- added quickSort to btAlignedObjectArray (has generally better performance then heapSort)

- replaced all usage of heapSort by quickSort
- finished btMultiSapBroadphase. Still some work to be done to increase performance (faster add/remove from child broadphases. 
  uses currently AABB tree to locate child broadphase (should use grid), and sorted array takes too much time.

src/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp

@@ -28,8 +28,9 @@ subject to the following restrictions:
 
 int gNumManifold = 0;
 
+#ifdef BT_DEBUG
 #include <stdio.h>
-
+#endif
 
 
 btCollisionDispatcher::btCollisionDispatcher (btCollisionConfiguration* collisionConfiguration):