Added method to collect all persistent contact manifolds, given a btBroadphasePair (collision algorithm)

virtual	void	getAllContactManifolds(btManifoldArray&	manifoldArray)
See Demos/CharacterDemo/CharacterDemo.cpp for example usage of getAllContactManifolds
Added btDbvtBroadphase to btBulletCollisionCommon.h headerfile
Enable soft body vs concave (albeit slow)
Improved contact point debug rendering (moved from constraint solver into debugDrawWorld)

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);
 }