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_EdgeEdge.h

@@ -0,0 +1,76 @@
+/*
+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_EDGEEDGE
+#define BU_EDGEEDGE
+
+class BU_Screwing;
+#include <SimdTransform.h>
+#include <SimdPoint3.h>
+#include <SimdVector3.h>
+
+//class BUM_Point2;
+
+#include <SimdScalar.h>
+
+///BU_EdgeEdge implements algebraic time of impact calculation between two (angular + linear) moving edges.
+class BU_EdgeEdge
+{
+public:
+	
+
+	BU_EdgeEdge();
+	bool GetTimeOfImpact(
+		const BU_Screwing& screwAB,
+		const SimdPoint3& a,//edge in object A
+		const SimdVector3& u,
+		const SimdPoint3& c,//edge in object B
+		const SimdVector3& v,
+		SimdScalar &minTime,
+		SimdScalar &lamda,
+		SimdScalar& mu
+		);
+private:
+
+	bool Calc2DRotationPointPoint(const SimdPoint3& rotPt, SimdScalar rotRadius, SimdScalar rotW,const SimdPoint3& intersectPt,SimdScalar& minTime);
+	bool GetTimeOfImpactGeneralCase(
+		const BU_Screwing& screwAB,
+		const SimdPoint3& a,//edge in object A
+		const SimdVector3& u,
+		const SimdPoint3& c,//edge in object B
+		const SimdVector3& v,
+		SimdScalar &minTime,
+		SimdScalar &lamda,
+		SimdScalar& mu
+
+		);
+
+	
+	bool GetTimeOfImpactVertexEdge(
+		const BU_Screwing& screwAB,
+		const SimdPoint3& a,//edge in object A
+		const SimdVector3& u,
+		const SimdPoint3& c,//edge in object B
+		const SimdVector3& v,
+		SimdScalar &minTime,
+		SimdScalar &lamda,
+		SimdScalar& mu
+
+		);
+
+};
+
+#endif //BU_EDGEEDGE