I've worked with both techniques and I would say that developing on the trunk and branching off stable points as releases is the best way to go.
Those people above who object saying that you'll have:
- Constant build problems for daily builds
- Productivity loss when a a developer commits a problem for all
other people on the project
have probably not used continuous integration techniques.
It's true that if you don't perform several test builds during the day, say once every hour or so, will leave themselves open to these problems which will quickly strangle the pace of development.
Doing several test builds during the day quickly folds in updates to the main code base so that other's can use it and also alerts you during the day if someone has broken the build so that they can fix it before going home.
As pointed out, only finding out about a broken build when the nightly build for running the regression tests fails is sheer folly and will quickly slow things down.
Have a read of Martin Fowler's paper on Continuous Integration. We rolled our own such system for a major project (3,000kSLOC) in about 2,000 lines of Posix sh.