added non-uniform scaling to btMultiSphereShape

added ray-aabb check
modified Raycast demo to be more useful for debugging collision shapes

src/LinearMath/btSimdMinMax.h

@@ -16,6 +16,7 @@ subject to the following restrictions:
 
 #ifndef SIMD_MINMAX_H
 #define SIMD_MINMAX_H
+#include "LinearMath/btScalar.h"
 
 template <class T>
 SIMD_FORCE_INLINE const T& btMin(const T& a, const T& b) {