internal override btPersistentManifold getNewManifold( btCollisionObject body0, btCollisionObject body1 )
{
gNumManifold++;
//Debug.Assert(gNumManifold < 65535);
//optional relative contact breaking threshold, turned on by default (use setDispatcherFlags to switch off feature for improved performance)
double contactBreakingThreshold = ( m_dispatcherFlags & DispatcherFlags.CD_USE_RELATIVE_CONTACT_BREAKING_THRESHOLD ) != 0 ?
btScalar.btMin( body0.getCollisionShape().getContactBreakingThreshold( btPersistentManifold.gContactBreakingThreshold ), body1.getCollisionShape().getContactBreakingThreshold( btPersistentManifold.gContactBreakingThreshold ) )
: btPersistentManifold.gContactBreakingThreshold;
double contactProcessingThreshold = btScalar.btMin( body0.getContactProcessingThreshold(), body1.getContactProcessingThreshold() );
btPersistentManifold manifold = BulletGlobals.PersistentManifoldPool.Get();
manifold.Initialize( body0, body1, 0, contactBreakingThreshold, contactProcessingThreshold );
manifold.m_index1a = m_manifoldsPtr.Count;
btScalar.Dbg( DbgFlag.Manifolds, "add a manifold (getNewManifold)" );
m_manifoldsPtr.Add( manifold );
return manifold;
}