int numManifolds = dispatcher1.getNumManifolds();
if (numManifolds != 0)
{
ObjectArrayList<PersistentManifold> manifoldPtr = ((CollisionDispatcher)dispatcher1).getInternalManifoldPointer();
ContactSolverInfo infoGlobal = new ContactSolverInfo();
infoGlobal.timeStep = timeStep;
constraintSolver.prepareSolve(0,numManifolds);
constraintSolver.solveGroup(null,0,manifoldPtr, 0, numManifolds, null,0,0,infoGlobal,debugDrawer/*, m_stackAlloc*/,dispatcher1);
constraintSolver.allSolved(infoGlobal,debugDrawer/*, m_stackAlloc*/);
}