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/CollisionDispatch/btCollisionObject.h

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