add support for BVH acceleration for concave trianglemesh collision against convex hulls

bugfix/improvement in batching

data/plane100.obj

@@ -0,0 +1,12 @@
+# Blender v2.66 (sub 1) OBJ File: ''
+# www.blender.org
+mtllib plane.mtl
+o Plane
+v 100.000000 0.000000 -100.000000
+v 100.000000 0.000000 100.000000
+v -100.000000 0.000000 100.000000
+v -100.000000 0.000000 -100.000000
+usemtl Material
+s off
+f 1 2 3
+f 1 3 4