+ 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)

Extras/COLLADA_DOM/include/dae/daeTypes.h

@@ -19,6 +19,7 @@
 	#pragma warning(disable:4530) // Disable the exception disable but used in MSCV Stl warning.
 	#pragma warning(disable:4996) //Turn off warnings about deprecated C routines
 	#pragma warning(disable:4786) // Disable the "debug name too long" warning
+	#pragma warning(disable:4244) // Disable the "possible loss of data" warning
 
 #include <dae/daeWin32Platform.h>
 #elif defined( __GCC__ )