+ need to reset rigid body using 'setCenterOfMassTransform' to reset world inertia tensor

+ fixes in compound algorithm -> recompute contact points
+ add debug drawing to some demos.
+ revert btJacobianEntry change
+ replace dCROSSMAT by btVector3::getSkewSymmetricMatrix

Demos/SliderConstraintDemo/main.cpp

@@ -5,13 +5,18 @@ April 04, 2008
 #include "SliderConstraintDemo.h"
 #include "GlutStuff.h"
 
+#include "GLDebugDrawer.h"
+#include "btBulletDynamicsCommon.h"
+
+GLDebugDrawer	gDebugDrawer;
+
 int main(int argc,char** argv)
 {
 
         SliderConstraintDemo* sliderConstraintDemo = new SliderConstraintDemo();
 
         sliderConstraintDemo->initPhysics();
-
+		sliderConstraintDemo->getDynamicsWorld()->setDebugDrawer(&gDebugDrawer);
        
 
         return glutmain(argc, argv,640,480,"Slider Constraint Demo. http://www.continuousphysics.com/Bullet/phpBB2/", sliderConstraintDemo);