+ 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/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h

@@ -46,21 +46,13 @@ protected:
 	ContactSolverFunc m_contactDispatch[MAX_CONTACT_SOLVER_TYPES][MAX_CONTACT_SOLVER_TYPES];
 	ContactSolverFunc m_frictionDispatch[MAX_CONTACT_SOLVER_TYPES][MAX_CONTACT_SOLVER_TYPES];
 
-	//choose between several modes, different friction model etc.
-	int	m_solverMode;
+	
 	///m_btSeed2 is used for re-arranging the constraint rows. improves convergence/quality of friction
 	unsigned long	m_btSeed2;
 
 public:
 
-	enum	eSolverMode
-	{
-		SOLVER_RANDMIZE_ORDER = 1,
-		SOLVER_FRICTION_SEPARATE = 2,
-		SOLVER_USE_WARMSTARTING = 4,
-		SOLVER_CACHE_FRIENDLY = 8
-	};
-
+	
 	btSequentialImpulseConstraintSolver();
 
 	///Advanced: Override the default contact solving function for contacts, for certain types of rigidbody
@@ -92,16 +84,7 @@ public:
 	btScalar solveCombinedContactFriction(btRigidBody* body0,btRigidBody* body1, btManifoldPoint& cp, const btContactSolverInfo& info,int iter,btIDebugDraw* debugDrawer);
 
 
-	void	setSolverMode(int mode)
-	{
-		m_solverMode = mode;
-	}
-
-	int	getSolverMode() const
-	{
-		return m_solverMode;
-	}
-
+	
 	unsigned long btRand2();
 
 	int btRandInt2 (int n);