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/CollisionShapes/btCollisionShape.h

@@ -66,6 +66,12 @@ public:
 		return btBroadphaseProxy::isCompound(getShapeType());
 	}
 
+	///isInfinite is used to catch simulation error (aabb check)
+	inline bool isInfinite() const
+	{
+		return btBroadphaseProxy::isInfinite(getShapeType());
+	}
+
 	virtual void	setLocalScaling(const btVector3& scaling) =0;
 	virtual const btVector3& getLocalScaling() const =0;