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.

src/BulletCollision/BroadphaseCollision/btDbvtBroadphase.h

@@ -88,6 +88,7 @@ struct	{
 btDbvtBroadphase(btOverlappingPairCache* paircache=0);
 ~btDbvtBroadphase();
 void							collide(btDispatcher* dispatcher);
+void							optimize();
 /* btBroadphaseInterface Implementation	*/ 
 btBroadphaseProxy*				createProxy(const btVector3& aabbMin,const btVector3& aabbMax,int shapeType,void* userPtr,short int collisionFilterGroup,short int collisionFilterMask,btDispatcher* dispatcher,void* multiSapProxy);
 void							destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher);