some doxygen updates, added some comments to classes, fix broken links, rename some prefix some internal GIMPACT collision structures using (for example use GIM_AABB instead of BT_AAABB),

removed obsolete btGjkEpa (it was replaced by btGjkEpa2 ages ago)

src/BulletSoftBody/btSoftBody.h

@@ -44,7 +44,8 @@ struct	btSoftBodyWorldInfo
 };	
 
 
-/// btSoftBody is work-in-progress
+///The btSoftBody is an class to simulate cloth and volumetric soft bodies. 
+///There is two-way interaction between btSoftBody and btRigidBody/btCollisionObject.
 class	btSoftBody : public btCollisionObject
 {
 public:
@@ -616,9 +617,10 @@ public:
 		return m_worldInfo;
 	}
 
+	///@todo: avoid internal softbody shape hack and move collision code to collision library
 	virtual void	setCollisionShape(btCollisionShape* collisionShape)
 	{
-		//don't do anything, due to the internal shape hack: todo: fix this
+		
 	}
 
 	bool				checkLink(	int node0,

src/BulletSoftBody/btSparseSDF.h

@@ -125,7 +125,7 @@ struct	btSparseSdf
 		//printf("GC[%d]: %d cells, PpQ: %f\r\n",puid,ncells,nprobes/(btScalar)nqueries);
 		nqueries=1;
 		nprobes=1;
-		++puid;	/* TODO: Reset puid's when int range limit is reached	*/ 
+		++puid;	///@todo: Reset puid's when int range limit is reached	*/ 
 		/* else setup a priority list...						*/ 
 	}
 	//