use size_t instead of int, for allocator

added hashtable based PairManager, thanks Pierre Terdiman and Erin Catto
improved friction in 'cachefriendly' solver
moved 'refreshcontactpoints' into collision detection, instead of solver
avoid linear search for contact manifolds, by storing an index
ignore margin for sphere shape (its entire radius is already margin)
avoid alignment checks in BVH serialization, they don't compile on 64-bit architectures
made 'bomb' box more heavy

src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.cpp

@@ -27,20 +27,12 @@ btPersistentManifold::btPersistentManifold()
 :m_body0(0),
 m_body1(0),
 m_cachedPoints (0),
-m_index1(0)
+m_index1a(0)
 {
 }
 
 
-void	btPersistentManifold::clearManifold()
-{
-	int i;
-	for (i=0;i<m_cachedPoints;i++)
-	{
-		clearUserCache(m_pointCache[i]);
-	}
-	m_cachedPoints = 0;
-}
+
 
 #ifdef DEBUG_PERSISTENCY
 #include <stdio.h>
@@ -198,10 +190,20 @@ btScalar	btPersistentManifold::getContactBreakingThreshold() const
 	return gContactBreakingThreshold;
 }
 
+
+
 void btPersistentManifold::refreshContactPoints(const btTransform& trA,const btTransform& trB)
 {
 	int i;
-
+#ifdef DEBUG_PERSISTENCY
+	printf("refreshContactPoints posA = (%f,%f,%f) posB = (%f,%f,%f)\n",
+		trA.getOrigin().getX(),
+		trA.getOrigin().getY(),
+		trA.getOrigin().getZ(),
+		trB.getOrigin().getX(),
+		trB.getOrigin().getY(),
+		trB.getOrigin().getZ());
+#endif //DEBUG_PERSISTENCY
 	/// first refresh worldspace positions and distance
 	for (i=getNumContacts()-1;i>=0;i--)
 	{