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/Dynamics/btDiscreteDynamicsWorld.cpp

@@ -947,7 +947,8 @@ void	btDiscreteDynamicsWorld::integrateTransforms(btScalar timeStep)
 						//response  between two dynamic objects without friction, assuming 0 penetration depth
 						btScalar appliedImpulse = 0.f;
 						btScalar depth = 0.f;
-						appliedImpulse = resolveSingleCollision(body,sweepResults.m_hitCollisionObject,sweepResults.m_hitPointWorld,sweepResults.m_hitNormalWorld,getSolverInfo(), depth);
+
+						appliedImpulse = resolveSingleCollision(body,(btCollisionObject*)sweepResults.m_hitCollisionObject,sweepResults.m_hitPointWorld,sweepResults.m_hitNormalWorld,getSolverInfo(), depth);
 						
 
 #endif

src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h

@@ -34,7 +34,7 @@ struct InplaceSolverIslandCallback;
 
 ///btDiscreteDynamicsWorld provides discrete rigid body simulation
 ///those classes replace the obsolete CcdPhysicsEnvironment/CcdPhysicsController
-class btDiscreteDynamicsWorld : public btDynamicsWorld
+ATTRIBUTE_ALIGNED16(class) btDiscreteDynamicsWorld : public btDynamicsWorld
 {
 protected:
 	
@@ -87,6 +87,8 @@ protected:
 public:
 
 
+	BT_DECLARE_ALIGNED_ALLOCATOR();
+
 	///this btDiscreteDynamicsWorld constructor gets created objects from the user, and will not delete those
 	btDiscreteDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration);
 

src/BulletDynamics/Dynamics/btRigidBody.cpp

@@ -300,15 +300,15 @@ void btRigidBody::setCenterOfMassTransform(const btTransform& xform)
 }
 
 
-bool btRigidBody::checkCollideWithOverride(btCollisionObject* co)
+bool btRigidBody::checkCollideWithOverride(const  btCollisionObject* co) const
 {
-	btRigidBody* otherRb = btRigidBody::upcast(co);
+	const btRigidBody* otherRb = btRigidBody::upcast(co);
 	if (!otherRb)
 		return true;
 
 	for (int i = 0; i < m_constraintRefs.size(); ++i)
 	{
-		btTypedConstraint* c = m_constraintRefs[i];
+		const btTypedConstraint* c = m_constraintRefs[i];
 		if (c->isEnabled())
 			if (&c->getRigidBodyA() == otherRb || &c->getRigidBodyB() == otherRb)
 				return false;

src/BulletDynamics/Dynamics/btRigidBody.h

@@ -494,7 +494,7 @@ public:
 		return (getBroadphaseProxy() != 0);
 	}
 
-	virtual bool checkCollideWithOverride(btCollisionObject* co);
+	virtual bool checkCollideWithOverride(const  btCollisionObject* co) const;
 
 	void addConstraintRef(btTypedConstraint* c);
 	void removeConstraintRef(btTypedConstraint* c);