erwin.coumans d49aeb9dff
+ improved split impulse constraint solver option ...
+ 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
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d49aeb9dff