ejcoumans 830c096e10 added a cellDmaLargeGetReadOnly/cellDmaGetReadOnly, which avoid memcpy on non-SPU platforms.
enabled it for triangle mesh aabb DMA transfers. Todo: check if it is worth also modifying other parts of the code to avoid the memcpy into the 256kb Task memory.
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Bullet is a 3D Collision Detection and Rigid Body Dynamics Library for games and animation.
Free for commercial use, including Playstation 3, open source under the ZLib License.
Discrete and continuous collision detection, integrated into Blender 3D, and COLLADA 1.4 Physics import. 

See the Bullet_User_Manual.pdf for more info and visit the Bullet Physics Forum at
http://bulletphysics.com
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Readme 258 MiB
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