Work on fixing some GJK issues reported by Pierre Terdiman (thanks Pierre for the testbed!)

Improved this penetration test with more verbose output
retrieve worldtransform from motionstate when rigidbody gets motionstate assigned

Demos/ConstraintDemo/ConstraintDemo.cpp

@@ -41,7 +41,7 @@ int main(int argc,char** argv)
 
 	constraintDemo->initPhysics();	
 
-	constraintDemo->setCameraDistance(46.f);
+	constraintDemo->setCameraDistance(26.f);
 
 	return glutmain(argc, argv,640,480,"Constraint Demo. http://www.continuousphysics.com/Bullet/phpBB2/",constraintDemo);
 }