+ 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

src/BulletDynamics/ConstraintSolver/btContactConstraint.cpp

@@ -52,7 +52,8 @@ void resolveSingleBilateral(btRigidBody& body1, const btVector3& pos1,
 	btVector3 vel = vel1 - vel2;
 	
 
-	  btJacobianEntry jac(
+	   btJacobianEntry jac(body1.getCenterOfMassTransform().getBasis().transpose(),
+		body2.getCenterOfMassTransform().getBasis().transpose(),
 		rel_pos1,rel_pos2,normal,body1.getInvInertiaDiagLocal(),body1.getInvMass(),
 		body2.getInvInertiaDiagLocal(),body2.getInvMass());