+ 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/NarrowPhaseCollision/btManifoldPoint.h

@@ -31,6 +31,7 @@ class btManifoldPoint
 			btManifoldPoint()
 				:m_userPersistentData(0),
 				m_appliedImpulse(0.f),
+				m_lateralFrictionInitialized(false),
 				m_lifeTime(0)
 			{
 			}
@@ -46,6 +47,9 @@ class btManifoldPoint
 					m_combinedRestitution(btScalar(0.)),
 					m_userPersistentData(0),
 					m_appliedImpulse(0.f),
+					m_lateralFrictionInitialized(false),
+					m_appliedImpulseLateral1(0.f),
+					m_appliedImpulseLateral2(0.f),
 					m_lifeTime(0)
 			{
 				
@@ -74,8 +78,14 @@ class btManifoldPoint
 			mutable void*	m_userPersistentData;
 			btScalar		m_appliedImpulse;
 
-			int		m_lifeTime;//lifetime of the contactpoint in frames
+			bool			m_lateralFrictionInitialized;
+			btScalar		m_appliedImpulseLateral1;
+			btScalar		m_appliedImpulseLateral2;
+			int				m_lifeTime;//lifetime of the contactpoint in frames
 			
+			btVector3		m_lateralFrictionDir1;
+			btVector3		m_lateralFrictionDir2;
+
 			btScalar getDistance() const
 			{
 				return m_distance1;