MultiThreaded Demo:

- fixing various race conditions throughout (usage of static vars, etc)
 - addition of a few lightweight mutexes (which are compiled out by default)
 - slight code rearrangement in discreteDynamicsWorld to facilitate multithreading
 - PoolAllocator::allocate() can now be called when pool is full without
     crashing (null pointer returned)
 - PoolAllocator allocate and freeMemory, are OPTIONALLY threadsafe
     (default is un-threadsafe)
 - CollisionDispatcher no longer checks if the pool allocator is full
     before calling allocate(), instead it just calls allocate() and
     checks if the return is null -- this avoids a race condition
 - SequentialImpulseConstraintSolver OPTIONALLY uses different logic in
     getOrInitSolverBody() to avoid a race condition with kinematic bodies
 - addition of 2 classes which together allow simulation islands to be run
   in parallel:
    - btSimulationIslandManagerMt
    - btDiscreteDynamicsWorldMt
 - MultiThreadedDemo example in the example browser demonstrating use of
   OpenMP, Microsoft PPL, and Intel TBB
 - use multithreading for other demos
 - benchmark demo: add parallel raycasting

examples/BasicDemo/CMakeLists.txt

@@ -12,12 +12,14 @@ IF (WIN32)
 	ADD_EXECUTABLE(App_BasicExample
 		BasicExample.cpp
 		main.cpp
+		../CommonInterfaces/CommonRigidBodyBase.cpp
 		${BULLET_PHYSICS_SOURCE_DIR}/build3/bullet.rc
 	)
 ELSE()
 	ADD_EXECUTABLE(App_BasicExample
 		BasicExample.cpp
 		main.cpp
+		../CommonInterfaces/CommonRigidBodyBase.cpp
 	)
 ENDIF()
 
@@ -53,6 +55,7 @@ SET(AppBasicExampleGui_SRCS
         ../ExampleBrowser/OpenGLGuiHelper.cpp
         ../ExampleBrowser/GL_ShapeDrawer.cpp
         ../ExampleBrowser/CollisionShape2TriangleMesh.cpp
+		../CommonInterfaces/CommonRigidBodyBase.cpp
 		../Utils/b3Clock.cpp
 )