Fix broken CDTestFramework

Avoid crash in BulletWorldImporter, ignoring 'invalid' constraints between two static bodies
Use a bitfield for btCollisionObject::CollisionObjectTypes (to allow custom types that are derived from build-in types such as btRigidBody)
Revert/improve softbody debug rendering

Demos/SoftDemo/SoftDemo.cpp

@@ -1454,6 +1454,7 @@ void	SoftDemo::renderme()
 {
 	btIDebugDraw*	idraw=m_dynamicsWorld->getDebugDrawer();
 
+	glDisable(GL_TEXTURE_2D);
 	m_dynamicsWorld->debugDrawWorld();
 
 	/* Bodies		*/