Port ContinuousConvexCollision
Added CylinderShape.getHalfHeight
Fixes from "Add better support for btCollisionWorld::convexSweepTest for btStaticPlaneShape, now using the btContinuousCollision directly. Bugfix in btKinematicCharacterController, using an uninitialized variable."
Support for updating collision shape (box, sphere, capsule, cylinder)
Port CompoundShape from last bullet trunk, with support (updateChildTransform, dynamicAabbTree, updateRevision)