boxObj,btVector3& v3PointOnBox, btVector3& v3PointOnSphere, const btVector3& v3SphereCenter, btScalar fRadius );
 
 	btScalar getSpherePenetration( btCollisionObject* boxObj, btVector3& v3PointOnBox, btVector3& v3PointOnSphere, const btVector3& v3SphereCenter, btScalar fRadius, const btVector3& aabbMin, const btVector3& aabbMax);
diff --git a/src/BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.h b/src/BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.h
index bcaa0d303..9e4898546 100644
--- a/src/BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.h
+++ b/src/BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.h
@@ -41,6 +41,13 @@ public:
 
 	virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
 
+	virtual	void	getAllContactManifolds(btManifoldArray&	manifoldArray)
+	{
+		if (m_manifoldPtr && m_ownManifold)
+		{
+			manifoldArray.push_back(m_manifoldPtr);
+		}
+	}
 	
 	virtual ~btSphereSphereCollisionAlgorithm();
 
diff --git a/src/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.h b/src/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.h
index 4aefc0c43..dd11d4d25 100644
--- a/src/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.h
+++ b/src/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.h
@@ -41,6 +41,13 @@ public:
 
 	virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
 
+	virtual	void	getAllContactManifolds(btManifoldArray&	manifoldArray)
+	{
+		if (m_manifoldPtr && m_ownManifold)
+		{
+			manifoldArray.push_back(m_manifoldPtr);
+		}
+	}
 	
 	virtual ~btSphereTriangleCollisionAlgorithm();
 
diff --git a/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp b/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
index 3dbd97c02..81bd4ff59 100644
--- a/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
+++ b/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
@@ -536,7 +536,7 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
 	END_PROFILE("refreshManifolds");
 #endif //FORCE_REFESH_CONTACT_MANIFOLDS
 
-	btVector3 color(0,1,0);
+	
 
 
 
@@ -648,10 +648,6 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
 					
 					btManifoldPoint& cp = manifold->getContactPoint(j);
 					
-					if (debugDrawer)
-						debugDrawer->drawContactPoint(cp.m_positionWorldOnB,cp.m_normalWorldOnB,cp.getDistance(),cp.getLifeTime(),color);
-
-					
 					if (cp.getDistance() <= btScalar(0.))
 					{
 						
@@ -1110,7 +1106,7 @@ void	btSequentialImpulseConstraintSolver::prepareConstraints(btPersistentManifol
 
 		gTotalContactPoints += numpoints;
 
-		btVector3 color(0,1,0);
+		
 		for (int i=0;i<numpoints ;i++)
 		{
 			btManifoldPoint& cp = manifoldPtr->getContactPoint(i);
@@ -1287,16 +1283,12 @@ btScalar btSequentialImpulseConstraintSolver::solveCombinedContactFriction(btRig
 
 	{
 
-		btVector3 color(0,1,0);
+		
 		{
 			if (cp.getDistance() <= btScalar(0.))
 			{
 
-				if (iter == 0)
-				{
-					if (debugDrawer)
-						debugDrawer->drawContactPoint(cp.m_positionWorldOnB,cp.m_normalWorldOnB,cp.getDistance(),cp.getLifeTime(),color);
-				}
+				
 
 				{
 
@@ -1325,16 +1317,12 @@ btScalar btSequentialImpulseConstraintSolver::solve(btRigidBody* body0,btRigidBo
 
 	{
 
-		btVector3 color(0,1,0);
+		
 		{
 			if (cp.getDistance() <= btScalar(0.))
 			{
 
-				if (iter == 0)
-				{
-					if (debugDrawer)
-						debugDrawer->drawContactPoint(cp.m_positionWorldOnB,cp.m_normalWorldOnB,cp.getDistance(),cp.getLifeTime(),color);
-				}
+				
 
 				{
 
@@ -1363,7 +1351,7 @@ btScalar btSequentialImpulseConstraintSolver::solveFriction(btRigidBody* body0,b
 
 	{
 
-		btVector3 color(0,1,0);
+		
 		{
 			
 			if (cp.getDistance() <= btScalar(0.))
diff --git a/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp b/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
index 15a312fc1..0c8c69070 100644
--- a/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
+++ b/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
@@ -125,6 +125,27 @@ void	btDiscreteDynamicsWorld::saveKinematicState(btScalar timeStep)
 
 void	btDiscreteDynamicsWorld::debugDrawWorld()
 {
+
+	if (getDebugDrawer() && getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_DrawContactPoints)
+	{
+		int numManifolds = getDispatcher()->getNumManifolds();
+		btVector3 color(0,1,0);
+		for (int i=0;i<numManifolds;i++)
+		{
+			btPersistentManifold* contactManifold = getDispatcher()->getManifoldByIndexInternal(i);
+			btCollisionObject* obA = static_cast<btCollisionObject*>(contactManifold->getBody0());
+			btCollisionObject* obB = static_cast<btCollisionObject*>(contactManifold->getBody1());
+
+			int numContacts = contactManifold->getNumContacts();
+			for (int j=0;j<numContacts;j++)
+			{
+				btManifoldPoint& cp = contactManifold->getContactPoint(j);
+				getDebugDrawer()->drawContactPoint(cp.m_positionWorldOnB,cp.m_normalWorldOnB,cp.getDistance(),cp.getLifeTime(),color);
+			}
+		}
+	}
+
+
 	if (getDebugDrawer() && getDebugDrawer()->getDebugMode() & (btIDebugDraw::DBG_DrawWireframe | btIDebugDraw::DBG_DrawAabb))
 	{
 		int i;
diff --git a/src/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.cpp b/src/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.cpp
index 032b0c1c7..a31036ce3 100644
--- a/src/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.cpp
+++ b/src/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.cpp
@@ -39,6 +39,8 @@ m_btSoftBodyTriangleCallback(ci.m_dispatcher1,body0,body1,isSwapped)
 {
 }
 
+
+
 btSoftBodyConcaveCollisionAlgorithm::~btSoftBodyConcaveCollisionAlgorithm()
 {
 }
@@ -161,7 +163,7 @@ btCollisionObject* ob = static_cast<btCollisionObject*>(m_triBody);
 //		btVector3 other;
 		btVector3 normal = (triangle[1]-triangle[0]).cross(triangle[2]-triangle[0]);
 		normal.normalize();
-		normal*= 0.3f;
+		normal*= 1.3f;
 //		other=(triangle[0]+triangle[1]+triangle[2])*0.333333f;
 //		other+=normal*22.f;
 		btVector3	pts[6] = {triangle[0]+normal,
diff --git a/src/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.h b/src/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.h
index e75b19f0b..8be5a18d8 100644
--- a/src/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.h
+++ b/src/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.h
@@ -88,6 +88,11 @@ public:
 
 	btScalar	calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
 
+	virtual	void	getAllContactManifolds(btManifoldArray&	manifoldArray)
+	{
+		//we don't add any manifolds
+	}
+
 	void	clearCache();
 
 	struct CreateFunc :public 	btCollisionAlgorithmCreateFunc
diff --git a/src/BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.cpp b/src/BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.cpp
index 19e54381a..cb37f8cf1 100644
--- a/src/BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.cpp
+++ b/src/BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.cpp
@@ -18,7 +18,7 @@ subject to the following restrictions:
 #include "btSoftBodyConcaveCollisionAlgorithm.h"
 #include "btSoftSoftCollisionAlgorithm.h"
 
-//#define ENABLE_SOFTBODY_CONCAVE_COLLISIONS 1
+#define ENABLE_SOFTBODY_CONCAVE_COLLISIONS 1
 
 btSoftBodyRigidBodyCollisionConfiguration::btSoftBodyRigidBodyCollisionConfiguration(btStackAlloc*	stackAlloc,btPoolAllocator*	persistentManifoldPool,btPoolAllocator*	collisionAlgorithmPool)
 :btDefaultCollisionConfiguration(stackAlloc,persistentManifoldPool,collisionAlgorithmPool)
diff --git a/src/BulletSoftBody/btSoftRigidCollisionAlgorithm.h b/src/BulletSoftBody/btSoftRigidCollisionAlgorithm.h
index 351952ffe..502e52dc6 100644
--- a/src/BulletSoftBody/btSoftRigidCollisionAlgorithm.h
+++ b/src/BulletSoftBody/btSoftRigidCollisionAlgorithm.h
@@ -1,70 +1,75 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef SOFT_RIGID_COLLISION_ALGORITHM_H
-#define SOFT_RIGID_COLLISION_ALGORITHM_H
-
-#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
-#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
-#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h"
-class btPersistentManifold;
-#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
-
-#include "LinearMath/btVector3.h"
-class btSoftBody;
-
-/// btSoftRigidCollisionAlgorithm  provides collision detection between btSoftBody and btRigidBody
-class btSoftRigidCollisionAlgorithm : public btCollisionAlgorithm
-{
-//	bool	m_ownManifold;
-//	btPersistentManifold*	m_manifoldPtr;
-
-	btSoftBody*				m_softBody;
-	btCollisionObject*		m_rigidCollisionObject;
-
-	///for rigid versus soft (instead of soft versus rigid), we use this swapped boolean
-	bool	m_isSwapped;
-	
-public:
-
-	btSoftRigidCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* col0,btCollisionObject* col1, bool isSwapped);
-
-	virtual ~btSoftRigidCollisionAlgorithm();
-
-	virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
-
-	virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
-
-	
-	struct CreateFunc :public 	btCollisionAlgorithmCreateFunc
-	{
-		virtual	btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
-		{
-			void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btSoftRigidCollisionAlgorithm));
-			if (!m_swapped)
-			{
-				return new(mem) btSoftRigidCollisionAlgorithm(0,ci,body0,body1,false);
-			} else
-			{
-				return new(mem) btSoftRigidCollisionAlgorithm(0,ci,body0,body1,true);
-			}
-		}
-	};
-
-};
-
-#endif //SOFT_RIGID_COLLISION_ALGORITHM_H
-
-
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef SOFT_RIGID_COLLISION_ALGORITHM_H
+#define SOFT_RIGID_COLLISION_ALGORITHM_H
+
+#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
+#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
+#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h"
+class btPersistentManifold;
+#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
+
+#include "LinearMath/btVector3.h"
+class btSoftBody;
+
+/// btSoftRigidCollisionAlgorithm  provides collision detection between btSoftBody and btRigidBody
+class btSoftRigidCollisionAlgorithm : public btCollisionAlgorithm
+{
+//	bool	m_ownManifold;
+//	btPersistentManifold*	m_manifoldPtr;
+
+	btSoftBody*				m_softBody;
+	btCollisionObject*		m_rigidCollisionObject;
+
+	///for rigid versus soft (instead of soft versus rigid), we use this swapped boolean
+	bool	m_isSwapped;
+	
+public:
+
+	btSoftRigidCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* col0,btCollisionObject* col1, bool isSwapped);
+
+	virtual ~btSoftRigidCollisionAlgorithm();
+
+	virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
+
+	virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
+
+	virtual	void	getAllContactManifolds(btManifoldArray&	manifoldArray)
+	{
+		//we don't add any manifolds
+	}
+
+	
+	struct CreateFunc :public 	btCollisionAlgorithmCreateFunc
+	{
+		virtual	btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
+		{
+			void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btSoftRigidCollisionAlgorithm));
+			if (!m_swapped)
+			{
+				return new(mem) btSoftRigidCollisionAlgorithm(0,ci,body0,body1,false);
+			} else
+			{
+				return new(mem) btSoftRigidCollisionAlgorithm(0,ci,body0,body1,true);
+			}
+		}
+	};
+
+};
+
+#endif //SOFT_RIGID_COLLISION_ALGORITHM_H
+
+
diff --git a/src/BulletSoftBody/btSoftSoftCollisionAlgorithm.h b/src/BulletSoftBody/btSoftSoftCollisionAlgorithm.h
index b1627603d..c60843c35 100644
--- a/src/BulletSoftBody/btSoftSoftCollisionAlgorithm.h
+++ b/src/BulletSoftBody/btSoftSoftCollisionAlgorithm.h
@@ -42,6 +42,12 @@ public:
 
 	virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
 
+	virtual	void	getAllContactManifolds(btManifoldArray&	manifoldArray)
+	{
+		if (m_manifoldPtr && m_ownManifold)
+			manifoldArray.push_back(m_manifoldPtr);
+	}
+
 	btSoftSoftCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1);
 
 	virtual ~btSoftSoftCollisionAlgorithm();
diff --git a/src/btBulletCollisionCommon.h b/src/btBulletCollisionCommon.h
index 8fd2cc57a..4fbdcb1d7 100644
--- a/src/btBulletCollisionCommon.h
+++ b/src/btBulletCollisionCommon.h
@@ -51,6 +51,7 @@ subject to the following restrictions:
 #include "BulletCollision/BroadphaseCollision/btSimpleBroadphase.h"
 #include "BulletCollision/BroadphaseCollision/btAxisSweep3.h"
 #include "BulletCollision/BroadphaseCollision/btMultiSapBroadphase.h"
+#include "BulletCollision/BroadphaseCollision/btDbvtBroadphase.h"
 
 ///Math library & Utils
 #include "LinearMath/btQuaternion.h"