I wrote about the multi-SAP (MSAP) some years ago now but never demonstrated its speed.

Here it is in my old "CDTestFramework" (version from Bullet 2.78)

The MSAP code will be released as soon as I clean it up and finish it completely. I still have a number of optimizations to try :) The version showed here isn't even multi-threaded... 

- Pierre Terdiman
August 27, 2011