- support both 32bit and 16bit indices in ColladaConverter

- added triangle part/index into btManifoldPoint

Extras/BulletColladaConverter/ColladaConverter.cpp

@@ -1362,7 +1362,7 @@ ColladaConverter::addConcaveMesh(btCollisionShape* shape, const char* nodeName)
 		btAssert (vertexBase);
 		btAssert (indexBase);
 		btAssert (vertexType == PHY_FLOAT);
-		btAssert (indexType == PHY_INTEGER);
+	
 
 		//we will need 3 sources for this mesh. positions, normals, and UVs
 		domSource *positionSrc = daeSafeCast<domSource>( mesh->createAndPlace( COLLADA_ELEMENT_SOURCE ) );
@@ -1428,14 +1428,24 @@ ColladaConverter::addConcaveMesh(btCollisionShape* shape, const char* nodeName)
 		//each set of three is one number per input-offset. for this example it's vert, normal, uv.
 		//three sets of three indices per triangle
 
-		for (int t = 0; t < numFaces; t++)
+		if (indexType == PHY_SHORT)
 		{
-			int* index = (int*)indexBase;
-			indices.append3( index[0], index[1], index[2]);
-			indexBase += indexStride;
+			for (int t = 0; t < numFaces; t++)
+			{
+				short int* index = (short int*)indexBase;
+				indices.append3( index[0], index[1], index[2]);
+				indexBase += indexStride;
+			}
+		} else
+		{
+			for (int t = 0; t < numFaces; t++)
+			{
+				int* index = (int*)indexBase;
+				indices.append3( index[0], index[1], index[2]);
+				indexBase += indexStride;
+			}
 		}
 
-
 		meshInterface->unLockReadOnlyVertexBase (i);
 	}
 }

src/BulletCollision/CollisionDispatch/btManifoldResult.cpp

@@ -87,6 +87,11 @@ void btManifoldResult::addContactPoint(const btVector3& normalOnBInWorld,const b
 	newPt.m_combinedFriction = calculateCombinedFriction(m_body0,m_body1);
 	newPt.m_combinedRestitution = calculateCombinedRestitution(m_body0,m_body1);
 
+   //BP mod, store contact triangles.
+   newPt.m_partId0 = m_partId0;
+   newPt.m_partId1 = m_partId1;
+   newPt.m_index0  = m_index0;
+   newPt.m_index1  = m_index1;
 	
 	///todo, check this for any side effects
 	if (insertIndex >= 0)

src/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h

@@ -65,6 +65,11 @@ class btManifoldPoint
 			btScalar	m_combinedFriction;
 			btScalar	m_combinedRestitution;
 
+         //BP mod, store contact triangles.
+         int	   m_partId0;
+         int      m_partId1;
+         int      m_index0;
+         int      m_index1;
 				
 			mutable void*	m_userPersistentData;
 			btScalar		m_appliedImpulse;