+ improved split impulse constraint solver option

+ improved friction warm starting
+ made constraint solver configuration more consistent (moved m_solverMode into btContactSolverInfo)
+ reset timing in CDTestFramework after initialization (SAP init destorts timings)
+ make it easier to change default sizes for stack allocator in btDefaultCollisionConfiguration

Extras/CDTestFramework/Profiling.h

@@ -60,6 +60,14 @@ subject to the following restrictions:
 									QueryPerformanceCounter((LARGE_INTEGER*)&mCounter1);
 								}
 
+					void	Reset()
+								{
+									mCycles = 0;
+									mTime = 0.0f;
+									mNbQueries = 0;
+									mMsTime=0.0f;
+								}
+
 				void			Accum()
 								{
 									double t = ((double)mCounter1 - (double)mCounter0)/(double)mFreq;