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/btPoint2PointConstraint.h

@@ -36,6 +36,9 @@ struct	btConstraintSetting
 /// point to point constraint between two rigidbodies each with a pivotpoint that descibes the 'ballsocket' location in local space
 class btPoint2PointConstraint : public btTypedConstraint
 {
+#ifdef IN_PARALLELL_SOLVER
+public:
+#endif
 	btJacobianEntry	m_jac[3]; //3 orthogonal linear constraints
 	
 	btVector3	m_pivotInA;