add btMultiBodyConstraint::finalizeMultiDof API: if you add multi-body constraints to a multi-dof btMultiBody, before it has been finalized using the btMultiBody::finalizeMultiDof call,

then you have to manually call the btMultiBodyConstraint::finalizeMultiDof for all multi-dof multi body constraints.

Demos3/ImportURDFDemo/ImportURDFSetup.h

@@ -7,6 +7,7 @@
 class ImportUrdfSetup : public CommonMultiBodySetup
 {
     char m_fileName[1024];
+	struct ImportUrdfInternalData* m_data;
     
 public:
     ImportUrdfSetup();