+ make compound versus soft body work (soft body uses interpolated transform)

+ fixed issue with persistent manifold, warmstarting values were not initialized properly
+ don't clear manifold in sphere-sphere collision (need warmstarting)
+ added support for 'split impulse', decouple positional error correction from velocity correction
This avoids adding momentum due to penetration correction, it can be tuned using following variables:
solverInfo.m_splitImpulse = true/false (disable/enable)
solverInfo.m_splitImpulsePenetrationThreshold (below this value, baumgarte/mixed velocity/penetration is used (cheaper, looks more plausible)
solverInfo.m_linearSlop (less jitter, when small amound of penetration is allowed)

Demos/GimpactTestDemo/GimpactTestDemo.cpp

@@ -40,6 +40,7 @@ subject to the following restrictions:
 
 #ifdef SHOW_NUM_DEEP_PENETRATIONS 
 extern int gNumDeepPenetrationChecks;
+extern int gNumSplitImpulseRecoveries;
 extern int gNumGjkChecks;
 #endif //
 
@@ -236,6 +237,14 @@ void GimpactConcaveDemo::renderme()
 				BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
 				yStart += yIncr;
 
+				glRasterPos3f(xOffset,yStart,0);
+				sprintf(buf,"gNumSplitImpulseRecoveries= %d",gNumSplitImpulseRecoveries);
+				BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
+				yStart += yIncr;
+
+				
+
+
 				glRasterPos3f(xOffset,yStart,0);
 				sprintf(buf,"gNumGjkChecks= %d",gNumGjkChecks);
 				BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);