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.

src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h

@@ -25,7 +25,7 @@ class btIDebugDraw;
 #include "BulletCollision/NarrowPhaseCollision/btManifoldPoint.h"
 
 ///The btSequentialImpulseConstraintSolver is a fast SIMD implementation of the Projected Gauss Seidel (iterative LCP) method.
-class btSequentialImpulseConstraintSolver : public btConstraintSolver
+ATTRIBUTE_ALIGNED16(class) btSequentialImpulseConstraintSolver : public btConstraintSolver
 {
 protected:
 
@@ -95,6 +95,7 @@ protected:
 
 public:
 
+	BT_DECLARE_ALIGNED_ALLOCATOR();
 	
 	btSequentialImpulseConstraintSolver();
 	virtual ~btSequentialImpulseConstraintSolver();