processed a lot of feedback: added 'realtime' simulation with fixed substeps (and clamping maximum number of substeps), this means that when stepSimulation is called with smaller timesteps then 'fixed substep' the motionstate is interpolated.

renamed m_ccdSweptSphereRadius,
enabled wireframe debugDrawObject (using debugDrawer)

src/BulletCollision/CollisionDispatch/btCollisionObject.h

@@ -27,6 +27,9 @@ subject to the following restrictions:
 
 struct	btBroadphaseProxy;
 class	btCollisionShape;
+#include "LinearMath/btMotionState.h"
+
+
 
 /// btCollisionObject can be used to manage collision detection objects. 
 /// btCollisionObject maintains all information that is needed for a collision detection: Shape, Transform and AABB proxy.
@@ -68,7 +71,7 @@ struct	btCollisionObject
 	float			m_hitFraction; 
 	
 	///Swept sphere radius (0.0 by default), see btConvexConvexAlgorithm::
-	float			m_ccdSweptShereRadius;
+	float			m_ccdSweptSphereRadius;
 
 	/// Don't do continuous collision detection if square motion (in one step) is less then m_ccdSquareMotionTreshold
 	float			m_ccdSquareMotionTreshold;