Fixes for Linux compilation,

Thanks to Ole: http://bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=3590
Add option to select EPA or Minkowski sampling method in btDefaultCollisionConfiguration

src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.cpp

@@ -45,17 +45,17 @@ btDefaultCollisionConfiguration::btDefaultCollisionConfiguration(const btDefault
 
 	void* mem = btAlignedAlloc(sizeof(btVoronoiSimplexSolver),16);
 	m_simplexSolver = new (mem)btVoronoiSimplexSolver();
-	
-#define USE_EPA 1
-#ifdef USE_EPA
-	mem = btAlignedAlloc(sizeof(btGjkEpaPenetrationDepthSolver),16);
-	m_pdSolver = new (mem)btGjkEpaPenetrationDepthSolver;
-#else
-	mem = btAlignedAlloc(sizeof(btMinkowskiPenetrationDepthSolver),16);
-	m_pdSolver = new (mem)btMinkowskiPenetrationDepthSolver;
-#endif//USE_EPA	
-	
 
+	if (constructionInfo.m_useEpaPenetrationAlgorithm)
+	{
+		mem = btAlignedAlloc(sizeof(btGjkEpaPenetrationDepthSolver),16);
+		m_pdSolver = new (mem)btGjkEpaPenetrationDepthSolver;
+	}else
+	{
+		mem = btAlignedAlloc(sizeof(btMinkowskiPenetrationDepthSolver),16);
+		m_pdSolver = new (mem)btMinkowskiPenetrationDepthSolver;
+	}
+	
 	//default CreationFunctions, filling the m_doubleDispatch table
 	mem = btAlignedAlloc(sizeof(btConvexConvexAlgorithm::CreateFunc),16);
 	m_convexConvexCreateFunc = new(mem) btConvexConvexAlgorithm::CreateFunc(m_simplexSolver,m_pdSolver);

src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h

@@ -28,6 +28,7 @@ struct	btDefaultCollisionConstructionInfo
 	int					m_defaultMaxPersistentManifoldPoolSize;
 	int					m_defaultMaxCollisionAlgorithmPoolSize;
 	int					m_defaultStackAllocatorSize;
+	int					m_useEpaPenetrationAlgorithm;
 
 	btDefaultCollisionConstructionInfo()
 		:m_stackAlloc(0),
@@ -35,7 +36,8 @@ struct	btDefaultCollisionConstructionInfo
 		m_collisionAlgorithmPool(0),
 		m_defaultMaxPersistentManifoldPoolSize(4096),
 		m_defaultMaxCollisionAlgorithmPoolSize(4096),
-		m_defaultStackAllocatorSize(0)
+		m_defaultStackAllocatorSize(0),
+		m_useEpaPenetrationAlgorithm(true)
 	{
 	}
 };

src/BulletDynamics/ConstraintSolver/btHingeConstraint.h

@@ -127,7 +127,7 @@ public:
 
 	}
 
-	void	setAxis(btVector3& axisInA = btVector3(0, 1, 0))
+	void	setAxis(btVector3& axisInA)
 	{
 		btVector3 rbAxisA1, rbAxisA2;
 		btPlaneSpace1(axisInA, rbAxisA1, rbAxisA2);

src/BulletMultiThreaded/btGpu3DGridBroadphase.cpp

@@ -27,8 +27,7 @@ subject to the following restrictions:
 #include "btGpu3DGridBroadphaseSharedDefs.h"
 
 #include "btGpu3DGridBroadphase.h"
-#include <string> //for memset
-
+#include <string.h> //for memset
 //--------------------------------------------------------------------------
 
 #include <stdio.h>