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/quickstep/OdeConstraintSolver.h

@@ -0,0 +1,66 @@
+/*
+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 ODE_CONSTRAINT_SOLVER_H
+#define ODE_CONSTRAINT_SOLVER_H
+
+#include "ConstraintSolver.h"
+
+class RigidBody;
+class BU_Joint;
+
+/// OdeConstraintSolver is one of the available solvers for Bullet dynamics framework
+/// It uses the the unmodified version of quickstep solver from the open dynamics project
+class OdeConstraintSolver : public ConstraintSolver
+{
+private:
+
+	int m_CurBody;
+	int m_CurJoint;
+
+	float	m_cfm;
+	float	m_erp;
+	
+
+	int ConvertBody(RigidBody* body,RigidBody** bodies,int& numBodies);
+	void ConvertConstraint(PersistentManifold* manifold,BU_Joint** joints,int& numJoints,
+					   RigidBody** bodies,int _bodyId0,int _bodyId1,IDebugDraw* debugDrawer);
+
+public:
+
+	OdeConstraintSolver();
+
+	virtual ~OdeConstraintSolver() {}
+	
+	virtual float SolveGroup(PersistentManifold** manifold,int numManifolds,const ContactSolverInfo& info,IDebugDraw* debugDrawer = 0);
+
+	///setConstraintForceMixing, the cfm adds some positive value to the main diagonal
+	///This can improve convergence (make matrix positive semidefinite), but it can make the simulation look more 'springy'
+	void	setConstraintForceMixing(float cfm) { 
+		m_cfm  = cfm;
+	}
+
+	///setErrorReductionParamter sets the maximum amount of error reduction
+	///which limits energy addition during penetration depth recovery
+	void	setErrorReductionParamter(float erp)
+	{
+		m_erp = erp;
+	}
+};
+
+
+
+
+#endif //ODE_CONSTRAINT_SOLVER_H