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/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp

@@ -14,6 +14,8 @@ subject to the following restrictions:
 */
 
 //#define COMPUTE_IMPULSE_DENOM 1
+//It is not necessary (redundant) to refresh contact manifolds, this refresh has been moved to the collision algorithms.
+//#define FORCE_REFESH_CONTACT_MANIFOLDS 1
 
 #include "btSequentialImpulseConstraintSolver.h"
 #include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
@@ -397,21 +399,30 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
 //		printf("empty\n");
 		return 0.f;
 	}
+	btPersistentManifold* manifold = 0;
+	btRigidBody* rb0=0,*rb1=0;
+
+#ifdef FORCE_REFESH_CONTACT_MANIFOLDS
 
 	BEGIN_PROFILE("refreshManifolds");
 
 	int i;
+	
+	
+
 	for (i=0;i<numManifolds;i++)
 	{
-		btPersistentManifold* manifold = manifoldPtr[i];
-		btRigidBody* rb0 = (btRigidBody*)manifold->getBody0();
-		btRigidBody* rb1 = (btRigidBody*)manifold->getBody1();
-
+		manifold = manifoldPtr[i];
+		rb1 = (btRigidBody*)manifold->getBody1();
+		rb0 = (btRigidBody*)manifold->getBody0();
+		
 		manifold->refreshContactPoints(rb0->getCenterOfMassTransform(),rb1->getCenterOfMassTransform());
 
 	}
-	
+
 	END_PROFILE("refreshManifolds");
+#endif //FORCE_REFESH_CONTACT_MANIFOLDS
+
 
 
 	BEGIN_PROFILE("gatherSolverData");
@@ -458,10 +469,11 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
 
 			for (i=0;i<numManifolds;i++)
 			{
-				btPersistentManifold* manifold = manifoldPtr[i];
-				btRigidBody* rb0 = (btRigidBody*)manifold->getBody0();
-				btRigidBody* rb1 = (btRigidBody*)manifold->getBody1();
+				manifold = manifoldPtr[i];
+				rb1 = (btRigidBody*)manifold->getBody1();
 
+				rb0 = (btRigidBody*)manifold->getBody0();
+				
 			
 				int solverBodyIdA=-1;
 				int solverBodyIdB=-1;
@@ -503,8 +515,7 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
 					
 					btManifoldPoint& cp = manifold->getContactPoint(j);
 
-					int frictionIndex = tmpSolverConstraintPool.size();
-
+					
 					if (cp.getDistance() <= btScalar(0.))
 					{
 						
@@ -519,6 +530,8 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
 						btScalar rel_vel;
 						btVector3 vel;
 
+						int frictionIndex = tmpSolverConstraintPool.size();
+
 						{
 							btSolverConstraint& solverConstraint = tmpSolverConstraintPool.expand();
 
@@ -586,18 +599,22 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
 
 						
 						{
-							btVector3 lat_vel = vel - cp.m_normalWorldOnB * rel_vel;
-							btScalar lat_rel_vel = lat_vel.length2();
+							btVector3 frictionDir1 = vel - cp.m_normalWorldOnB * rel_vel;
+							btScalar lat_rel_vel = frictionDir1.length2();
 							if (lat_rel_vel > SIMD_EPSILON)//0.0f)
 							{
-								lat_vel /= btSqrt(lat_rel_vel);
-
-								addFrictionConstraint(lat_vel,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,rb0,rb1, relaxation);
-								btVector3 frictionDir2 = lat_vel.cross(cp.m_normalWorldOnB);
+								frictionDir1 /= btSqrt(lat_rel_vel);
+								addFrictionConstraint(frictionDir1,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,rb0,rb1, relaxation);
+								btVector3 frictionDir2 = frictionDir1.cross(cp.m_normalWorldOnB);
 								frictionDir2.normalize();//??
 								addFrictionConstraint(frictionDir2,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,rb0,rb1, relaxation);
-
-
+							} else
+							{
+								//re-calculate friction direction every frame, todo: check if this is really needed
+								btVector3	frictionDir1,frictionDir2;
+								btPlaneSpace1(cp.m_normalWorldOnB,frictionDir1,frictionDir2);
+								addFrictionConstraint(frictionDir1,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,rb0,rb1, relaxation);
+								addFrictionConstraint(frictionDir2,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,rb0,rb1, relaxation);
 							}
 
 						}
@@ -907,8 +924,9 @@ void	btSequentialImpulseConstraintSolver::prepareConstraints(btPersistentManifol
 
 	//only necessary to refresh the manifold once (first iteration). The integration is done outside the loop
 	{
+#ifdef FORCE_REFESH_CONTACT_MANIFOLDS
 		manifoldPtr->refreshContactPoints(body0->getCenterOfMassTransform(),body1->getCenterOfMassTransform());
-		
+#endif //FORCE_REFESH_CONTACT_MANIFOLDS		
 		int numpoints = manifoldPtr->getNumContacts();
 
 		gTotalContactPoints += numpoints;

src/BulletDynamics/Dynamics/btContinuousDynamicsWorld.cpp

@@ -179,7 +179,7 @@ void	btContinuousDynamicsWorld::updateTemporalAabbs(btScalar timeStep)
 			temporalAabbMin -= angularMotion3d;
 			temporalAabbMax += angularMotion3d;
 
-			m_broadphasePairCache->setAabb(body->getBroadphaseHandle(),temporalAabbMin,temporalAabbMax);
+			m_broadphasePairCache->setAabb(body->getBroadphaseHandle(),temporalAabbMin,temporalAabbMax,m_dispatcher1);
 		}
 	}
 

src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp

@@ -606,7 +606,7 @@ void	btDiscreteDynamicsWorld::updateAabbs()
 				//moving objects should be moderately sized, probably something wrong if not
 				if ( colObj->isStaticObject() || ((maxAabb-minAabb).length2() < btScalar(1e12)))
 				{
-					bp->setAabb(body->getBroadphaseHandle(),minAabb,maxAabb);
+					bp->setAabb(body->getBroadphaseHandle(),minAabb,maxAabb, m_dispatcher1);
 				} else
 				{
 					//something went wrong, investigate

src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp

@@ -134,7 +134,7 @@ void	btSimpleDynamicsWorld::updateAabbs()
 				btPoint3 minAabb,maxAabb;
 				colObj->getCollisionShape()->getAabb(colObj->getWorldTransform(), minAabb,maxAabb);
 				btBroadphaseInterface* bp = getBroadphase();
-				bp->setAabb(body->getBroadphaseHandle(),minAabb,maxAabb);
+				bp->setAabb(body->getBroadphaseHandle(),minAabb,maxAabb, m_dispatcher1);
 			}
 		}
 	}