use Dispatcher in ConcaveConvexCollisionAlgorithm (so it uses the registered collision algorithm, not hardcoded convexconcave)

improved performance of constraint solver by precalculating the cross product/impulse arm
added collision comparison code: ODE box-box, also sphere-triangle
added safety check into GJK, and an assert for AABB's that are very large
write partid/triangle index outside of GJK

src/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h

@@ -103,6 +103,10 @@ struct btBroadphaseProxy
 	{
 		return (proxyType == COMPOUND_SHAPE_PROXYTYPE);
 	}
+	static inline bool isInfinite(int proxyType)
+	{
+		return (proxyType == STATIC_PLANE_PROXYTYPE);
+	}
 	
 };