int numManifolds = world->getDispatcher()->getNumManifolds();
    for (int i=0;i<numManifolds;i++)
    {
        btPersistentManifold* contactManifold =  world->getDispatcher()->getManifoldByIndexInternal(i);
        btCollisionObject* obA = static_cast<btCollisionObject*>(contactManifold->getBody0());
        btCollisionObject* obB = static_cast<btCollisionObject*>(contactManifold->getBody1());

        int numContacts = contactManifold->getNumContacts();
        for (int j=0;j<numContacts;j++)
        {
            btManifoldPoint& pt = contactManifold->getContactPoint(j);
            if (pt.getDistance()<0.f)
            {
                const btVector3& ptA = pt.getPositionWorldOnA();
                const btVector3& ptB = pt.getPositionWorldOnB();
                const btVector3& normalOnB = pt.m_normalWorldOnB;
            }
        }
    }