- Added btRigidBodyConstructionInfo, to make it easier to set individual setting (and leave other untouched) during rigid body construction.

This was harder using default arguments. Thanks Vangelis Kokkevis for pointing this out.
- Fixed memoryleak in the ConstraintDemo and Raytracer demo.
- fixed issue with clearing forces/gravity at the end of the stepSimulation, instead of during internalSingleStepSimulation.
Thanks chunky for pointing this out: http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1780
- Disabled additional damping in rigid body by default, but enable it in most demos. Set btRigidBodyConstructionInfo m_additionalDamping to true to enable this.
- Removed obsolete QUICKPROF BEGIN/END_PROFILE, and enabled BT_PROFILE. Profiling is enabled by default (see Bullet/Demos/OpenGL/DemoApplication.cpp how to use this).
User can switch off profiling by enabling define BT_NO_PROFILE in Bullet/src/btQuickprof.h.

Extras/quickstep/OdeConstraintSolver.cpp

@@ -69,7 +69,6 @@ OdeConstraintSolver::OdeConstraintSolver():
 //iterative lcp and penalty method
 btScalar OdeConstraintSolver::solveGroup(btCollisionObject** bodies,int numBulletBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc,btDispatcher* dispatcher)
 {
-    BEGIN_PROFILE("prepareConstraints");
 
     m_CurBody = 0;
     m_CurJoint = 0;
@@ -126,9 +125,7 @@ btScalar OdeConstraintSolver::solveGroup(btCollisionObject** bodies,int numBulle
 	//	printf(" numJoints > numManifolds * 4 + numConstraints");
 
 
-    END_PROFILE("prepareConstraints");
-    BEGIN_PROFILE("solveConstraints");
-    m_SorLcpSolver.SolveInternal1(m_cfm,m_erp,m_odeBodies,numBodies,m_joints,numJoints,infoGlobal,stackAlloc); ///do
+     m_SorLcpSolver.SolveInternal1(m_cfm,m_erp,m_odeBodies,numBodies,m_joints,numJoints,infoGlobal,stackAlloc); ///do
 
     //write back resulting velocities
     for (int i=0;i<numBodies;i++)
@@ -139,8 +136,7 @@ btScalar OdeConstraintSolver::solveGroup(btCollisionObject** bodies,int numBulle
             m_odeBodies[i]->m_originalBody->setAngularVelocity(m_odeBodies[i]->m_angularVelocity);
         }
     }
-    END_PROFILE("solveConstraints");
-
+ 
 
 	/// Remotion, just free all this here
 	m_odeBodies.clear();