Share btGjkPairDetector, btGjkEpa2, btVoronoiSimplexSolver with SPU/Multithreaded implementation (remove duplicate code)

Make btTypedConstraint and btPersistentManifold both derive from btTypedObject to make SPU-side generic constraint solver easier.

Note: all build systems need to be updated: remove SpuVoronoiSimplexSolver.cpp, SpuGjkPairDetector.cpp, SpuEpaPenetrationDepthSolver.cpp, SpuGjkEpa2.cpp

src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp

@@ -23,9 +23,10 @@ btPolyhedralConvexShape::btPolyhedralConvexShape() :btConvexInternalShape()
 
 btVector3	btPolyhedralConvexShape::localGetSupportingVertexWithoutMargin(const btVector3& vec0)const
 {
+
 	int i;
 	btVector3 supVec(0,0,0);
-
+#ifndef __SPU__
 	btScalar maxDot(btScalar(-BT_LARGE_FLOAT));
 
 	btVector3 vec = vec0;
@@ -54,11 +55,14 @@ btVector3	btPolyhedralConvexShape::localGetSupportingVertexWithoutMargin(const b
 	}
 
 	return supVec;
-
+#endif //__SPU__
 }
 
+
+
 void	btPolyhedralConvexShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
 {
+#ifndef __SPU__
 	int i;
 
 	btVector3 vtx;
@@ -86,12 +90,14 @@ void	btPolyhedralConvexShape::batchedUnitVectorGetSupportingVertexWithoutMargin(
 			}
 		}
 	}
+#endif //__SPU__
 }
 
 
 
 void	btPolyhedralConvexShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
 {
+#ifndef __SPU__
 	//not yet, return box inertia
 
 	btScalar margin = getMargin();
@@ -111,7 +117,7 @@ void	btPolyhedralConvexShape::calculateLocalInertia(btScalar mass,btVector3& ine
 	const btScalar scaledmass = mass * btScalar(0.08333333);
 
 	inertia = scaledmass * (btVector3(y2+z2,x2+z2,x2+y2));
-
+#endif //__SPU__
 }