shapeOverlapKeeper and heightfield pillars

[yrns]

shapeOverlapKeeper doesn't work with heightfield pillars because the map of ids to shapes doesn't include the pillars. This results in an exception in emitContactEvents. The OverlapKeeper could use the override shape (the heightfield) or the map could include the pillars. I would prefer the latter. You can always get the heightfield from the bodyA/B ref in the events. I can submit a PR.

[schteppe]

Great! I'd love a PR. I wonder why I didn't set the override shapes in the first place?
Why would the pillars do any good in the map?

[yrns]

You mean why would I want the contact event to report the pillar and not the Heightfield shape? I would like to know which particular part of the heightfield I'm touching. Would you prefer to only get one begin/endShapeContant pair for each heightfield shape or each pillar? (Or both?) I can submit what I have. This isn't a unique issue. Box shapes report a different (unmapped) convex representation.

Thank you for adding the OverlapKeeper, by the way. I was able to remove a bunch of redundant code of my own, which is always fun!