ASSERT -> btAssert

Added btStackAlloc to Bullet (right now only used by btGjkEpa)
removed default constructors of btCollisionWorld/btDiscreteDynamicsWorld, to reduce link-time dependencies

src/BulletCollision/CollisionShapes/btBoxShape.h

@@ -220,7 +220,7 @@ public:
 			edgeVert1 = 7;
 			break;
 		default:
-			ASSERT(0);
+			btAssert(0);
 
 		}
 

src/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.cpp

@@ -15,7 +15,6 @@ subject to the following restrictions:
 
 //#define DISABLE_BVH
 
-
 #include "BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h"
 #include "BulletCollision/CollisionShapes/btOptimizedBvh.h"
 

src/BulletCollision/CollisionShapes/btStridingMeshInterface.cpp

@@ -76,7 +76,7 @@ void	btStridingMeshInterface::InternalProcessAllTriangles(btInternalTriangleInde
 				break;
 			}
 		default:
-			ASSERT((gfxindextype == PHY_INTEGER) || (gfxindextype == PHY_SHORT));
+			btAssert((gfxindextype == PHY_INTEGER) || (gfxindextype == PHY_SHORT));
 		}
 
 		unLockReadOnlyVertexBase(part);

src/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.cpp

@@ -32,7 +32,7 @@ btTriangleIndexVertexArray::btTriangleIndexVertexArray(int numTriangles,int* tri
 
 void	btTriangleIndexVertexArray::getLockedVertexIndexBase(unsigned char **vertexbase, int& numverts,PHY_ScalarType& type, int& vertexStride,unsigned char **indexbase,int & indexstride,int& numfaces,PHY_ScalarType& indicestype,int subpart)
 {
-	ASSERT(subpart< getNumSubParts() );
+	btAssert(subpart< getNumSubParts() );
 	
 	btIndexedMesh& mesh = m_indexedMeshes[subpart];
 

src/BulletCollision/CollisionShapes/btTriangleShape.h

@@ -59,7 +59,7 @@ public:
 
 	virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax)const 
 	{
-//		ASSERT(0);
+//		btAssert(0);
 		getAabbSlow(t,aabbMin,aabbMax);
 	}
 
@@ -116,7 +116,7 @@ public:
 
 	virtual void	calculateLocalInertia(btScalar mass,btVector3& inertia)
 	{
-		ASSERT(0);
+		btAssert(0);
 		inertia.setValue(0.f,0.f,0.f);
 	}