Fixes for FPU exceptions, thanks to Phil Knight for reporting and John McCutchan for fix/workarounds.

Added new cluster collision methods for soft bodies, thanks to Nathanael Presson.
Enable/disable textures/shadows for specific demos.

Demos/ConstraintDemo/ConstraintDemo.cpp

@@ -63,6 +63,9 @@ void	drawLimit()
 
 void	ConstraintDemo::initPhysics()
 {
+	setTexturing(true);
+	setShadows(true);
+
 	setCameraDistance(26.f);
 
 	m_collisionConfiguration = new btDefaultCollisionConfiguration();