Initial work on batch raycast support.

Extras/BulletMultiThreaded/SpuRaycastTask/SpuSubSimplexConvexCast.h

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+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+
+#ifndef SPU_SUBSIMPLEX_CONVEX_CAST_H
+#define SPU_SUBSIMPLEX_CONVEX_CAST_H
+
+#include "SpuNarrowPhaseCollisionTask/SpuVoronoiSimplexSolver.h"
+#include "SpuRaycastTask.h"
+
+class btConvexShape;
+
+struct SpuCastResult
+{
+};
+
+/// btSubsimplexConvexCast implements Gino van den Bergens' paper
+///"Ray Casting against bteral Convex Objects with Application to Continuous Collision Detection"
+/// GJK based Ray Cast, optimized version
+/// Objects should not start in overlap, otherwise results are not defined.
+class SpuSubsimplexConvexCast
+{
+	SpuVoronoiSimplexSolver* m_simplexSolver;
+	const void*				 m_convexA;
+	const void*				 m_convexB;
+	RaycastGatheredObjectData* m_dataB;
+public:
+
+	SpuSubsimplexConvexCast (const void* shapeA,
+							 const void* shapeB,
+							 SpuVoronoiSimplexSolver* simplexSolver);
+
+	//virtual ~btSubsimplexConvexCast();
+	///SimsimplexConvexCast calculateTimeOfImpact calculates the time of impact+normal for the linear cast (sweep) between two moving objects.
+	///Precondition is that objects should not penetration/overlap at the start from the interval. Overlap can be tested using btGjkPairDetector.
+	bool calcTimeOfImpact(const btTransform& fromA,
+						  const btTransform& toA,
+						  const btTransform& fromB,
+						  const btTransform& toB,
+						  SpuCastResult& result);
+
+};
+
+#endif //SUBSIMPLEX_CONVEX_CAST_H