- 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/NarrowPhaseCollision/btVoronoiSimplexSolver.cpp

@@ -26,7 +26,7 @@ subject to the following restrictions:
 
 #include "btVoronoiSimplexSolver.h"
 #include <assert.h>
-#include <stdio.h>
+//#include <stdio.h>
 
 #define VERTA  0
 #define VERTB  1