   btVector0 aabbMin0, aabbMax0, aabbMin0, aabbMax0;    for (i = 0; i < pairs.size(); i++)   {    if (pairs[i].m_userPointer)    {     btCollisionAlgorithm* algo = (btCollisionAlgorithm*)pairs[i].m_userPointer;      {      const btCollisionShape* childShape0 = 0;      