virtual	void	ProcessIsland(btCollisionObject** bodies,int numBodies,btPersistentManifold**	manifolds,int numManifolds, int islandId)
		{
			if (islandId<0)
			{
				if (numManifolds + m_numConstraints)
				{
					///we don't split islands, so all constraints/contact manifolds/bodies are passed into the solver regardless the island id
					m_solver->solveGroup( bodies,numBodies,manifolds, numManifolds,&m_sortedConstraints[0],m_numConstraints,m_solverInfo,m_debugDrawer,m_stackAlloc,m_dispatcher);
				}
			} else
			{
					//also add all non-contact constraints/joints for this island
				btTypedConstraint** startConstraint = 0;
				int numCurConstraints = 0;
				int i;
				
				//find the first constraint for this island
				for (i=0;i<m_numConstraints;i++)
				{
					if (btGetConstraintIslandId(m_sortedConstraints[i]) == islandId)
					{
						startConstraint = &m_sortedConstraints[i];
						break;
					}
				}
				//count the number of constraints in this island
				for (;i<m_numConstraints;i++)
				{
					if (btGetConstraintIslandId(m_sortedConstraints[i]) == islandId)
					{
						numCurConstraints++;
					}
				}

				if (m_solverInfo.m_minimumSolverBatchSize<=1)
				{
					///only call solveGroup if there is some work: avoid virtual function call, its overhead can be excessive
					if (numManifolds + numCurConstraints)
					{
						m_solver->solveGroup( bodies,numBodies,manifolds, numManifolds,startConstraint,numCurConstraints,m_solverInfo,m_debugDrawer,m_stackAlloc,m_dispatcher);
					}
				} else
				{
					
					for (i=0;i<numBodies;i++)
						m_bodies.push_back(bodies[i]);
					for (i=0;i<numManifolds;i++)
						m_manifolds.push_back(manifolds[i]);
					for (i=0;i<numCurConstraints;i++)
						m_constraints.push_back(startConstraint[i]);
					if ((m_constraints.size()+m_manifolds.size())>m_solverInfo.m_minimumSolverBatchSize)
					{
						processConstraints();
					} else
					{
						//printf("deferred\n");
					}
				}
			}
		}

	void	processConstraints()
	{

		btCollisionObject** bodies = m_bodies.size()? &m_bodies[0]:0;
		btPersistentManifold** manifold = m_manifolds.size()?&m_manifolds[0]:0;
		btTypedConstraint** constraints = m_constraints.size()?&m_constraints[0]:0;

		m_solver->solveGroup( bodies,m_bodies.size(),manifold, m_manifolds.size(),constraints, m_constraints.size() ,*m_solverInfo,m_debugDrawer,m_dispatcher);
		m_bodies.resize(0);
		m_manifolds.resize(0);
		m_constraints.resize(0);

	}

	virtual	void	processIsland( btCollisionObject** bodies,
                                   int numBodies,
                                   btPersistentManifold** manifolds,
                                   int numManifolds,
                                   btTypedConstraint** constraints,
                                   int numConstraints,
                                   int islandId
                                   )
	{
        m_solver->solveGroup( bodies,
                              numBodies,
                              manifolds,
                              numManifolds,
                              constraints,
                              numConstraints,
                              *m_solverInfo,
                              m_debugDrawer,
                              m_dispatcher
                              );
    }