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)

Extras/AlgebraicCCD/BU_CollisionPair.h

@@ -0,0 +1,54 @@
+/*
+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 BU_COLLISIONPAIR
+#define BU_COLLISIONPAIR
+
+#include <NarrowPhaseCollision/BU_Screwing.h>
+#include <NarrowPhaseCollision/ConvexCast.h>
+
+
+#include <SimdQuaternion.h>
+
+class PolyhedralConvexShape;
+
+
+///BU_CollisionPair implements collision algorithm for algebraic time of impact calculation of feature based shapes.
+class BU_CollisionPair : public ConvexCast
+{
+	
+public:
+	BU_CollisionPair(const PolyhedralConvexShape* convexA,const PolyhedralConvexShape* convexB,SimdScalar tolerance=0.2f);
+	//toi
+
+	virtual bool	calcTimeOfImpact(
+					const SimdTransform& fromA,
+					const SimdTransform& toA,
+					const SimdTransform& fromB,
+					const SimdTransform& toB,
+					CastResult& result);
+
+	
+	
+
+private:
+	const PolyhedralConvexShape*	m_convexA;
+	const PolyhedralConvexShape*	m_convexB;
+	BU_Screwing	m_screwing;
+	SimdScalar	m_tolerance;
+	
+};
+#endif //BU_COLLISIONPAIR