Patch by Nathanael Presson: (needs some more work, some of the demos don't show properly (RayCaster, CollisionInterfaceDemo,'g' key is already occupied in ConcaveDemo etc)

btDbvtBroadphase:
- Fixed a performance issues reported by 'reltham'
- Added btDbvtBroadphase::optimize() for people who want good performances right away or don't do dynamics.
- fixed compilation issues when DBVT_BP_PROFILE was set.

btSoftBody:
- Fixed singular matrix issues related to polar decomposition (flat meshes).

DemoApplication:
- Shadows (enable/disable through 'g' or DemoApplication::setShadows(bool)).
- Texture can be enable/disable through 'u'

CDFramework:
- fixed compilation issues.

Demos/SoftDemo/SoftDemo.h

@@ -88,7 +88,8 @@ public:
 
 	SoftDemo() : m_drag(false)
 	{
-
+		setTexturing(true);
+		setShadows(true);
 	}
 	virtual ~SoftDemo()
 	{
@@ -172,3 +173,4 @@ MACRO_SOFT_DEMO(16)//Init_BunnyMatch
 
 
 
+