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/EPA/Epa.h

@@ -0,0 +1,66 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+EPA Copyright (c) Ricardo Padrela 2006 
+
+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 EPA_H
+#define EPA_H
+
+#define EPA_MAX_FACE_ENTRIES 256
+
+extern const SimdScalar EPA_MAX_RELATIVE_ERROR;
+extern const SimdScalar EPA_MAX_RELATIVE_ERROR_SQRD;
+
+class Epa
+{
+	private :
+
+		//! Prevents copying objects from this class
+		Epa( const Epa& epa );
+		const Epa&			operator = ( const Epa& epa );
+
+	public :
+
+		Epa( ConvexShape* pConvexShapeA, ConvexShape* pConvexShapeB,
+			 const SimdTransform& transformA, const SimdTransform& transformB );
+		~Epa();
+
+		bool				Initialize( SimplexSolverInterface& simplexSolver );
+
+		SimdScalar			CalcPenDepth( SimdPoint3& wWitnessOnA, SimdPoint3& wWitnessOnB );
+
+	private :
+
+		bool				TetrahedronContainsOrigin( SimdPoint3* pPoints );
+		bool				TetrahedronContainsOrigin( const SimdPoint3& point0, const SimdPoint3& point1,
+													   const SimdPoint3& point2, const SimdPoint3& point3 );
+
+	private :
+
+		//! Priority queue
+		std::vector< EpaFace* >	m_faceEntries;
+
+		ConvexShape*			m_pConvexShapeA;
+		ConvexShape*			m_pConvexShapeB;
+
+		SimdTransform			m_transformA;
+		SimdTransform			m_transformB;
+
+		EpaPolyhedron			m_polyhedron;
+};
+
+extern bool CompareEpaFaceEntries( EpaFace* pFaceA, EpaFace* pFaceB );
+
+#endif
+