Code:

bool btKinematicCharacterController::recoverFromPenetration ( btCollisionWorld* collisionWorld){// Here we must refresh the overlapping paircache as the penetrating movement itself or the// previous recovery iteration might have used setWorldTransform and pushed us into an object// that is not in the previous cache contents from the last timestep, as will happen if we// are pushed into a new AABB overlap. Unhandled this means the next convex sweep gets stuck.//// Do this by calling the broadphase's setAabb with the moved AABB, this will update the broadphase// paircache and the ghostobject's internal paircache at the same time.    /BWbtVector3 minAabb, maxAabb;m_convexShape->getAabb(m_ghostObject->getWorldTransform(), minAabb,maxAabb);collisionWorld->getBroadphase()->setAabb(m_ghostObject->getBroadphaseHandle(),  minAabb,  maxAabb,  collisionWorld->getDispatcher()); bool penetration = false;collisionWorld->getDispatcher()->dispatchAllCollisionPairs(m_ghostObject->getOverlappingPairCache(), collisionWorld->getDispatchInfo(), collisionWorld->getDispatcher());m_currentPosition = m_ghostObject->getWorldTransform().getOrigin();btScalar maxPen = btScalar(0.0);for (int i = 0; i < m_ghostObject->getOverlappingPairCache()->getNumOverlappingPairs(); i++){m_manifoldArray.resize(0);btBroadphasePair* collisionPair = &m_ghostObject->getOverlappingPairCache()->getOverlappingPairArray()[i];if (collisionPair->m_algorithm)collisionPair->m_algorithm->getAllContactManifolds(m_manifoldArray);for (int j=0;j<m_manifoldArray.size();j++){btPersistentManifold* manifold = m_manifoldArray[j];btScalar directionSign = manifold->getBody0() == m_ghostObject ? btScalar(-1.0) : btScalar(1.0);for (int p=0;p<manifold->getNumContacts();p++){const btManifoldPoint&pt = manifold->getContactPoint(p);btScalar dist = pt.getDistance();if (dist < 0.0){if (dist < maxPen){maxPen = dist;m_touchingNormal = pt.m_normalWorldOnB * directionSign;//??}/*static int updateCounter = 0;if (mJumpHorizontalHelper.length() != 0){updateCounter++;if (updateCounter > 25){mJumpHorizontalHelper = btVector3(0, 0, 0);}}else{updateCounter = 0;}*///mJumpHorizontalHelper = btVector3(0, 0, 0);m_currentPosition += pt.m_normalWorldOnB * directionSign * dist * btScalar(0.2);penetration = true;} else {//printf("touching %f\n", dist);}}//manifold->clearManifold();}}btTransform newTrans = m_ghostObject->getWorldTransform();newTrans.setOrigin(m_currentPosition);m_ghostObject->setWorldTransform(newTrans);//printf("m_touchingNormal = %f,%f,%f\n",m_touchingNormal[0],m_touchingNormal[1],m_touchingNormal[2]);return penetration;}