+ 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

src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h

@@ -18,7 +18,28 @@ subject to the following restrictions:
 
 #include "btCollisionConfiguration.h"
 class btVoronoiSimplexSolver;
-class btGjkEpaPenetrationDepthSolver;
+class btConvexPenetrationDepthSolver;
+
+struct	btDefaultCollisionConstructionInfo
+{
+	btStackAlloc*		m_stackAlloc;
+	btPoolAllocator*	m_persistentManifoldPool;
+	btPoolAllocator*	m_collisionAlgorithmPool;
+	int					m_defaultMaxPersistentManifoldPoolSize;
+	int					m_defaultMaxCollisionAlgorithmPoolSize;
+	int					m_defaultStackAllocatorSize;
+
+	btDefaultCollisionConstructionInfo()
+		:m_stackAlloc(0),
+		m_persistentManifoldPool(0),
+		m_collisionAlgorithmPool(0),
+		m_defaultMaxPersistentManifoldPoolSize(65535),
+		m_defaultMaxCollisionAlgorithmPoolSize(65535),
+		m_defaultStackAllocatorSize(5*1024*1024)
+	{
+	}
+};
+
 
 
 ///btCollisionConfiguration allows to configure Bullet collision detection
@@ -40,7 +61,7 @@ class	btDefaultCollisionConfiguration : public btCollisionConfiguration
 
 	//default simplex/penetration depth solvers
 	btVoronoiSimplexSolver*	m_simplexSolver;
-	btGjkEpaPenetrationDepthSolver*	m_pdSolver;
+	btConvexPenetrationDepthSolver*	m_pdSolver;
 	
 	//default CreationFunctions, filling the m_doubleDispatch table
 	btCollisionAlgorithmCreateFunc*	m_convexConvexCreateFunc;
@@ -60,7 +81,8 @@ class	btDefaultCollisionConfiguration : public btCollisionConfiguration
 	
 public:
 
-	btDefaultCollisionConfiguration(btStackAlloc*	stackAlloc=0,btPoolAllocator*	persistentManifoldPool=0,btPoolAllocator*	collisionAlgorithmPool=0);
+
+	btDefaultCollisionConfiguration(const btDefaultCollisionConstructionInfo& constructionInfo = btDefaultCollisionConstructionInfo());
 
 	virtual ~btDefaultCollisionConfiguration();