+ Fix btSubsimplexConvexCast

Thanks to Nacho, http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=2422)
Fix in rendering, GL_STENCIL
+ btTriangleIndexVertexArray indices should be unsigned int/unsigned short int,
+ Made InternalProcessAllTriangles virtual, thanks to 
Both thank to Fullmetalcoder, http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=2401
+clamp impulse for btPoint2PointConstraint
Thanks to Martijn Reuvers, http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=2418
+ Free memory of bvh, pass in scaling factor (optional)
Thanks to Roy Eltham, http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=2375

Demos/ConcaveDemo/main.cpp

@@ -2,13 +2,17 @@
 #include "ConcaveDemo.h"
 #include "GlutStuff.h"
 
+#include "GLDebugDrawer.h"
+#include "btBulletDynamicsCommon.h"
 
+GLDebugDrawer	gDebugDrawer;
 int main(int argc,char** argv)
 {
 
         ConcaveDemo* concaveDemo = new ConcaveDemo();
         concaveDemo->initPhysics();
         concaveDemo->setCameraDistance(30.f);
+		concaveDemo->getDynamicsWorld()->setDebugDrawer(&gDebugDrawer);
 
         return glutmain(argc, argv,640,480,"Static Concave Mesh Demo",concaveDemo);
 }