add btDiscreteDynamicsWorld::createPredictiveContacts after discrete collision detection and add temporary contact manifolds, for the constraint solver.

This should improve 'ccd' handling when using world->getDispatchInfo().m_useContinuous = true;body->setCcdSquareMotionThreshold(...); body->setCcdSquareMotionThreshold(...)
shoot smaller boxes (test)
use yellow instead of orange for contact point normals
tweak default erp and erp2 values, now split impulse is on by default (need to check it)

src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h

@@ -25,7 +25,7 @@ class btConstraintSolver;
 class btSimulationIslandManager;
 class btTypedConstraint;
 class btActionInterface;
-
+class btPersistentManifold;
 class btIDebugDraw;
 struct InplaceSolverIslandCallback;
 
@@ -63,6 +63,8 @@ protected:
 	
 	int	m_profileTimings;
 
+	btAlignedObjectArray<btPersistentManifold*>	m_predictiveManifolds;
+
 	virtual void	predictUnconstraintMotion(btScalar timeStep);
 	
 	virtual void	integrateTransforms(btScalar timeStep);
@@ -79,6 +81,7 @@ protected:
 
 	virtual void	internalSingleStepSimulation( btScalar timeStep);
 
+	void	createPredictiveContacts(btScalar timeStep);
 
 	virtual void	saveKinematicState(btScalar timeStep);