Fix issues with btDbvt: use ATTRIBUTE_ALIGNED16
Removed several places where variable was declared within for statement: for (int i=0; should be int i; for (i=0
+ 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
+ fixed issue with persistent manifold, warmstarting values were not initialized properly
+ don't clear manifold in sphere-sphere collision (need warmstarting)
+ added support for 'split impulse', decouple positional error correction from velocity correction
This avoids adding momentum due to penetration correction, it can be tuned using following variables:
solverInfo.m_splitImpulse = true/false (disable/enable)
solverInfo.m_splitImpulsePenetrationThreshold (below this value, baumgarte/mixed velocity/penetration is used (cheaper, looks more plausible)
solverInfo.m_linearSlop (less jitter, when small amound of penetration is allowed)
Thanks Martijn Reuvers from Two Tribes B.V. (www.twotribes.com) for the patch
To make this work more visible, suppress warnings in external libraries in Extras (COLLADA_DOM, libxml and glui contain many warnings)
Added PreprocessorDefinitions: _CRT_SECURE_NO_DEPRECATE;_CRT_NONSTDC_NO_DEPRECATE to vcproj files
