added parallel solver (work in progress) and made modifications to demo/constraints to allow for getting the type without using virtual functions (needed on CELL SPU processors)

src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.h

@@ -30,6 +30,9 @@ class btRigidBody;
 ///btConeTwistConstraint can be used to simulate ragdoll joints (upper arm, leg etc)
 class btConeTwistConstraint : public btTypedConstraint
 {
+#ifdef IN_PARALLELL_SOLVER
+public:
+#endif
 	btJacobianEntry	m_jac[3]; //3 orthogonal linear constraints
 
 	btTransform m_rbAFrame;