+ improved KinematicCharacterController

+ improved btSubsimplexConvexCast, btContinuousConvexCollision and btGjkConvexCast to support configuration that start in touching/penetration, required for 'sliding'.
+ added files to CMakeLists.txt for CharacterController
+ bump up version to 2.70 (preparation for beta)

src/BulletCollision/BroadphaseCollision/btDispatcher.h

@@ -44,6 +44,8 @@ struct btDispatcherInfo
 		m_debugDraw(0),
 		m_enableSatConvex(false),
 		m_enableSPU(true),
+		m_useEpa(true),
+		m_allowedCcdPenetration(btScalar(0.04)),
 		m_stackAllocator(0)
 	{
 
@@ -51,12 +53,13 @@ struct btDispatcherInfo
 	btScalar	m_timeStep;
 	int		m_stepCount;
 	int		m_dispatchFunc;
-	btScalar	m_timeOfImpact;
+	mutable btScalar	m_timeOfImpact;
 	bool	m_useContinuous;
 	class btIDebugDraw*	m_debugDraw;
 	bool	m_enableSatConvex;
 	bool	m_enableSPU;
 	bool	m_useEpa;
+	btScalar	m_allowedCcdPenetration;
 	btStackAlloc*	m_stackAllocator;
 	
 };
@@ -82,7 +85,7 @@ public:
 
 	virtual bool	needsResponse(btCollisionObject* body0,btCollisionObject* body1)=0;
 
-	virtual void	dispatchAllCollisionPairs(btOverlappingPairCache* pairCache,btDispatcherInfo& dispatchInfo,btDispatcher* dispatcher)=0;
+	virtual void	dispatchAllCollisionPairs(btOverlappingPairCache* pairCache,const btDispatcherInfo& dispatchInfo,btDispatcher* dispatcher)  =0;
 
 	virtual int getNumManifolds() const = 0;
 
@@ -90,7 +93,7 @@ public:
 
 	virtual	btPersistentManifold**	getInternalManifoldPointer() = 0;
 
-	virtual	void* allocateCollisionAlgorithm(int size) = 0;
+	virtual	void* allocateCollisionAlgorithm(int size)  = 0;
 
 	virtual	void freeCollisionAlgorithm(void* ptr) = 0;
 

src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h

@@ -399,7 +399,7 @@ public:
 	{
 	}
 
-	virtual void	processAllOverlappingPairs(btOverlapCallback*,btDispatcher* /*dispatcher*/)
+	virtual void	processAllOverlappingPairs(btOverlapCallback*,const btDispatcher* /*dispatcher*/)
 	{
 	}