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/quickstep/OdeConstraintSolver.h

@@ -22,6 +22,7 @@ subject to the following restrictions:
 #include "OdeContactJoint.h"
 #include "OdeTypedJoint.h"
 #include "OdeSolverBody.h"
+#include "SorLcp.h"
 
 class btRigidBody;
 struct	OdeSolverBody;
@@ -39,6 +40,8 @@ private:
 	float	m_cfm;
 	float	m_erp;
 
+	SorLcpSolver	m_SorLcpSolver;
+
 	btAlignedObjectArray<OdeSolverBody*> m_odeBodies;
 	btAlignedObjectArray<BU_Joint*>		 m_joints;
 
@@ -47,6 +50,7 @@ private:
 	btAlignedObjectArray<OdeTypedJoint>  m_TypedJointArray;
 
 
+private:
 	int  ConvertBody(btRigidBody* body,btAlignedObjectArray< OdeSolverBody*> &bodies,int& numBodies);
 	void ConvertConstraint(btPersistentManifold* manifold,
 							btAlignedObjectArray<BU_Joint*> &joints,int& numJoints,
@@ -80,8 +84,19 @@ public:
 		m_erp = erp;
 	}
 
+	///clear internal cached data and reset random seed
 	void reset()
 	{
+		m_SorLcpSolver.dRand2_seed = 0;
+	}
+
+	void	setRandSeed(unsigned long seed)
+	{
+		m_SorLcpSolver.dRand2_seed = seed;
+	}
+	unsigned long	getRandSeed() const
+	{
+		return m_SorLcpSolver.dRand2_seed;
 	}
 };