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/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();
 }

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);
 }