+ 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/VehicleDemo/main.cpp

@@ -1,7 +1,9 @@
 
 #include "VehicleDemo.h"
 #include "GlutStuff.h"
-
+#include "GLDebugDrawer.h"
+#include "btBulletDynamicsCommon.h"
+GLDebugDrawer	gDebugDrawer;
 
 int main(int argc,char** argv)
 {
@@ -9,6 +11,7 @@ int main(int argc,char** argv)
         VehicleDemo* vehicleDemo = new VehicleDemo;
 
         vehicleDemo->initPhysics(); 
+		vehicleDemo->getDynamicsWorld()->setDebugDrawer(&gDebugDrawer);
 
         return glutmain(argc, argv,640,480,"Bullet Vehicle Demo. http://www.continuousphysics.com/Bullet/phpBB2/", vehicleDemo);
 }