+ 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/BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.cpp

@@ -20,8 +20,8 @@ subject to the following restrictions:
 
 #define ENABLE_SOFTBODY_CONCAVE_COLLISIONS 1
 
-btSoftBodyRigidBodyCollisionConfiguration::btSoftBodyRigidBodyCollisionConfiguration(btStackAlloc*	stackAlloc,btPoolAllocator*	persistentManifoldPool,btPoolAllocator*	collisionAlgorithmPool)
-:btDefaultCollisionConfiguration(stackAlloc,persistentManifoldPool,collisionAlgorithmPool)
+btSoftBodyRigidBodyCollisionConfiguration::btSoftBodyRigidBodyCollisionConfiguration(const btDefaultCollisionConstructionInfo& constructionInfo)
+:btDefaultCollisionConfiguration(constructionInfo)
 {
 	void* mem;
 

src/BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.h

@@ -35,7 +35,7 @@ class	btSoftBodyRigidBodyCollisionConfiguration : public btDefaultCollisionConfi
 	
 public:
 
-	btSoftBodyRigidBodyCollisionConfiguration(btStackAlloc*	stackAlloc=0,btPoolAllocator*	persistentManifoldPool=0,btPoolAllocator*	collisionAlgorithmPool=0);
+	btSoftBodyRigidBodyCollisionConfiguration(const btDefaultCollisionConstructionInfo& constructionInfo = btDefaultCollisionConstructionInfo());
 
 	virtual ~btSoftBodyRigidBodyCollisionConfiguration();