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Broadphase performance benchmarking
Bullet source code distribution provides the Collision Detection Test Framework to compare different collision detection algorithms, in Bullet/Extras/CDTestFramework folder. The benchmark was originally created by Pierre Terdiman.
You can download a precompiled version here:
btDbvt, a dynamic aabb tree, has very good performance in this benchmark. Its implementation is in Bullet/src/BulletCollision/BroadphaseCollision/btDbvtBroadphase.cpp and Bullet/src/BulletCollision/BroadphaseCollision/btDbvt.cpp
Here is some more information on this btDbvt dynamic aabb tree.
The following benchmark results provide timings in milliseconds, given a grid of 8192 boxes (AABBs). Many broadphases are optimized for cases where many objects are static, non-moving. So we ran several measurements with varying percentage, 0%,1%,5%,10%,25%,50% and 100% of the boxes are moving.