Cleaned up/simplified construction of a btRigidBody

Fixed memoryleak in btOptimizedBvh (delete []m_contiguousNodes;)
Changed DemoApplication::localCreateRigidBody, so it adds the rigidbody to the btDynamicsWorld.
Added check for duplicate objects in world when adding.
Added assert to prevent setLinearVelocity on static rigidbodies
Added btCollisionFilterGroups to btBroadphaseProxy
removed duplicate 'btBroadphaseProxy*	m_broadphaseProxy;' in btRigidBody

src/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h

@@ -59,6 +59,16 @@ CONCAVE_SHAPES_END_HERE,
 struct btBroadphaseProxy
 {
 	
+	///optional filtering to cull potential collisions
+	enum CollisionFilterGroups
+	{
+	        DefaultFilter = 1,
+	        StaticFilter = 2,
+	        KinematicFilter = 4,
+	        DebrisFilter = 8,
+	        AllFilter = DefaultFilter | StaticFilter | KinematicFilter | DebrisFilter,
+	};
+
 	//Usually the client btCollisionObject or Rigidbody class
 	void*	m_clientObject;
 	short int m_collisionFilterGroup;

src/BulletCollision/CollisionDispatch/btCollisionObject.h

@@ -48,6 +48,9 @@ struct	btCollisionObject
 		customMaterialCallback = 4,//this allows per-triangle material (friction/restitution)
 	};
 
+
+
+
 	int				m_collisionFlags;
 
 	int				m_islandTag1;

src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp

@@ -89,6 +89,12 @@ btCollisionWorld::~btCollisionWorld()
 
 void	btCollisionWorld::addCollisionObject(btCollisionObject* collisionObject,short int collisionFilterGroup,short int collisionFilterMask)
 {
+
+	//check that the object isn't already added
+	std::vector<btCollisionObject*>::iterator i =	std::find(m_collisionObjects.begin(), m_collisionObjects.end(), collisionObject);
+	assert(i == m_collisionObjects.end());
+
+
 		m_collisionObjects.push_back(collisionObject);
 
 		//calculate new AABB

src/BulletCollision/CollisionShapes/btOptimizedBvh.cpp

@@ -88,7 +88,7 @@ void btOptimizedBvh::build(btStridingMeshInterface* triangles)
 btOptimizedBvh::~btOptimizedBvh()
 {
 	if (m_contiguousNodes)
-		delete m_contiguousNodes;
+		delete []m_contiguousNodes;
 }
 
 btOptimizedBvhNode*	btOptimizedBvh::buildTree	(NodeArray&	leafNodes,int startIndex,int endIndex)