more work on hashed pairmanager. growing doesn't work yet, so need to allocate enough room for the overlapping pairs in advance.

boxbox reports contact point in B, rather then average point
box, cylinder use halfextents corrected for scaling and margin. made the margin in this halfextents explicit in the 'getHalfExtentsWithMargin' and 'getHalfExtentsWithoutMargin'
integrated changed for ODE quickstep solver
replaced inline with SIMD_FORCE_INLINE
some minor optimizations in the btSequentialImpulseConstraintSolver

added cone drawing (for X,Y,Z cones)

Extras/AlternativeCollisionAlgorithms/BoxBoxDetector.cpp

@@ -412,10 +412,13 @@ int dBoxBox2 (const btVector3& p1, const dMatrix3 R1,
 		//contact[0].depth = *depth;
 		btVector3 pointInWorld;
 
+#ifdef USE_CENTER_POINT
 	    for (i=0; i<3; i++) 
 			pointInWorld[i] = (pa[i]+pb[i])*btScalar(0.5);
 		output.addContactPoint(-normal,pointInWorld,-*depth);
-
+#else
+		output.addContactPoint(-normal,pb,-*depth);
+#endif //
 		*return_code = code;
 	}
     return 1;
@@ -668,10 +671,10 @@ void	BoxBoxDetector::getClosestPoints(const ClosestPointInput& input,Result& out
 
 	dBoxBox2 (transformA.getOrigin(), 
 	R1,
-	2.f*m_box1->getHalfExtents(),
+	2.f*m_box1->getHalfExtentsWithMargin(),
 	transformB.getOrigin(),
 	R2, 
-	2.f*m_box2->getHalfExtents(),
+	2.f*m_box2->getHalfExtentsWithMargin(),
 	normal, &depth, &return_code,
 	maxc, contact, skip,
 	output