+ 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/btSolverBody.h

@@ -64,8 +64,8 @@ ATTRIBUTE_ALIGNED16 (struct)	btSolverBody
 			m_turnVelocity += angularComponent*(impulseMagnitude*m_angularFactor);
 		}
 	}
-	
 
+	
 	void	writebackVelocity()
 	{
 		if (m_invMass)