btDbvtBroadphase: - Fixed a performance issues reported by 'reltham' - Added btDbvtBroadphase::optimize() for people who want good performances right away or don't do dynamics. - fixed compilation issues when DBVT_BP_PROFILE was set. btSoftBody: - Fixed singular matrix issues related to polar decomposition (flat meshes). DemoApplication: - Shadows (enable/disable through 'g' or DemoApplication::setShadows(bool)). - Texture can be enable/disable through 'u' CDFramework: - fixed compilation issues.