Refactoring:

Moved optional code to Extras: AlgebraicCCD,EPA,quickstep
Moved SimpleBroadphase data to OverlappingPairCache, and derive both SimpleBroadphase and AxisSweep3 from OverlappingPairCache.
Added ParallelPhysicsEnvironment (prepair more parallel mainloop)
Upgraded hardcoded limit from 1024/8192 to 32766/65535 (max objects / max overlapping pairs)

Bullet/BroadphaseCollision/OverlappingPairCache.h

@@ -0,0 +1,85 @@
+
+/*
+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 OVERLAPPING_PAIR_CACHE_H
+#define OVERLAPPING_PAIR_CACHE_H
+
+
+#include "BroadphaseInterface.h"
+#include "BroadphaseProxy.h"
+#include "SimdPoint3.h"
+
+
+///OverlappingPairCache maintains the objects with overlapping AABB
+///Typically managed by the Broadphase, Axis3Sweep or SimpleBroadphase
+class	OverlappingPairCache : public BroadphaseInterface
+{
+
+	BroadphasePair*	m_OverlappingPairs;
+	int	m_NumOverlapBroadphasePair;
+	int m_maxOverlap;
+	
+	//during the dispatch, check that user doesn't destroy/create proxy
+	bool		m_blockedForChanges;
+
+	
+	public:
+		
+	OverlappingPairCache(int maxOverlap);	
+	virtual ~OverlappingPairCache();
+	
+	int		GetNumOverlappingPairs() const
+	{
+		return m_NumOverlapBroadphasePair;
+	}
+
+	BroadphasePair& GetOverlappingPair(int index)
+	{
+		return m_OverlappingPairs[index];
+	}
+
+	void	RemoveOverlappingPair(BroadphasePair& pair);
+
+	void	CleanOverlappingPair(BroadphasePair& pair);
+	
+	void	AddOverlappingPair(BroadphaseProxy* proxy0,BroadphaseProxy* proxy1);
+
+	BroadphasePair*	FindPair(BroadphaseProxy* proxy0,BroadphaseProxy* proxy1);
+	
+	
+	
+	void	CleanProxyFromPairs(BroadphaseProxy* proxy);
+
+	void	RemoveOverlappingPairsContainingProxy(BroadphaseProxy* proxy);
+
+
+	inline bool NeedsCollision(BroadphaseProxy* proxy0,BroadphaseProxy* proxy1) const
+	{
+		bool collides = proxy0->m_collisionFilterGroup & proxy1->m_collisionFilterMask;
+		collides = collides && (proxy1->m_collisionFilterGroup & proxy0->m_collisionFilterMask);
+		
+		return collides;
+	}
+		
+	void	DispatchAllCollisionPairs(Dispatcher&	dispatcher,DispatcherInfo& dispatchInfo);
+
+	virtual void	RefreshOverlappingPairs() =0;
+
+
+
+
+};
+#endif //OVERLAPPING_PAIR_CACHE_H