Apple contribution for OSX SSE and iOS NEON optimizations unit tests, thanks to Jordan Hubbard, Ian Ollmann and Hristo Hristov.

For OSX:
cd build
./premake_osx xcode4
for iOS:
cd build
./ios_build.sh
./ios_run.sh

Also integrated the branches/StackAllocation to make it easier to multi-thread collision detection in the near future. It avoids changing the btCollisionObject while performing collision detection.

As this is a large patch, some stuff might be temporarily broken, I'll keep an eye out on issues.

Test/Source/TestList.cpp

@@ -0,0 +1,97 @@
+//
+//  TestList.c
+//  BulletTest
+//
+//  Copyright (c) 2011 Apple Inc.
+//
+
+#include <stdlib.h>
+#include "TestList.h"
+
+#include "Test_qtmul.h"
+#include "Test_qtmulQV3.h"
+#include "Test_qtmulV3Q.h"
+#include "Test_qtdot.h"
+#include "Test_qtnorm.h"
+
+#include "Test_v3dot.h"
+#include "Test_v3sdiv.h"
+#include "Test_v3norm.h"
+#include "Test_v3cross.h"
+#include "Test_v3triple.h"
+#include "Test_v3interp.h"
+#include "Test_v3lerp.h"
+#include "Test_v3skew.h"
+#include "Test_v3div.h"
+#include "Test_v3rotate.h"
+
+#include "Test_maxdot.h"
+#include "Test_mindot.h"
+#include "Test_dot3.h"
+#include "Test_3x3transpose.h"
+#include "Test_3x3transposeTimes.h"
+#include "Test_3x3timesTranspose.h"
+#include "Test_3x3mulM.h"
+#include "Test_3x3mulM1M2.h"
+#include "Test_3x3mulMV.h"
+#include "Test_3x3mulVM.h"
+#include "Test_3x3setRot.h"
+#include "Test_3x3getRot.h"
+
+#include "Test_btDbvt.h"
+#include "Test_quat_aos_neon.h"
+
+#include "LinearMath/btScalar.h"
+#define ENTRY( _name, _func )       { _name, _func }
+
+//
+// Test functions have the form  int (*TestFunc)( void )
+// They return a non-zero result in case of failure.
+//
+// Please see handy stuff in Utils.h, vector.h when writing your test code.
+//
+#if defined (BT_USE_NEON) || defined (BT_USE_SSE_IN_API)
+
+TestDesc  gTestList[] = 
+{
+    ENTRY( "maxdot", Test_maxdot ),
+    ENTRY( "mindot", Test_mindot ),
+
+    ENTRY( "qtmul", Test_qtmul ),
+    ENTRY( "qtmulQV3", Test_qtmulQV3 ),
+    ENTRY( "qtmulV3Q", Test_qtmulV3Q ),
+    ENTRY( "qtdot", Test_qtdot ),
+    ENTRY( "qtnorm", Test_qtnorm ),
+
+    ENTRY( "v3dot", Test_v3dot ),
+    ENTRY( "v3sdiv", Test_v3sdiv ),
+    ENTRY( "v3norm", Test_v3norm ),
+    ENTRY( "v3cross", Test_v3cross ),
+    ENTRY( "v3triple", Test_v3triple ),
+    ENTRY( "v3interp", Test_v3interp ),
+    ENTRY( "v3lerp", Test_v3lerp ),
+    ENTRY( "v3skew", Test_v3skew ),
+    ENTRY( "v3div", Test_v3div ),
+    ENTRY( "v3rotate", Test_v3rotate ),
+
+    ENTRY( "dot3", Test_dot3 ),
+    ENTRY( "3x3transpose", Test_3x3transpose ),
+    ENTRY( "3x3transposeTimes", Test_3x3transposeTimes ),
+    ENTRY( "3x3timesTranspose", Test_3x3timesTranspose ),
+    ENTRY( "3x3mulM", Test_3x3mulM ),
+    ENTRY( "3x3mulM1M2", Test_3x3mulM1M2 ),
+    ENTRY( "3x3mulMV", Test_3x3mulMV ),
+    ENTRY( "3x3mulVM", Test_3x3mulMV ),
+    ENTRY( "3x3setRot", Test_3x3setRot ),
+    ENTRY( "3x3getRot", Test_3x3getRot ),
+  
+    ENTRY( "btDbvt", Test_btDbvt ),
+    ENTRY("quat_aos_neon", Test_quat_aos_neon),
+    
+    { NULL, NULL }
+};
+#else
+TestDesc  gTestList[]={{NULL,NULL}};
+
+#endif
+