Improved performance of convex collision shapes, cache local AABB instead of recomputation. This fixes issue with very slow performance in larger .bsp levels.

Moved some asserts into 'btFullAssert', which is disabled by default (see btScalar.h to enable them). This is to speed-up debugging.

src/LinearMath/btScalar.h

@@ -38,6 +38,8 @@ subject to the following restrictions:
 
 		#include <assert.h>
 		#define btAssert assert
+		//btFullAssert is optional, slows down a lot
+		#define btFullAssert
 #else
 	
 	//non-windows systems
@@ -48,6 +50,8 @@ subject to the following restrictions:
 		#include <assert.h>
 		#endif
 		#define btAssert assert
+		//btFullAssert is optional, slows down a lot
+		#define btFullAssert
 #endif
 
 /// older compilers (gcc 3.x) and Sun needs double version of sqrt etc.