disable self-collision for btMultiBody with prismatic joint: the collision normals are conflicting (they assume 3d objects, but 2 bodies/links in a multi-body don't have the DOFs to resolve the collision, resulting in 'explosions' adding energy.



git-svn-id: http://bullet.googlecode.com/svn@2700 08e121b0-ae19-0410-a57b-3be3395fd4fd
Allow the ForkLiftDemo to toggle between MLCP and SI solver, using F6 key.
Apply patch for CMake config, see Issue 754 (Issue 753)
Fix a few issue with the MLCP solver: allow split impulse, and fix offset in friction dependencies


git-svn-id: http://bullet.googlecode.com/svn@2701 08e121b0-ae19-0410-a57b-3be3395fd4fd
add "latency motion state interpolation", using previous frame/current, instead of current->next
See Demos/ForkLiftDemo for example (F7 to toggle, use single-frame stepping, press 'i' and 's' to see the effect)


git-svn-id: http://bullet.googlecode.com/svn@2702 08e121b0-ae19-0410-a57b-3be3395fd4fd
fix autotools build, add MLCPSolvers and ForkLiftDemo



git-svn-id: http://bullet.googlecode.com/svn@2703 08e121b0-ae19-0410-a57b-3be3395fd4fd