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/EpaFace.h

@@ -0,0 +1,83 @@
+/*
+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_FACE_H
+#define EPA_FACE_H
+
+class EpaVertex;
+class EpaHalfEdge;
+
+#ifdef EPA_POLYHEDRON_USE_PLANES
+extern SimdScalar PLANE_THICKNESS;
+#endif
+
+//! Note : This class is not supposed to be a base class
+class EpaFace
+{
+	private :
+
+		//! Prevents copying objects from this class
+		EpaFace( const EpaFace& epaFace );
+		const EpaFace&	operator = ( const EpaFace& epaFace );
+
+	public :
+
+		EpaFace();
+		~EpaFace();
+
+		bool			Initialize();
+
+#ifdef EPA_POLYHEDRON_USE_PLANES
+		bool			CalculatePlane();
+#endif
+		void			CalcClosestPoint();
+		void			CalcClosestPointOnA( SimdVector3& closestPointOnA );
+		void			CalcClosestPointOnB( SimdVector3& closestPointOnB );
+
+		bool			IsAffinelyDependent()							const;
+		bool			IsClosestPointInternal()						const;
+
+		void			CollectVertices( EpaVertex** ppVertices );
+
+		//void			FixOrder();
+
+	public :
+
+		EpaHalfEdge*	m_pHalfEdge;
+
+		// We keep vertices here so we don't need to call CollectVertices
+		// every time we need them
+		EpaVertex*		m_pVertices[ 3 ];
+
+#ifdef EPA_POLYHEDRON_USE_PLANES
+		SimdVector3		m_planeNormal;
+		SimdScalar		m_planeDistance;
+			
+		//SimdVector3		m_robustPlaneNormal;
+		//SimdScalar		m_robustPlaneDistance;
+#endif
+
+		SimdVector3		m_v;
+		SimdScalar		m_vSqrd;
+
+		SimdScalar		m_determinant;
+		SimdScalar		m_lambdas[ 2 ];
+
+		bool			m_deleted;
+};
+
+#endif
+