Fixed over 500 compile warnings. Mostly:

* Unused variables.
* Missing newlines at ends of #included files.
* signed int loop variables where the termination condition is an unsigned 'get number of' function.
* 'NULL' used inappropriately for an integer or character constant (NULL is a pointer)
* abstract base classes with no virtual destructor.
* Floating point constants used to initialise integer variables.

BulletDynamics/ConstraintSolver/ContactConstraint.cpp

@@ -176,7 +176,6 @@ float resolveSingleFriction(
 
 	const SimdVector3& pos1 = contactPoint.GetPositionWorldOnA();
 	const SimdVector3& pos2 = contactPoint.GetPositionWorldOnB();
-	const SimdVector3& normal = contactPoint.m_normalWorldOnB;
 
 	SimdVector3 rel_pos1 = pos1 - body1.getCenterOfMassPosition(); 
 	SimdVector3 rel_pos2 = pos2 - body2.getCenterOfMassPosition();
@@ -192,7 +191,6 @@ float resolveSingleFriction(
 	{
 		//apply friction in the 2 tangential directions
 		
-		SimdScalar relaxation = solverInfo.m_damping;
 		{
 			// 1st tangent
 			SimdVector3 vel1 = body1.getVelocityInLocalPoint(rel_pos1);

BulletDynamics/ConstraintSolver/Generic6DofConstraint.cpp

@@ -243,6 +243,7 @@ SimdScalar Generic6DofConstraint::ComputeAngle(int axis) const
 			angle = SimdAtan2( s, c );
 			}
 			break;
+                  default: assert ( 0 ) ; break ;
 		}
 
 	return angle;